diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--6givbpb.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--6givbpb.json new file mode 100644 index 0000000000000000000000000000000000000000..f6cf2b99e4f2ec543caec620544ba2e83aee83f0 --- /dev/null +++ b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--6givbpb.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-assemble-hamburger-i00-privileged--6givbpb", + "taskKey": "dexhand/assemble_hamburger", + "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 884, + "sim_steps": 884, + "stages_completed": 1, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.546, + "peak_processes": 11, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottom_bun_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：inputs/video.json记为kind=none，且无状态日志；评分器reward只报告stages_completed=1，未报告底包的接盘、居中和正立联合判据。log step 27中的base=True与底包坐标来自agent本地测试，不作为评分轨迹的节点终值；依N9保留未知。" + } + ] + }, + "patty_on_bottom_bun": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 27的agent脚本对肉饼执行接近、下降、闭指和抬升测试，输出884行动作；log step 28保存同一动作数组，评分器n_actions=sim_steps=884、deterministic=1。评分器未报告本层接触和姿态判据，且本次无视频、状态日志，不能从本地测试的肉饼坐标或总分判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 27记录单只右灵巧手的肉饼抓取测试，log step 28保存相应884行动作；本次没有评分轨迹视频或接触状态日志，无法确认实际接触端、接触方式及是否形成对向夹持，不能照搬脚本的抓取意图。" + } + ] + }, + "cheese_on_patty": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 24, + "text_zh": "观察：log step 24曾在另一次2779步测试中操作芝士，该测试未作为最终动作交付；log step 27生成、log step 28保存的是884行动作。评分器未逐项报告芝士堆叠状态，本次无视频或状态日志，依N9保留终值未知。" + } + ] + }, + "tomato_on_cheese": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 27的生成脚本列有番茄搬放计划，但测试在肉饼阶段结束，log step 28只保存884行动作；评分器未报告番茄堆叠状态，本次无视频或状态日志，不能用计划或测试输出赋予节点终值。" + } + ] + }, + "lettuce_on_tomato": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 27的生成脚本列有生菜搬放计划，但测试在肉饼阶段结束，log step 28只保存884行动作；评分器未报告生菜堆叠状态，本次无视频或状态日志，依N9保留终值未知。" + } + ] + }, + "top_bun_on_lettuce": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 27的生成脚本列有顶包搬放计划，但测试在肉饼阶段结束，log step 28只保存884行动作；评分器未报告顶包堆叠状态，本次无视频或状态日志，依N9保留终值未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_alignment_error_m", + "unit": "m", + "threshold": 0.012, + "direction": "lower_better", + "value": null + }, + { + "name": "max_tilt_rad", + "unit": "rad", + "threshold": 0.22, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "peak_bend_rad", + "unit": "rad", + "threshold": 0.65, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "patty_on_bottom_bun", + "t": null, + "log_step": 27, + "where": "操作中", + "evidence_zh": "推断：log step 27的生成脚本首先操作肉饼，下降和闭指后在抬升阶段以ingredient_dropped结束，生成884行动作；log step 28直接加载该数组保存，之后log step 29—32仅作诊断、没有再次保存。评分器n_actions=sim_steps=884、deterministic=1，与交付长度一致，故将断点定位于肉饼叠在底包的操作阶段；具体物理过程缺少评分视频或状态日志核对，t保持null。" + }, + "unmet": { + "bottom_bun_on_plate": null, + "patty_on_bottom_bun": null, + "cheese_on_patty": null, + "tomato_on_cheese": null, + "lettuce_on_tomato": null, + "top_bun_on_lettuce": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": null, + "log_step": 30, + "source_zh": "日志", + "evidence_zh": "推断：会话证据支持接近与夹持的接触几何不适配。log step 27中，agent脚本在下降后即测得肉饼倾斜31.6度，闭指后43.6度，抬升时76.3度并报告ingredient_dropped；这份884行动作于log step 28保存。随后独立诊断log step 30直接枚举出右手食指中节、近节及拇指近节与肉饼的接触，肉饼倾斜33.5度，说明所用接近姿态已让非预期指节干扰肉饼，未建立可靠的搬运接触布局；这些是会话层面的根因证据，不作为评分轨迹的接触或节点值。没有验证可行的替代握法。" + } + ], + "gap_zh": "本次没有评分视频（inputs/video.json为kind=none，来源说明HF为404且无本地视频），也无状态日志。reward的stages_completed=1只是对齐层数，不能逐项决定六个包含层间接触、居中和正立条件的节点；log step 27的本地测试状态及log step 29—32的独立诊断均属于会话证据，依N9不设为节点终值或实际接触。动作数及保存链支持断点推断，但不足以确认评分尝试中曾形成承载抓握还是仅碰歪肉饼，故不标没保持住、没建立接触或碰撞现象，全部视频时刻及区间为null。五项原生指标未出现在评分器reward中，保留null；oracle仅为另一成功运行的参照，不能补足本次证据。" + }, + "summary_zh": "观察：评分器判失败，记录884个动作、stages_completed=1、deterministic=1；这不是六个DAG节点的逐项验收结果，本次六个节点终值均未知。推断：log step 27—28的生成与保存链将断点定位于肉饼叠在底包的操作阶段，会话接触诊断支持抓取和接触设计问题，后续诊断未形成新交付。观察：本次无评分视频和状态日志，无法确认实际抓握、具体失败现象或视频时间；成功参照的开局及结束画面仅用于理解目标外观。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，节点终值依N9保持未知合理；断点（肉饼叠底包，log step 27-28生成并保存884动作）与评分器n_actions=884一致，根因仅作会话证据且标注推断，空phenomena有gap_zh。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": "2026-10-30T22:19:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--6givbpb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--6givbpb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e65979f0a368a667e882cbf28fad1515559da24f15a29c07cb455affed36c44e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--kjbr2eq.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--kjbr2eq.json new file mode 100644 index 0000000000000000000000000000000000000000..2f396aa2cfc35e1f545a4f8d5e48b619bc2d9433 --- /dev/null +++ b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--kjbr2eq.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-assemble-hamburger-i00-privileged--kjbr2eq", + "taskKey": "dexhand/assemble_hamburger", + "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1090, + "sim_steps": 1028, + "stages_completed": 6, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.946, + "peak_processes": 9, + "peak_disk_gb": 0.273, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 6, + "base": null, + "peak": null, + "final": 6, + "nodes": { + "bottom_bun_on_plate": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、base_on_plate=true；底包距盘心水平误差为0.005473080米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“底包留在餐盘上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触底包，不把控制脚本的抓持计划当作实际接触。" + } + ] + }, + "patty_on_bottom_bun": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、ordered=true、adjacent_contacts=5（五个相邻层界面均接触）；肉饼距盘心水平误差为0.011437792米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“肉饼叠在底包上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触肉饼，不把控制脚本的抓持计划当作实际接触。" + } + ] + }, + "cheese_on_patty": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、ordered=true、adjacent_contacts=5（五个相邻层界面均接触）；芝士距盘心水平误差为0.003434363米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“芝士叠在肉饼上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触芝士，不把控制脚本的抓持计划当作实际接触。" + } + ] + }, + "tomato_on_cheese": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、ordered=true、adjacent_contacts=5（五个相邻层界面均接触）；番茄距盘心水平误差为0.010757302米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“番茄叠在芝士上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触番茄，不把控制脚本的抓持计划当作实际接触。" + } + ] + }, + "lettuce_on_tomato": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、ordered=true、adjacent_contacts=5（五个相邻层界面均接触）；生菜距盘心水平误差为0.005856544米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“生菜叠在番茄上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触生菜，不把控制脚本的抓持计划当作实际接触。" + } + ] + }, + "top_bun_on_lettuce": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 466, + "text_zh": "观察：agent在log step 465重新生成最终交付文件后，基准官方重放器在log step 466的verdict报告success=true、aligned_layers=6、ordered=true、adjacent_contacts=5（五个相邻层界面均接触）；顶包距盘心水平误差为0.009074606米，小于0.012米，全层最大倾斜为0.000157880弧度。log step 467再次官方重放成功，终态哈希一致；reward亦报告success=1、stages_completed=6、sim_steps=1028、deterministic=1。" + }, + { + "t": null, + "log_step": 467, + "text_zh": "推断：最终交付文件的官方验收与评分记录一致，六层全部满足层序、相邻接触、居中和正立条件，故“顶包叠在生菜上”终态为真。本次无视频及状态日志，无法确定本节点何时达成、过程中是否短暂失去，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频和状态日志；log step 466、467仅报告验收终态hand_contacts=0，未提供全过程接触记录，无法核实右灵巧手在本节点期间是否及如何接触顶包，不把控制脚本的抓持计划当作实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": 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"resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottom_bun_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“底包留在盘上”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。 DAG记载的开局成立只能说明初始目标；S4允许该状态后来失去，不能据此证明终态仍成立。" + } + ] + }, + "patty_on_bottom_bun": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“肉饼叠在底包”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。" + }, + { + "t": null, + "log_step": 66, + "text_zh": "观察：agent 的末版生成脚本仅打印肉饼处理结果，随后 Session.status() 返回 ingredient_dropped、success=False、steps=212、aligned=1、adj=1，并保存本次动作。肉饼坐标和29.81毫米误差来自脚本调用 features() 的自查；按N9只作会话证据，不用于设置节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 66 的交付脚本命令单只右灵巧手执行拇指与食指闭合、搬运、张开和撤回以处理肉饼；本次无视频、无状态接触对，无法确认实际是否形成夹持、托举或推压接触。" + } + ] + }, + "cheese_on_patty": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“芝士叠在肉饼”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。" + } + ] + }, + "tomato_on_cheese": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“番茄叠在芝士”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。" + } + ] + }, + "lettuce_on_tomato": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“生菜叠在番茄”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。" + } + ] + }, + "top_bun_on_lettuce": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "推断：inputs/run.json 的 reward.stages_completed=1 报告最终仅一层水平对齐；task/task_dag.json 说明该量不是按配方顺序完成的前缀计数。六个节点各自都要求其对应食材中心到盘心的水平距离不超过12毫米，因此最终成立节点数至多为1（分母6），但任一单独节点为真只需占用这一层，并不超过总量。该字段没有给出对齐食材身份，也未报告“顶包叠在生菜”所需的接触及正立状态，不能单独决定本节点终值。本次无视频、无状态日志；依docs/03_trajectory.md Step 2和DECISIONS.md N9，final保持null，intervals亦为null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_alignment_error_m", + "unit": "m", + "threshold": 0.012, + "direction": "lower_better", + "value": null + }, + { + "name": "max_tilt_rad", + "unit": "rad", + "threshold": 0.22, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "peak_bend_rad", + "unit": "rad", + "threshold": 0.65, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "patty_on_bottom_bun", + "t": null, + "log_step": 66, + "where": "操作中", + "evidence_zh": "推断：log step 66 的末版脚本按肉饼、芝士、番茄、生菜、顶包循环，肉饼处理后即报告 ingredient_dropped 并因 s.done 退出，随后将动作保存为 trajectory.npz；其 Session.status() 的 steps=212 与评分器 n_actions=212、sim_steps=212 一致，评分器 deterministic=1、infra_error=0，支持该保存对应受评交付。故断点定位在肉饼叠到底包的操作中；未见后续食材处理或修复。无本次视频，无法给出视频时间，也不能确定掉落发生在张开还是撤手阶段。" + }, + "unmet": { + "bottom_bun_on_plate": null, + "patty_on_bottom_bun": null, + "cheese_on_patty": null, + "tomato_on_cheese": null, + "lettuce_on_tomato": null, + "top_bun_on_lettuce": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：会话测试中，agent 脚本在 log step 42 读到肉饼到达释放高度时约为[-0.1597,0.0015,0.3533]米，释放并撤手后却读到[-0.0372,-0.0120,0.3172]米且 ingredient_dropped；log step 48、51、54 的不同张开和撤手动作也反复伴随肉饼偏移并以同一原因失败。末次保存的 log step 66 仍以 ingredient_dropped、success=False 结束，支持肉饼放置及撤手控制尚未实现稳定交接。上述自查只支持一般控制归因；无受评接触和运动观测，不能进一步断言抓取几何、轨迹跟踪或某一参数是确定根因。" + } + ], + "gap_zh": "本次没有视频（inputs/video.json: kind=none），也没有状态日志；inputs/oracle/replay.mp4属于另一条成功轨迹，不能替代本次观测。依据reward.stages_completed=1与六个节点各自的12毫米居中要求，可推断最终成立节点数至多为1（分母6）；旧标注没有写明这一有效上界，现已补入。但该字段是当前水平对齐层数，不是配方顺序的已完成前缀，也未给出食材身份、接触或正立终值，故不能将其等同于DAG完成1/6。对每个单独节点，其为真所需的一层对齐均未超过总量1，因此总量不能单独将任何一个节点判假。对I1具体赋值建议的分歧按DECISIONS.md N9的Now处理：无视频时仅采用报告节点的评分器或服务结果字段；log step 66的29.81毫米来自agent脚本调用features()的自查，不能代替节点终值。末版脚本未进入后续四层的操作也不等于评分器报告这四层的终态；底包开局成立则不能证明其在操作肉饼后未被带动。六节点final和failure.unmet保持null；无视频时所有intervals保持null。交付脚本和步数可定位处理肉饼时结束，但无法观察实际手物接触、完整落下过程及视频时刻；不能区分没保持住、位姿不准、没松开或放后不稳，故现象层为空。根因仅由会话重复测试支持到一般控制层级，未将测试中的物理事件当作受评轨迹现象；原生五项连续指标未在reward报告，均记null。" + }, + "summary_zh": "评分器判定失败，受评动作共212步；末次保存脚本在处理肉饼叠到底包时以ingredient_dropped结束，后续四层未进入操作，会话多次测试支持一般控制问题。评分器stages_completed=1将最终成立节点数限定为至多1/6，但不报告对齐层身份或完整关系判据；无本次视频、状态日志或逐节点结果，六个节点终值仍未知。审查建议的底包为真及其余五节点为假尚不能由允许的证据确定，也未能逐一排除这些具体终值，故将conf从5降至4。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "断点（肉饼叠放）与根因层级基本站得住，受评动作数212与评分器n_actions=212吻合；但评分器字段 stages_completed=1 本身给出了节点终值的界，标签却把六个终值全部置 null、unmet 全空，削弱了有支持的标签。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无本次视频与状态日志，标签仅用评分器字段（stages_completed=1、n_actions=212、deterministic=1）和 log step 66 的末版脚本输出。六节点 final/unmet 置 null 符合 N9，已独立核对断点、根因（控制）与空现象层加 gap_zh 的写法。未发现需修改的内容；第一轮提出的节点终值指定仍不能由评分器字段决定（stages_completed 是当下对齐层数，不指明食材身份）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:30:47Z", + "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/dexhand-assemble-hamburger-i00-privileged--mj7gjea/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--mj7gjea/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--mj7gjea/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--mj7gjea/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2ec7b94e52b655550612d3fdb422a111c7bc86b01f3aa8cfa8afa3afbb04e1c4", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--mzjt2v3.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--mzjt2v3.json new file mode 100644 index 0000000000000000000000000000000000000000..42f607b36a9a84106a29c6c1f5a080ead77c294c --- /dev/null +++ b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--mzjt2v3.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-assemble-hamburger-i00-privileged--mzjt2v3", + "taskKey": "dexhand/assemble_hamburger", + "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 5651, + "sim_steps": 5651, + "stages_completed": 6, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.752, + "peak_processes": 9, + "peak_disk_gb": 0.834, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 6, + "base": null, + "peak": null, + "final": 6, + "nodes": { + "bottom_bun_on_plate": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中底包水平误差为0.004921657米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“底包留在盘上”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触底包。底包初始已在盘上，不能把任务典型方案当作本次从未触碰的证据。" + } + ] + }, + "patty_on_bottom_bun": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中肉饼水平误差为0.008205203米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“肉饼叠在底包”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触肉饼。agent 的夹持脚本及调试接触输出不足以确认交付轨迹中的实际接触方式。" + } + ] + }, + "cheese_on_patty": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中芝士水平误差为0.004510767米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“芝士叠在肉饼”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触芝士。agent 的夹持脚本及调试接触输出不足以确认交付轨迹中的实际接触方式。" + } + ] + }, + "tomato_on_cheese": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中番茄水平误差为0.007576715米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“番茄叠在芝士”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触番茄。agent 的夹持脚本及调试接触输出不足以确认交付轨迹中的实际接触方式。" + } + ] + }, + "lettuce_on_tomato": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中生菜水平误差为0.007047983米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“生菜叠在番茄”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触生菜。agent 的夹持脚本及调试接触输出不足以确认交付轨迹中的实际接触方式。" + } + ] + }, + "top_bun_on_lettuce": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的正式 reward 报告 success=1、stages_completed=6、deterministic=1、n_actions=5651、sim_steps=5651、infra_error=0；本次 video.kind=none，且无状态日志。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 96 对交付文件启动两次基准重放，log step 97 的重放器结果报告 success=true、stage=6、steps=5651；verdict 中顶包水平误差为0.005064915米，aligned_layers=6、ordered=true、adjacent_contacts=5、base_on_plate=true、hand_contacts=0、released_hold_steps=100。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "推断：正式成功判定要求六层同时满足居中、正立、严格层序、相邻接触及底包接盘，故“顶包叠在生菜”终值为真；基准重放结果支持此判断。没有本次视频，无法给出该节点的达成时刻、途中失去或恢复区间，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：没有本次视频或逐时接触状态日志；log step 97 只报告验收终态手接触为零，不能据此确定操作过程中右灵巧手是否及如何接触顶包。agent 的夹持脚本及调试接触输出不足以确认交付轨迹中的实际接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_alignment_error_m", + "value": 0.008205202966923893, + "unit": "m", + "threshold": 0.012, + "direction": "lower_better" + }, + { + "name": "max_tilt_rad", + "value": 0.00020608715125897996, + "unit": "rad", + "threshold": 0.22, + "direction": "lower_better" + }, + { + "name": "max_linear_speed_m_s", + "value": 8.486304601974646e-05, + "unit": "m/s", + "threshold": 0.025, + "direction": "lower_better" + }, + { + "name": "max_angular_speed_rad_s", + "value": 0.0027366430631092023, + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "peak_bend_rad", + "value": 0.1471442733354059, + "unit": "rad", + "threshold": 0.65, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "观察：正式评分 success=1、stages_completed=6、deterministic=1，交付轨迹包含5651个动作；log step 96–97 的基准重放器也报告成功，verdict 确认六层居中、层序正确、五组相邻接触、底包接盘及无手接触连续保持100个控制步，原生指标取自该 verdict。推断：六个目标节点终值均为真，故无失败断点；log step 86–91 的早期调试偏差已由后续交付修复，不作为本次失败标签。观察：本次无视频且无状态日志，无法确定节点时间区间和操作中的实际接触方式，全部 intervals 为 null、contact_actual 为未知；提供的 oracle 视频属于另一成功运行，不能填补本次观测缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次运行无视频、无状态日志；六个节点终值为真由正式 reward（success=1、stages_completed=6）和 log step 97 的重放器 verdict 支持，数值与原文一致；intervals 为 null、contact_actual 为未知、无失败断点均合理，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:21:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--mzjt2v3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--mzjt2v3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c232f89ba494fa7d264f188bae5481cb6f33cf7be8d1737cbc4da0da674c9d6c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--lxshogx.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--lxshogx.json new file mode 100644 index 0000000000000000000000000000000000000000..4115d39be32ad7a20ba1a10e2dd27ef68121fc81 --- /dev/null +++ b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--lxshogx.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-batter-whisk-i00-privileged--lxshogx", + "taskKey": "dexhand/batter_whisk", + "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.564, + "peak_processes": 9, + "peak_disk_gb": 0.254, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "whisk_picked_up": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：agent 的会话脚本在 log step 54 重置并运行至本地 stage 2，保存内存快照；这不是已交付轨迹的节点结果。评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；本次无评分视频或状态日志，也无该节点的评分结果，故 final 与 intervals 均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；会话测试中的机器人接触不作为本次评分尝试的实际接触。" + } + ] + }, + "batter_whisked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 56, + "text_zh": "观察：agent 的会话脚本在 log step 56 恢复内存快照后报告 stage 3、revolutions=5.020；这不是已交付轨迹的节点结果。评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；本次无评分视频或状态日志，也无该节点的评分结果，故 final 与 intervals 均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；会话测试中的机器人接触不作为本次评分尝试的实际接触。" + } + ] + }, + "whisk_drained": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：agent 的会话脚本在 log step 57 恢复内存快照后报告 stage 4、drain_steps=25；这不是已交付轨迹的节点结果。评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；本次无评分视频或状态日志，也无该节点的评分结果，故 final 与 intervals 均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；会话测试中的机器人接触不作为本次评分尝试的实际接触。" + } + ] + }, + "whisk_on_counter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：agent 的会话脚本在 log step 57 报告本地测试 stage 5、hold_steps=50、success=True；这不是已交付轨迹的最终验收结果。评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；本次无评分视频或状态日志，也无该节点的评分结果，故 final 与 intervals 均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；会话测试中的机器人接触不作为本次评分尝试的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "revolutions", + "unit": "rev", + "threshold": 5, + "direction": "higher_better", + "value": null + }, + { + "name": "max_bowl_tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_bowl_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 58, + "where": "首步前", + "evidence_zh": "观察：log step 58 的末条回复为供应商提示“This request was blocked by Gemini's filters”；评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0。log step 57 的 success=True 来自 agent 恢复快照后的会话测试，未见交付保存或重放验证，无法定位评分轨迹中的物理断点。" + }, + "unmet": { + "whisk_picked_up": null, + "batter_whisked": null, + "whisk_drained": null, + "whisk_on_counter": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，未提供本次评分视频或状态日志；reward 未报告各节点结果及三个原生指标。log step 54、56、57 是 agent 重置或恢复快照后的本地测试，log step 58 随后出现 Gemini 过滤中断，评分器确认缺少交付轨迹。推断：这是交付前的外部因素中断，应重试并排除出机器人失败归因；保留目录中的 success=0，但不将会话成功或会话中的物理失败迁入评分节点，失败现象与根因均留空。" + }, + "summary_zh": "观察：评分器报告缺少交付轨迹且动作数为零，本次无评分视频或状态日志，四个节点的评分终值均未知。观察：agent 在 log step 57 的恢复快照测试中报告五阶段成功，随后 log step 58 出现 Gemini 过滤中断，未见交付保存及重放验收。推断：本次属于交付前外部中断，不能归因于机器人操作失败，需重试并排除出失败分析。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频/状态日志；评分器 missing_trajectory=1、n_actions=0、sim_steps=0，log step 58 为 Gemini 过滤中断，交付前被外部因素切断。标注将四节点 final 设为未知、断点 ref=unknown、现象与根因留空并写 gap_zh，符合规则，未把会话测试结果迁入评分节点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:17:10Z", + "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/dexhand-batter-whisk-i00-privileged--lxshogx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-batter-whisk-i00-privileged--lxshogx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a676baec36ebe194382c07f67ca9726351f7245ad24badd59b64a2e45430ad47", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mzbxasw.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mzbxasw.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b0c572c80b2187091c4b1e411dca116dacc97e --- /dev/null +++ b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mzbxasw.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-batter-whisk-i00-privileged--mzbxasw", + "taskKey": "dexhand/batter_whisk", + "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.259, + "peak_processes": 9, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "whisk_picked_up": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 20, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“拿起打蛋器”的节点验收结果；log step 20 为响应超过32000输出 token 上限的 API 错误。无本次评分视频或状态日志，无法确定此节点终值；log step 11–12 的测试脚本及其输出仅属于会话探索。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，此节点无可标注的评分尝试接触。" + } + ] + }, + "batter_whisked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 20, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“搅拌面糊”的节点验收结果；log step 20 为响应超过32000输出 token 上限的 API 错误。无本次评分视频或状态日志，无法确定此节点终值；log step 11–12 的测试脚本及其输出仅属于会话探索。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，此节点无可标注的评分尝试接触。" + } + ] + }, + "whisk_drained": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 20, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“打蛋器沥液”的节点验收结果；log step 20 为响应超过32000输出 token 上限的 API 错误。无本次评分视频或状态日志，无法确定此节点终值；log step 11–12 的测试脚本及其输出仅属于会话探索。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，此节点无可标注的评分尝试接触。" + } + ] + }, + "whisk_on_counter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 20, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“打蛋器放台面”的节点验收结果；log step 20 为响应超过32000输出 token 上限的 API 错误。无本次评分视频或状态日志，无法确定此节点终值；log step 11–12 的测试脚本及其输出仅属于会话探索。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，此节点无可标注的评分尝试接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "revolutions", + "unit": "rev", + "threshold": 5, + "direction": "higher_better", + "value": null + }, + { + "name": "max_bowl_tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_bowl_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 20, + "where": "首步前", + "evidence_zh": "观察：log step 11–12 仅创建并运行手部几何及闭合探索脚本；log step 13、15、17、19 均无工具调用或可见输出，log step 20 报告“API Error: Claude's response exceeded the 32000 output token maximum”。评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；没有交付后的评分动作可定位到物理失败节点。" + }, + "unmet": { + "whisk_picked_up": null, + "batter_whisked": null, + "whisk_drained": null, + "whisk_on_counter": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，inputs/ 无本次 replay.mp4 或 states.jsonl，且 skeleton.state=null；四个节点均无评分器单项验收字段，故 intervals 和 final 保留 null。log step 20 明确记录模型响应超出输出上限的 API 中断，评分器确认未交付轨迹；按外因中断规则不标“没尝试”，现象和机器人根因均留空。log step 11–12 的闭手测试不是交付轨迹，不能据此标注抓握或节点完成；inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进展。" + }, + "summary_zh": "观察：本次目录评分为 success=0，但评分器同时报告 missing_trajectory=1、n_actions=0、sim_steps=0，没有可供标注的交付轨迹；四个任务节点的终值均未知。观察：会话只记录了手部探索测试（log step 11–12），末尾因响应超过输出上限而发生 API 中断（log step 20），应按外因中断处理，断点为 unknown／首步前，现象与根因留空。观察：本次无视频、无状态日志或节点验收结果，不能把会话测试或参考成功视频作为本次进度。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注符合外因中断规则：评分器 missing_trajectory=1、n_actions=0，log step 20 为 API 输出上限错误，未交付轨迹；节点终值 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，均合理。validator 通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:17:04Z", + "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/dexhand-batter-whisk-i00-privileged--mzbxasw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-batter-whisk-i00-privileged--mzbxasw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a1158064686761b69554692c05437f3e69ca8134bbb78900788790353eced2d1", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--a3preup.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--a3preup.json new file mode 100644 index 0000000000000000000000000000000000000000..7717ca8867ead4c6b979f28e136151020db30ba8 --- /dev/null +++ b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--a3preup.json @@ -0,0 +1,768 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-bicycle-pump-stroke-i00-privileged--a3preup", + "taskKey": "dexhand/bicycle_pump_stroke", + "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 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, + 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"log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第1次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第2次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第3次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第4次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第5次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第6次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第7次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_8": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第8次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_9": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第9次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_10": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第10次泵压”的节点结果；inputs/video.json 的 kind=none，亦无本次状态日志。依 N9，此节点的终值与达成时间无法判断，会话内的初态几何检查不作节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；本次未交付受评动作轨迹，无实际接触可标注。" + } + ] + }, + "pump_stroke_11": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器记录 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明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第2次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第3次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + 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明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_11": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第11次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_12": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第12次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + 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missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第26次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_27": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第27次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "pump_stroke_28": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第28次泵压”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + }, + "head_disconnected": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“泵头脱离气门”的节点结果；agent 在 log step 98 明确自述未生成有效交付文件。本次无视频和状态日志，调试测试的计数或状态不能作为该节点评分终值，故保持未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；会话调试中的右手接触不属于评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "tire_gauge_pa", + "unit": "Pa", + "threshold": 210600, + "direction": "higher_better", + "value": null + }, + { + "name": "piston_down_depth_m", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "piston_return_depth_m", + "unit": "m", + "threshold": 0.04, + 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a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3.json new file mode 100644 index 0000000000000000000000000000000000000000..e9d577fd92066e3a5c9f99a3b4c142a917d66581 --- /dev/null +++ b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3.json @@ -0,0 +1,598 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3", + "taskKey": "dexhand/bicycle_pump_stroke", + "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 140, + "control_steps_total": 2439, + "elapsed_s": 3650.598, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + 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"head_disconnected": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 125, + "evidence_zh": "推断：agent 的控制脚本在 log step 125 为合锁求得腕部目标 [0.383,-0.194,0.757] m，但根据服务关节位置经 FK 得到的实际腕部位置为 [0.354,-0.192,0.762] m；log step 128 再命令腕部沿 +x 移动0.02 m并降低0.01 m，返回腕部仅由约 [0.357,-0.191,0.763] 变为 [0.358,-0.191,0.759] m，中指末节的 x 坐标未向目标方向推进。结合该回合反复调整同一合锁动作的记录，支持局部操作的控制执行受限；缺少接触和锁角信息，无法区分接触布局、受阻与跟踪控制的具体原因。", + "source_zh": "日志", + "note_zh": "仅依据最终受评回合的指令及关节位置/FK诊断推断一般控制问题；不将 agent 的接通判断当作节点结果，也不据此断言具体碰撞或接触力异常。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none，未提供本次 replay.mp4 或状态日志；inputs/oracle/replay.mp4 是另一成功运行，不能证明本次进度或接触。日志中的图片查看记录仅有引用与偏移，没有可检查的本次图像；服务输出未报告连接标志、锁角、座深、泵压计数、气压和脱开标志，因此30个节点终值与全部视频时刻均保留未知。无法区分断点处究竟未碰到锁杆、接触后受阻还是锁角不足，现象层留空，控制根因仅为日志支持的推断。log step 70 的“手指骑在轮胎上”和 log step 125 的“泵头已入座、先前合锁方向错误”均为 agent 自述，未获画面或任务状态验证；最后一次反馈仍为 done=False、reason=None，最终仅有整体失败评分，不能补造物理终止原因。" + }, + "summary_zh": "最终受评的是 log step 34 复位后的第二回合：机器人持续尝试泵头入座与合锁，log step 128 达到2090个控制步，评分器最终 success=0；可确认完成的节点为0个，30个节点终值均未知。断点定位于“泵头接上气门”的操作中，日志中合锁指令与实际腕部/FK位置的偏差支持一般控制问题，但不足以确定具体接触现象。没有本次视频、状态日志或节点级服务结果，不能由整体零分断言所有节点为假，也不能用成功参考运行补全本次进度。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志（video.kind=none），30个节点保持未知符合N9；断点定位于 head_connected（log step 34 复位后的最终回合持续合锁）有日志依据，现象层留空并有 gap_zh，控制根因仅为日志推断且措辞克制。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": "2026-10-30T22:20:51Z", + "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/dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--pg5jaq3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d1b7e97c30bdb1c84e46f1e68940dcd0391ce7be8830449552883023272e9e86", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--jrxsjt5.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--jrxsjt5.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed80d67860e89ed3c7cb7b3d08fa10e6021f79f --- /dev/null +++ b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--jrxsjt5.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-binder-page-load-i00-privileged--jrxsjt5", + "taskKey": "dexhand/binder_page_load", + "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.725, + "peak_processes": 8, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "rings_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 8, + "text_zh": "观察：log step 8 为 agent 新建 Session 的开环测试；评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，没有报告本次交付的开环结果。无本次视频及状态日志，测试结果不能作为受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹；会话测试中的接触不计入受评尝试。" + } + ] + }, + "pages_threaded_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 61 为 agent 的单页穿环测试，输出 open_threaded=[0,3]；评分器 reward 记录 missing_trajectory=1、n_actions=0，没有交付回放的装页读数。无本次视频及状态日志，不能从会话测试认定第1张纸入环。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹；会话测试中的接触不计入受评尝试。" + } + ] + }, + "pages_threaded_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 89, + "text_zh": "观察：log step 84 展示测试脚本通过 Session.restore 恢复阶段快照，log step 89 的测试输出 linked=[3,3]、stage=4、hold_steps=50；评分器 reward 仍记录 missing_trajectory=1、n_actions=0。这些是会话测试读数，没有受评轨迹证明第2张纸入环。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹；会话测试中的接触不计入受评尝试。" + } + ] + }, + "rings_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 89, + "text_zh": "观察：log step 89 的快照恢复测试输出 rings_closed=True，log step 7 另有测试初态 toggles=[0,0]；评分器未报告受评终态且 missing_trajectory=1。无本次视频及状态日志，不能把测试终态或任务默认初态记为受评终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹；会话测试中的接触不计入受评尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_toggle_open_angle", + "unit": "rad", + "threshold": 0.5, + "direction": "higher_better", + "value": null + }, + { + "name": "max_toggle_closed_angle", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hole_capture_radius", + "unit": "m", + "threshold": 0.0035, + "direction": "lower_better", + "value": null + }, + { + "name": "binder_horizontal_shift", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "binder_tilt", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "wire_page_penetration", + "unit": "m", + "threshold": 0.0012, + "direction": "lower_better", + "value": null + }, + { + "name": "hand_page_penetration", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "page_window_translation", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "page_window_rotation", + "unit": "rad", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 90, + "where": "首步前", + "evidence_zh": "观察：log step 90 记录“This request was blocked by Gemini's filters”，此后无工具调用或交付记录；评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0。log step 80、84 保存及恢复的是阶段测试快照，log step 87、89 的成功读数属于该测试，未见交付动作文件保存及验证。" + }, + "unmet": { + "rings_opened": null, + "pages_threaded_1": null, + "pages_threaded_2": null, + "rings_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl，评分器未提供四个节点的结果或原生指标；已有 oracle 视频属于另一成功运行，不能补足本次证据。log step 90 为模型提供方过滤器中断，评分器记录缺交付；log step 87、89 虽有测试成功读数，但测试脚本从阶段快照恢复，日志未记录交付文件保存及重放验证。推断：中断发生于交付及受评结果固定之前，按外因中断处理，不归入 agent 物理失败；四节点终值未知，全部时间区间为 null，实际接触为不适用，现象与根因留空，不以缺交付推断没尝试或交付操作出错。" + }, + "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1、n_actions=0、sim_steps=0，本次没有受评轨迹可确认四个节点的完成情况；log step 87、89 的阶段4成功和50控制步静置仅为恢复快照后的会话测试结果。观察：log step 90 出现 Gemini 提供方过滤器中断，日志未见交付文件保存及验证；推断：属于交付前的外因中断，断点记 unknown／首步前，现象和根因留空。观察：本次无视频、无状态日志、无逐节点评分字段，四节点终值均保留未知。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "无视频、无状态日志；评分器记 missing_trajectory=1、n_actions=0，log step 90 为 Gemini 过滤器中断，全程无交付，会话测试读数未被当作受评事实。标签符合 03 第5条外因中断规则（ref unknown、首步前、现象与根因空、gap_zh 说明），四节点 unknown，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": "2026-10-30T22:17:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-binder-page-load-i00-privileged--jrxsjt5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-binder-page-load-i00-privileged--jrxsjt5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5172e778cdbf9aa7da78f34d8f52a69571809b55a1de83f1dd2586ebd2d03860", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--kdzoggb.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--kdzoggb.json new file mode 100644 index 0000000000000000000000000000000000000000..4abcccb17760e688bbe1d9d337a3a7beea8cd74b --- /dev/null +++ b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--kdzoggb.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-binder-page-load-i00-privileged--kdzoggb", + "taskKey": "dexhand/binder_page_load", + "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.857, + "peak_processes": 6, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "rings_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 452, + "text_zh": "观察：评分器reward报告missing_trajectory=1、n_actions=0、sim_steps=0，未报告本节点结果；log step 452的stage=1及两板约0.602 rad来自agent自建Session测试，并非交付重放。本次无视频和状态日志，无法判定评分尝试是否完成开环。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告missing_trajectory=1、n_actions=0；未交付轨迹，本节点无可标注的评分尝试接触。" + } + ] + }, + "pages_threaded_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 452, + "text_zh": "观察：评分器未报告装页节点结果且missing_trajectory=1；log step 452的open_threaded=[0,3]、pages_resting=[false,true]仅为agent测试脚本输出，不能作为评分尝试的节点值。本次无视频和状态日志，首张纸入环终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告missing_trajectory=1、n_actions=0；未交付轨迹，本节点无可标注的评分尝试接触。" + } + ] + }, + "pages_threaded_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 492, + "text_zh": "观察：评分器未报告装页张数且missing_trajectory=1；log step 492的测试输出为open_threaded=[0,0]、failure=page_dropped，属于会话调试，不能据此判定评分尝试第二张纸入环为假。本次无视频和状态日志，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告missing_trajectory=1、n_actions=0；未交付轨迹，本节点无可标注的评分尝试接触。" + } + ] + }, + "rings_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 465, + "text_zh": "观察：评分器未报告扣环终态且missing_trajectory=1；log step 465中测试脚本结束仍为stage=1、两板约0.602 rad，此为未交付的会话结果。本次无视频和状态日志，不能把测试终态或DAG描述的闭合初态作为评分尝试的最终节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告missing_trajectory=1、n_actions=0；未交付轨迹，本节点无可标注的评分尝试接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_toggle_open_angle", + "unit": "rad", + "threshold": 0.5, + "direction": "higher_better", + "value": null + }, + { + "name": "max_toggle_closed_angle", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hole_capture_radius", + "unit": "m", + "threshold": 0.0035, + "direction": "lower_better", + "value": null + }, + { + "name": "binder_horizontal_shift", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "binder_tilt", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "wire_page_penetration", + "unit": "m", + "threshold": 0.0012, + "direction": "lower_better", + "value": null + }, + { + "name": "hand_page_penetration", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "page_window_translation", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "page_window_rotation", + "unit": "rad", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 499, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json的评分器reward为missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 499仅启动agent的tune_p0_drag.py后台测试，日志至此结束，全部say为空，未见保存、提交或交付重放结果。推断：没有交付的评分轨迹，无法定位物理失败步骤，按未交付情形记为首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json与skeleton.json均记录video.kind=none，inputs/内无本次replay.mp4或states.jsonl；评分器也无逐节点结果，四个节点的intervals及final均保留null。log step 452、465是未交付的整段测试，log step 490、492、496的page_dropped是会话调试结果，不能转作评分轨迹的失败现象或节点值。run记录wall_s=3628、time_limit_s=3600，log step 499仍在运行测试，未记录最终保存动作或明确的外因中断；仅凭缺交付不能推断交付操作出错、控制或规划根因。按D23，未交付时现象与根因均留空。inputs/oracle/的成功录像属于另一运行，不能补足本次证据。", + "unmet": { + "rings_opened": null, + "pages_threaded_1": null, + "pages_threaded_2": null, + "rings_closed": null + } + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1、n_actions=0、sim_steps=0），四个节点均无可判定的最终结果。agent会话曾输出开环和单页入环的测试读数（log step 452、465），后续仍在调试纸张掉落（log step 492、496），没有证据将这些测试认定为交付尝试。断点记unknown／首步前；本次无视频、无状态日志且无逐节点评分，依D23不从会话测试补填失败现象或根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器为missing_trajectory=1、n_actions=0；标注把四个节点留unknown、断点记unknown/首步前、现象与根因留空并写gap_zh，符合D23(a)，未把会话测试读数当作评分尝试事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:17:22Z", + "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/dexhand-binder-page-load-i00-privileged--kdzoggb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-binder-page-load-i00-privileged--kdzoggb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2b9fa345bdc315bfef2f67b40ff0127e6e07c0ecbedc7173fd1a491e8cd8daaa", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sarkret.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sarkret.json new file mode 100644 index 0000000000000000000000000000000000000000..f7042cf57554d78876186deea559319e910e9aeb --- /dev/null +++ b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sarkret.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-book-page-turn-i00-privileged--sarkret", + "taskKey": "dexhand/book_page_turn", + "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.053, + "peak_processes": 9, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "target_page_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0；未提供受评回合的翻页阶段、离手保持计数或节点终态，inputs/video.json 为 kind=none，且无状态日志，故无法判断“翻过指定页”的物理终态。" + }, + { + "t": null, + "log_step": 21, + "text_zh": "观察：log step 20、21 是 agent 脚本的本地分段测试，分别以 --stop 130 和 --stop 300 运行，均未传入触发保存的 --save 参数；log step 23 又新建会话测量初始几何。上述会话读数不是已交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0，没有交付轨迹；不将本地测试中灵巧手与书页的动作或接触计划作为受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target_angle_deg", + "unit": "deg", + "threshold": 170, + "direction": "higher_better", + "value": null + }, + { + "name": "target_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "max_other_leaf_change_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "book_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "book_rotation_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0，infra_error=0；日志末条 log step 23 仍为 agent 新建会话测量书页几何，没有交付或回放验证记录，无法定位受评轨迹内的物理失败步骤。" + }, + "unmet": { + "target_page_turned": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次受评运行没有视频或状态日志，评分器明确报告缺少交付轨迹；成功参考视频 inputs/oracle/replay.mp4 属于另一运行，不能证明本次接触或节点终态。log step 17、19 的脚本错误之后仍有 log step 20、21 的本地测试，不能将这些会话事件当成受评失败现象，也没有足够证据确定导致最终缺交付的具体能力根因。推断：run.json 记录 wall_s=3603、time_limit_s=3600，与会话用尽预算相符，但预算本身不是现象或根因；依 DECISIONS.md D23，两层留空，不从缺交付反推没尝试或交付操作出错。" + }, + "summary_zh": "评分器报告缺少交付轨迹、动作数为0，因此没有可确认完成的节点；“翻过指定页”的物理终态保持未知，断点记为 unknown／首步前。日志只记录了 agent 编写控制器、分段调试及末尾几何测量，不能据此标注受评接触或失败现象；无本次视频和状态日志，现象及根因均按 D23 留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、n_actions=0；标注为节点 unknown、两层留空加 gap_zh，符合 D23 与 N9，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": "2026-10-30T22:17:06Z", + "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/dexhand-book-page-turn-i00-privileged--sarkret/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-book-page-turn-i00-privileged--sarkret/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "18b64100d104cb44fb24c975965b40f4dfc109b071131a252427523043a953cc", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--c3hgvqv.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--c3hgvqv.json new file mode 100644 index 0000000000000000000000000000000000000000..269c13d274e433fba96444ce9c065b19b634fd7b --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--c3hgvqv.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-privileged--c3hgvqv", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.004, + "peak_processes": 10, + "peak_disk_gb": 0.254, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "brush_in_hand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“拿起鞋刷”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第1块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第2块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第3块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第4块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第5块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "clods_in_tray_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第6块泥入盘”的节点结果；本次无评分视频、无状态日志。log step 122 是 agent 本地测试输出，不能作为已交付评分轨迹的节点值，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付评分轨迹；会话测试中的右手或鞋刷接触不计为本次评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "clods_in_tray", + "unit": "count", + "threshold": 6, + "direction": "higher_better", + "value": null + }, + { + "name": "clods_brushed", + "unit": "count", + "threshold": 6, + "direction": "higher_better", + "value": null + }, + { + "name": "brush_contact_controls", + "unit": "control", + "threshold": 10, + "direction": "higher_better", + "value": null + }, + { + "name": "hold", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clod_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "boot_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "boot_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 122, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 为 success=0、missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 16 的 agent 测试服务器每次请求先恢复初始快照，log step 121 又恢复悬停快照，log step 122 最后一次本地测试因 hand_touched_debris 结束。完整会话未见保存或提交评分轨迹的调用，无法将某轮测试认定为评分尝试，也无法定位实际失败的物理节点。" + }, + "unmet": { + "clods_in_tray_1": null, + "clods_in_tray_2": null, + "clods_in_tray_3": null, + "clods_in_tray_4": null, + "clods_in_tray_5": null, + "clods_in_tray_6": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 只有本次 run.json、元数据和另一次成功运行的参考视频，没有本次评分视频或状态日志；评分器明确报告 missing_trajectory=1，未提供逐节点终态和 DAG 原生指标。log step 118 的两块泥入盘后掉刷、log step 122 的右手碰泥均属恢复快照后的会话测试，不能标为评分轨迹的进度、接触或失败现象。run.json 的 wall_s=3619、time_limit_s=3600，但没有最终交付报告或解释未交付的记录；按 D23，两层失败标签留空，不以缺交付或预算耗尽反推根因，亦无证据认定具体保存操作出错或外部中断。" + }, + "summary_zh": "评分器判失败并报告未交付轨迹（missing_trajectory=1、n_actions=0、sim_steps=0），七个节点均无可判定的评分终态。agent 会话进行了多轮恢复快照后的拿刷、移刷和刷泥测试，最后 log step 122 因右手碰泥结束，但测试结果不能计入评分轨迹，断点记 unknown／首步前。缺少本次视频、状态日志和逐节点评分结果，实际接触记不适用，失败现象与根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无评分视频、无状态日志，评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0；七个节点 unknown、断点 unknown／首步前、两层留空并写 gap_zh，符合 D23(a)。会话测试（log step 118/122）未被当作评分轨迹事实，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": "2026-10-30T22:18:45Z", + "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/dexhand-boot-sole-brush-i00-privileged--c3hgvqv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--c3hgvqv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "258dd36f68cc5cd0422a895a5c6d57ceca0e08a29a49084c4d66460e5caa9449", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sb5aajd.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sb5aajd.json new file mode 100644 index 0000000000000000000000000000000000000000..80ae6890be38fbcc44f270f2e1442f17a8e8a499 --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sb5aajd.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-privileged--sb5aajd", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.305, + "peak_processes": 9, + "peak_disk_gb": 0.266, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "brush_in_hand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“拿起鞋刷”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第1块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第2块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第3块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第4块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第5块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + }, + "clods_in_tray_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0；未报告“第6块泥入盘”的节点结果。本运行无视频、无状态日志，无法确定该节点终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，故无可标注的轨迹级实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "clods_in_tray", + "unit": "count", + "threshold": 6, + "direction": "higher_better", + "value": null + }, + { + "name": "clods_brushed", + "unit": "count", + "threshold": 6, + "direction": "higher_better", + "value": null + }, + { + "name": "brush_contact_controls", + "unit": "control", + "threshold": 10, + "direction": "higher_better", + "value": null + }, + { + "name": "hold", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clod_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "boot_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "boot_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 522, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0。agent 在 log step 520 启动新的斜向扫刷会话测试，log step 521 仅返回后台任务 RUNNING，log step 522 最后自述“等待任务通知”；完整日志未见交付轨迹的保存及回放验证记录。推断：评分尝试未形成，无法将断点归到某一物理步骤，记为 unknown／首步前。" + }, + "unmet": { + "clods_in_tray_1": null, + "clods_in_tray_2": null, + "clods_in_tray_3": null, + "clods_in_tray_4": null, + "clods_in_tray_5": null, + "clods_in_tray_6": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本运行 inputs/video.json 的 kind=none，且 inputs/ 中没有本运行状态日志；仅有另一成功运行的 oracle 视频，不能证明本次结果。评分器未收到轨迹，也未报告拿刷、泥块入盘或 DAG 原生指标的节点级结果，因此全部节点终值与时间区间保留 null，实际接触记不适用。日志末尾仍为会话测试及等待，未给出最终物理结果或明确的未交付原因；wall_s=3620、time_limit_s=3600 只描述会话预算，不证明具体能力缺陷。按 D23，未交付情形的现象与根因均留空，不能把会话测试当作评分尝试，亦不能仅从交付缺失推定交付操作出错。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），评分动作数及仿真步数均为0，七个节点没有可确认的终值。agent 持续进行抓刷与扫刷会话测试，最后在 log step 522 等待后台任务，断点记 unknown／首步前，未交付的具体原因证据不足。由于本运行无视频、无状态日志且评分器未报告节点级结果，按 D23 留空现象与根因，不将会话测试计入进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1；全程只有会话测试，日志从未保存或提交交付轨迹。节点全为 unknown、现象与根因留空并附 gap_zh，符合 D23(a)；未把超时当现象或根因，无时钟转换，断点 unknown/首步前可接受。", + "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": "2026-10-30T22:18:22Z", + "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/dexhand-boot-sole-brush-i00-privileged--sb5aajd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--sb5aajd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "071e45bcaf3ce1e78012d98258c016da4740cfcfe9d29dc90e2db9cfbe8b915b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--6x5hrab.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--6x5hrab.json new file mode 100644 index 0000000000000000000000000000000000000000..69fa5504d45916a8e9e835f8805215bc5464ba4d --- /dev/null +++ b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--6x5hrab.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-drying-rack-unfold-i00-privileged--6x5hrab", + "taskKey": "dexhand/drying_rack_unfold", + "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.587, + "peak_processes": 9, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "rack_unfolded": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“展开主架”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + }, + "legs_opened_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第1条腿展开”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + }, + "legs_opened_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第2条腿展开”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + }, + "legs_opened_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第3条腿展开”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + }, + "legs_opened_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第4条腿展开”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + }, + "rack_standing": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“晾衣架正放”的终态；inputs/video.json 为 kind=none，且无状态日志，无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评分轨迹；会话调试中的右手接触不作为本次轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "fold_angle_rad", + "unit": "rad", + "threshold": 0.3141592653589793, + "direction": "lower_better", + "value": null + }, + { + "name": "leg_angles_rad[0]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[1]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[2]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[3]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10.0, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 22, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0、infra_error=0；agent 在 log step 13–19 运行抓取网格和诊断脚本，log step 20、22 均无调用、输出或报告，完整日志中未见保存或提交轨迹。推断：没有可定位物理失败步骤的受评分轨迹，断点记为 unknown／首步前。" + }, + "unmet": { + "rack_unfolded": null, + "legs_opened_1": null, + "legs_opened_2": null, + "legs_opened_3": null, + "legs_opened_4": null, + "rack_standing": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅含运行记录与视频元信息等文件，没有视频或状态日志；评分器未报告六个节点的终态及八项原生物理指标。log step 13–19 的脚本错误、零接触、少量折角变化及 rack_dropped 等结果均来自独立会话测试，未保存为受评分轨迹；log step 20、22 无最终说明。运行 wall_s=3604、time_limit_s=3600，但没有记录能确定未交付的具体能力原因。依 DECISIONS.md D23，无交付时现象和根因均留空，不把会话测试的接触失败当作评分尝试的现象，也不从缺交付推断交付操作出错；依 N9，六个节点终值及所有时间区间保留 null。" + }, + "summary_zh": "评分器判失败，记录 missing_trajectory=1、n_actions=0、sim_steps=0；没有受评分轨迹，六个节点终值均未知。agent 在 log step 13–19 进行主架端杆抓取与抬升测试，但完整日志未见保存或提交，断点为 unknown／首步前，按 DECISIONS.md D23 将现象与根因留空。没有视频、状态日志或节点级评分结果，会话测试不能代替受评分进度，八项原生指标也均未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、n_actions=0；六节点 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23(a) 与 N9，会话测试未被当作受评分尝试。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": "2026-10-30T22:17:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--6x5hrab/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--6x5hrab/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "34196a1c83747e34335d1129f88b6f435850486fa15e865247f87f87608ef0eb", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--vhjnad5.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--vhjnad5.json new file mode 100644 index 0000000000000000000000000000000000000000..71662d85b8564c83f5e718c2d523fc475a4289f8 --- /dev/null +++ b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--vhjnad5.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-drying-rack-unfold-i00-privileged--vhjnad5", + "taskKey": "dexhand/drying_rack_unfold", + "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.593, + "peak_processes": 6, + "peak_disk_gb": 0.262, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "rack_unfolded": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“展开主架”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第1条腿展开”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第2条腿展开”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第3条腿展开”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“第4条腿展开”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + }, + "rack_standing": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“晾衣架正放”的正式评分状态；inputs/video.json 为 kind=none，且无状态日志。会话调试结果不作为本节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付供正式评分的动作轨迹；会话测试中右手与晾衣架的接触不计入轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "fold_angle_rad", + "unit": "rad", + "threshold": 0.3141592653589793, + "direction": "lower_better", + "value": null + }, + { + "name": "leg_angles_rad[0]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[1]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[2]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[3]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10.0, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 113, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 84 的会话输出显示交付目录为空，最后的 log step 113 仍是三种腕部旋转模式的调试测试，均返回 rack_dropped。没有正式交付的评分轨迹，无法将断点归到某一物理步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标明无视频，inputs/ 中没有状态日志，评分器也未提供六个节点或原生指标的结果。log step 59 的展开测试及 log step 78、108、110、113 的翻转失败属于会话测试，不能认作交付轨迹的节点进度、接触或失败现象；run.json 的 wall_s=3602、time_limit_s=3600，日志最后仍在调试且无最终文字报告，未见外部过滤或服务中断的记录。推断：本次会话在预算结束前未形成轨迹交付；依 DECISIONS.md D23，无交付的 agent 侧失败将现象和根因均留空，不能仅凭交付缺失反推交付操作错误或把预算耗尽当作根因。", + "unmet": { + "rack_unfolded": null, + "legs_opened_1": null, + "legs_opened_2": null, + "legs_opened_3": null, + "legs_opened_4": null, + "rack_standing": null + } + }, + "summary_zh": "观察：评分器判定失败，记录 missing_trajectory=1、n_actions=0、sim_steps=0；六个节点均无可判定的正式评分终值，确认完成数为0，未知数为6。观察：log step 59 的会话测试曾报告主架和四腿展开，但最后的 log step 113 仍在测试翻转，不能把这些测试计作交付进度。推断：断点记为 unknown／首步前；无视频、无状态日志且无交付轨迹，现象与根因按无交付规则留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付（missing_trajectory=1、n_actions=0）、无视频、无状态日志；六节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23 与 03 的无交付规则；会话测试未被当作进度。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": 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"video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--ytjidgw.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--ytjidgw.json new file mode 100644 index 0000000000000000000000000000000000000000..3a3790335c2c7fa01b55d485a4c210fb9897583c --- /dev/null +++ b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--ytjidgw.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-drying-rack-unfold-i00-privileged--ytjidgw", + "taskKey": "dexhand/drying_rack_unfold", + "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.761, + "peak_processes": 10, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "rack_unfolded": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“展开主架”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“第1条腿展开”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“第2条腿展开”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“第3条腿展开”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + }, + "legs_opened_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“第4条腿展开”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + }, + "rack_standing": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未提供“晾衣架正放”的节点结果；log step 453 显示交付目录为空。输入无视频、无状态日志，无法判断本节点；log step 463、465 的本地测试快照不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手与晾衣架接触不计入轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "fold_angle_rad", + "unit": "rad", + "threshold": 0.3141592653589793, + "direction": "lower_better", + "value": null + }, + { + "name": "leg_angles_rad[0]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[1]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[2]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "leg_angles_rad[3]", + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10.0, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "rack_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 453, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0。log step 32 仅保存并回放临时的5步保持动作测试；log step 453 显示交付目录为空，log step 463 保存的是测试快照，log step 465 仍在恢复该快照检查姿态，未见后续交付记录。没有受评轨迹可定位失败的物理步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 MANIFEST.json、meta.json、run.json、video.json；video.kind=none，无视频和状态日志，评分器未报告逐节点终值或原生物理指标。日志是多轮本地测试而非交付轨迹，不能据其角度、接触或失败输出标注受评节点和现象。run.wall_s=3612、time_limit_s=3600；最后一条 agent 自述仍在等待测试（log step 457），随后日志止于快照检查（log step 465），没有最终完成报告或足以证明缺交付具体原因的记录。按未交付的处理规则，现象和根因均留空，不从交付缺失反推控制、规划或交付操作错误。", + "unmet": { + "rack_unfolded": null, + "legs_opened_1": null, + "legs_opened_2": null, + "legs_opened_3": null, + "legs_opened_4": null, + "rack_standing": null + } + }, + "summary_zh": "观察：评分器记录未交付轨迹（missing_trajectory=1、n_actions=0、sim_steps=0），判定 success=0；六个语义节点均无可核验的受评终值，全部保留未知。观察：log step 453 的交付目录为空，末尾 log step 463—465 仍是本地测试快照的保存与检查，故断点记为 unknown／首步前。观察：无视频、状态日志或逐节点评分结果，不能把会话测试的进展和接触记入受评轨迹，失败现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1；交付目录为空（log step 453），日志只有本地测试。六节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合规则，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": "2026-10-30T22:17:29Z", + "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/dexhand-drying-rack-unfold-i00-privileged--ytjidgw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--ytjidgw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "905db2802ea5eab6226b97f9c79c03fea077b2d35fde33372e7c53479db2b1ba", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--egfrdbr.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--egfrdbr.json new file mode 100644 index 0000000000000000000000000000000000000000..b46cbd376064b8a1a3efe545b5fda26954c9a3f4 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--egfrdbr.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--egfrdbr", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.946, + "peak_processes": 8, + "peak_disk_gb": 0.253, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "letter_in_envelope": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 59, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 59 为 Gemini 过滤器中断消息，没有可用于判断信纸插入终态的已交付轨迹。" + }, + { + "t": null, + "log_step": 58, + "text_zh": "观察：log step 21 的 agent 测试服务在执行每个脚本前调用 s.reset()；log step 55、56、57、58 的本地测试打印 success=True，log step 58 打印 stage=3、released_hold_steps=50。推断：这些属于会话测试结果，评分器仍报告轨迹缺失，不能据此给受评节点赋真值或视频时间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0；未交付受评轨迹，会话测试中的右手接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 59, + "where": "首步前", + "evidence_zh": "观察：log step 59 的末条消息明确为“This request was blocked by Gemini's filters”，其后无工具调用；评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0。推断：供应商过滤器在轨迹交付前中断会话，无受评物理步骤可定位，按外因中断记录 unknown／首步前。" + }, + "unmet": { + "letter_in_envelope": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有受评视频或状态日志，评分器未收到轨迹，也未报告节点终态或 DAG 原生连续指标；log step 59 记录供应商过滤器中断。log step 55 至 log step 58 的成功状态来自 agent 的会话测试，不能替代已交付轨迹的证据。推断：依据 CASES.md FAIL-5，属于交付前外因中断，应重测并排除机器人失败分析，故现象与根因均为空，不标“没尝试”或“交付操作出错”；节点及全部原生指标保持未知。inputs/oracle/ 的成功参考属于另一运行，不能证明本次结果。" + }, + "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1、n_actions=0，唯一节点“信纸插入信封”终态未知；log step 55 至 log step 58 虽有本地测试成功读数，但无已交付轨迹支持节点完成。观察：log step 59 以 Gemini 过滤器拦截消息结束。推断：这是交付前外因中断，按 unknown／首步前记录并建议重测，现象和根因留空；本次无视频、无状态日志，无法确认受评物理进展及接触。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、n_actions=0；log step 59 为 Gemini 过滤器拦截且无已交付轨迹，按 FAIL-5 标 unknown/首步前、现象与根因为空并有 gap_zh，标注正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:19:27Z", + "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/dexhand-envelope-letter-insert-i00-privileged--egfrdbr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--egfrdbr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dc0cb8177090788a3597140055d80b0ef0a6cec5c1c424280d23430a0f0fbcc9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hrc5yy6.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hrc5yy6.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1a42839d4212e671211959de97af550cb610ca --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hrc5yy6.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--hrc5yy6", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.036, + "peak_processes": 8, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "letter_in_envelope": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，未提供本节点的物理终态；本次无受评视频及状态日志，无法判定信纸插入并释放静置的节点值。" + }, + { + "t": null, + "log_step": 29, + "text_zh": "观察：log step 29 是 agent 新建 Session 后运行控制器的接触诊断，输出右手与桌面及手指间接触；没有交付或受评回放记录，不能用该会话测试确定本节点的进度或实际接触。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹；会话测试中右手的接触不计入受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 29, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；最后一个日志条目 log step 29 仍为 agent 控制器的会话内接触诊断，没有交付记录或受评物理片段可定位失败步骤。" + }, + "unmet": { + "letter_in_envelope": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有受评视频、状态日志或交付轨迹，评分器未报告信纸插入节点的终态及各项连续指标；inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进度。log steps 20–29 仅记录会话内测试与调试，不能作为受评失败现象；现有日志没有足够证据确定未交付的具体根因，依 DECISIONS.md D23 将现象与根因均留空。" + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1），受评动作数与仿真步数均为 0；唯一节点“信纸插入信封”的终态未知，不能由总成功标记为 0 推断其物理状态。log steps 20–29 显示 agent 仍在调试右臂及右手控制器，但这些是会话测试；断点保留 unknown／首步前，无受评视频或状态日志可支持物理失败现象与具体根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无受评视频/状态日志，评分器 missing_trajectory=1、n_actions=0；agent 在 3600 s 预算内只做会话调试、未交付。标注按 D23(a) 留空现象与根因并写 gap_zh，节点 unknown、不把会话测试或超时当现象，符合规则，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": "2026-10-30T22:18:27Z", + "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/dexhand-envelope-letter-insert-i00-privileged--hrc5yy6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--hrc5yy6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d24709a2a6dd5e54be5847a2bd45cc6094aa22fa3c724f6655963689dc68f497", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8z5pb5.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8z5pb5.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb3cc7b6fbfe4f82aa3e99c0f2a12aed73c845f --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8z5pb5.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--t8z5pb5", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.856, + "peak_processes": 9, + "peak_disk_gb": 0.267, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "letter_in_envelope": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，未提供信纸插入节点的阶段或终态读数；inputs/video.json 为 kind=none，且本次没有状态日志，无法判定节点终态。" + }, + { + "t": null, + "log_step": 347, + "text_zh": "观察：log step 347 中 agent 启动的是新建 Session 的推送测试脚本，工具只返回后台任务已启动；log step 366 的最后一条自述仍表示等待几何诊断结果，log step 368 继续检查指尖最低点且无返回输出。这些会话测试不能作为已交付受评轨迹的插入证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0，没有交付轨迹，故无可标注的受评右手与信纸或信封接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 368, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0；log step 368 的最后调用仍是 agent 的指尖几何诊断，没有返回结果或交付记录。没有受评轨迹，无法定位信纸插入过程中的物理断点，按首步前记录。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频（inputs/video.json: kind=none），inputs/ 中也没有状态日志；评分器没有节点阶段、接触或原生几何及速度指标。日志的最后自述（log step 366）仍在等待诊断，末次调用（log step 368）无返回；run.json 记录 wall_s=3606、time_limit_s=3600，但未明确记录终止机制。推断：会话持续测试直至预算附近而未交付；仅凭未交付不能确定控制、规划或保存操作的根因。依 DECISIONS.md D23，未交付时不把会话测试转换为受评失败现象，现象与根因均留空；依 N9，节点终态保留未知，所有时间区间为 null。成功参考视频属于另一次运行，不能补足本次执行证据。", + "unmet": { + "letter_in_envelope": null + } + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1，受评动作数和仿真步数均为 0；唯一的“信纸插入信封”节点没有可确认的完成记录，终态保留未知。观察：agent 在 log step 347 仍启动推送测试，log step 366 自述等待诊断，log step 368 继续检查指尖几何且无输出；未交付使断点只能记为 unknown／首步前。观察：本次无视频和状态日志，无法确定实际接触、物理失败现象或根因，两层均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、n_actions=0，未交付。节点 unknown、breakpoint unknown/首步前、两层为空并带 gap_zh，符合 D23 与 03 的无交付规则；未把会话测试当作受评证据。", + "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": "2026-10-30T22:17:24Z", + "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/dexhand-envelope-letter-insert-i00-privileged--t8z5pb5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--t8z5pb5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d2f8814a5ef7af1b79225578ba2832ba4957d0c7a5dc29ddb11709e319d563c5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--d4kpmt7.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--d4kpmt7.json new file mode 100644 index 0000000000000000000000000000000000000000..1b5c8ba5cbad51d08f7891cff1cb6a4dfd6b46f8 --- /dev/null +++ b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--d4kpmt7.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-cube-reorient-i00-privileged--d4kpmt7", + "taskKey": "dexhand/essential_cube_reorient", + "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.635, + "peak_processes": 6, + "peak_disk_gb": 0.253, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "sphere_first_orientation": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告本节点的阶段结果；inputs/video.json 的 kind=none，且未提供状态日志。log step 29 的调试脚本输出 stg=1 属独立会话测试，不是已交付评分轨迹，不能据此确认首轴检查点；本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的手指与球接触不计为本次轨迹的实际接触。" + } + ] + }, + "sphere_second_orientation": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 40, + "text_zh": "观察：评分器仅报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告次轴检查点结果；本次没有视频或状态日志。log step 40 的调试脚本曾输出 stg=2，但该会话没有交付为评分轨迹，不能据此确认本节点；终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的手指与球接触不计为本次轨迹的实际接触。" + } + ] + }, + "sphere_initial_orientation": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告第三阶段或末段保持结果；本次没有视频或状态日志。log step 67 仍在独立测试反向转动，没有交付后的最终状态或验收结果，不能判断本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的手指与球接触不计为本次轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_error_1", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_error_2", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_error_3", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "contacts", + "unit": "fingers", + "threshold": 2, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_stage", + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_invariant", + "unit": "m/s or rad/s", + "threshold": 12, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "object_displacement", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "object_height", + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器结果为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0、infra_error=0；log step 67 结束于会话测试的数值输出，未见提交轨迹或成功验收记录。推断：没有可定位物理失败步骤的评分轨迹，按无交付处理，断点为 unknown，位置为首步前。" + }, + "unmet": { + "sphere_first_orientation": null, + "sphere_second_orientation": null, + "sphere_initial_orientation": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频（inputs/video.json: kind=none）、无状态日志，评分器明确报告未交付轨迹；三个节点均无对应的评分终值字段，因此 intervals 和 final 均为 null。inputs/oracle/replay.mp4 是另一次成功运行，不能证明本次进度或接触。log step 29、40 的阶段通过和 log step 41、63、66 的失去接触都是会话测试，不能移作评分尝试的现象。运行 wall_s=3603，预算 time_limit_s=3600，但日志末条为 log step 67（agent 时间 1701 s），未记载此后结束机制，也没有足够证据确定缺交付的具体原因或外部中断。按 DECISIONS.md D23 保留空现象、空根因，不能从缺交付反推交付操作出错或没尝试。" + }, + "summary_zh": "评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0，本次未交付可评分轨迹；三个节点均无可确认的终值，断点为 unknown／首步前。日志中的首轴、次轴阶段通过及反向转动测试仅为会话证据，不能计入本次评分进度或失败现象；没有视频、状态日志和节点级评分结果，现象与根因按 D23 留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器报告 missing_trajectory=1、n_actions=0；标注把三个节点留 unknown、会话测试不计入进度、现象与根因留空并写 gap_zh，符合 D23(a)，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": "2026-10-30T22:17:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--d4kpmt7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--d4kpmt7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "95fc1cc878024aa2201e961bf331b598e375618f8126b6f71a6ac53974ae737e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--iowksk7.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--iowksk7.json new file mode 100644 index 0000000000000000000000000000000000000000..2cba11ece15f208d409d4828d1940dc0d1580987 --- /dev/null +++ b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--iowksk7.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-cube-reorient-i00-standard--iowksk7", + "taskKey": "dexhand/essential_cube_reorient", + "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 608, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 6802, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 8, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 6802, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.767, + "peak_processes": 10, + "peak_disk_gb": 2.023, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "sphere_first_orientation": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 91 的 agent 脚本按相机标记计算首轴误差并保持，log step 92 输出 HOLDERR=[-0.04199836,0.04019859,-0.09329607]，服务状态为 episode=9、control_steps=1695、done=False；该误差是 agent 自行计算的结果，不是评分器的 cube_error_1 或阶段验收。没有本次视频、状态日志或原生 stage_index、指尖接触及速度窗口记录，无法确认首检查点是否完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 72 重置后，log step 79、87 的 agent 脚本向右手手指提交首轴滚动目标；本次无视频或接触日志，无法核实哪些指尖或掌面实际接触蓝色球及接触方式。" + } + ] + }, + "sphere_second_orientation": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 112, + "text_zh": "观察：log step 92、99、110 的 agent 脚本运行第二目标控制，log step 100 的自算 TRACKERR 曾降至约0.86 rad，log step 112 的自算误差又增至约2.06 rad；这些均不是原生 cube_error_2 或 stage_index。没有本次视频、状态日志或服务逐阶段结果，既不能确认首检查点前置已通过，也不能据这些估计给第二检查点定真或定假。" + }, + { + "t": null, + "log_step": 125, + "text_zh": "观察：log step 121 至125 的 agent 脚本继续提交拇指和食指旋转目标；log step 125 的服务状态为 episode=9、control_steps=6802、done=False、reason=None。agent 在 log step 126 自述第二检查点仍未收敛，但服务没有报告该节点的完成值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 101、107、115、121 的 agent 脚本先后改变右手拇指、食指和中指目标以尝试第二轴转动；无本次图像或原生接触对，实际指尖接触、掌面承托及是否发生滑动均无法核实。" + } + ] + }, + "sphere_initial_orientation": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：log step 125 的服务仍报告 episode=9、control_steps=6802、done=False；inputs/run.json 的评分字段 n_actions=6802、sim_steps=6802、finalized=1、live_matches_replay=1，且 live_success=0、replay_success=0、no_verdict=0。该控制步数与最后回合一致。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG 的末节点验收包含前两检查点、第三阶段、terminal_hold>=25 以及未失败，完整成立即触发本任务成功；评分器明确给出最终 live_success=0 且回放一致，因此该完整终态验收为假。此推断只决定末节点，不据失败总结果反推前两个历史检查点未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_error_1", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_error_2", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_error_3", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "contacts", + "unit": "fingers", + "threshold": 2, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_stage", + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_invariant", + "unit": "m/s or rad/s", + "threshold": 12, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "object_displacement", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "object_height", + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 126, + "where": "操作中", + "evidence_zh": "观察：log step 72 的 agent 脚本作最后一次重置，之后服务持续报告 episode=9；log step 125 的 control_steps=6802 与评分记录一致。log step 92 至93 中 agent 仅凭自算约0.11 rad 的首轴误差转向第二目标，随后持续重抓和旋转至 log step 125，log step 126 自述第二检查点仍未收敛。推断：最后回合确实已开始手内重定向操作，但缺少原生阶段确认，无法排除首检查点从未通过，因此不能把第二目标的反复调整直接认作最早未修复的失败节点。" + }, + "unmet": { + "sphere_first_orientation": null, + "sphere_second_orientation": null, + "sphere_initial_orientation": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none，且没有状态日志；inputs/oracle/replay.mp4 是另一次成功，仅供参考，不能替代本次证据。所有视频时刻与区间均留空。服务未发布 stage_index、stage_hold、terminal_hold、原生朝向误差或接触力/速度窗口，首两节点和最早未修复断点无法确认；末节点仅按其完整验收与评分器成功判据的对应关系定为假。log step 92、100、112、122至126 的朝向、位置、IK与接触点估计来自 agent 自己的脚本，不能代替实际物理观测；因此无法确定断点处是姿态偏差、指尖接触不足、滑移还是保持窗口未通过，现象层留空，也不足以区分控制、接触设计或感知误差等根因，根因层留空。log step 80 的脚本异常在 log step 81 已修复并继续，不当作最终失败原因；前八回合的 task_failure 不作为最后评分回合的失败现象。" + }, + "summary_zh": "观察：最后第9回合的服务控制步数为6802，与评分记录一致；评分器确认实时与回放均失败且无基础设施错误。agent 在首轴相机估计接近目标后改做第二轴并多次调整，但首两检查点缺少原生验收证据，均为未知；包含完整有序阶段及末段保持的末节点由失败判定推断为假，最早未修复节点无法唯一定位。本次没有视频或状态日志，实际接触记未知，失败现象与根因因证据不足留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志、无原生 stage_index/cube_error；标注把前两节点记为 unknown、末节点按评分器 live_success=0 定为假、断点 unknown、现象与根因留空并写明 gap_zh，均有依据，未发现被证据否定或遗漏的结论。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:23:31Z", + "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/dexhand-essential-cube-reorient-i00-standard--iowksk7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--iowksk7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6f63e853acebb32dd8e9e6e29ec528dc45df76fb720b64a176109752cdbe2ee7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--7wen6cp.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--7wen6cp.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9e5d628a57aaed04ba921b96d480656cdac374 --- /dev/null +++ b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--7wen6cp.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-privileged--7wen6cp", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.824, + "peak_processes": 11, + "peak_disk_gb": 0.276, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pen_advanced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0；未报告受评轨迹的推进阶段结果，本次无视频、无状态日志。" + }, + { + "t": null, + "log_step": 557, + "text_zh": "观察：log step 557 中 agent 脚本新建 Session 执行推进测试，打印 stage_index=1，但只将控制量放入内存列表，未交付轨迹；该会话测试不能确定受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话推进测试的右手与笔接触不计入本轨迹。" + } + ] + }, + "pen_tripod_grip": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 missing_trajectory=1、success=0，未提供本节点的受评阶段或末态字段；无视频、无状态日志，无法判定三指换握终值。" + }, + { + "t": null, + "log_step": 593, + "text_zh": "观察：log step 593 中 agent 脚本新建 Session 进行换握后保持测试，打印握带接触 th=1、idx=0、mid=1；这是会话测试输出，没有对应交付，不能作为受评节点值或失败现象。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话换握测试的右手与笔接触不计入本轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pen_axial", + "value": null, + "unit": "m", + "threshold": [ + 0.024, + 0.036 + ], + "direction": "target" + }, + { + "name": "pen_angle_advance", + "value": null, + "unit": "rad", + "threshold": [ + 0, + 0.2 + ], + "direction": "target" + }, + { + "name": "pen_angle_tripod", + "value": null, + "unit": "rad", + "threshold": [ + 0.65, + 0.92 + ], + "direction": "target" + }, + { + "name": "speed_terminal", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "object_displacement", + "value": null, + "unit": "m", + "threshold": 0.07, + "direction": "lower_better" + }, + { + "name": "object_height", + "value": null, + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 593, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0、success=0；完整日志末条 log step 593 仍是 agent 新建 Session 后的握持测试，未记录轨迹交付。推断：无受评动作可定位物理失败节点，断点置 unknown、位置首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，inputs/ 中无本次 replay.mp4 或 states.jsonl，评分器也未给出逐节点结果；存在的 inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进度。log step 557、577、589、593 的阶段与接触记录均来自 agent 的独立会话测试，无交付轨迹可核对。运行 wall_s=3606、time_limit_s=3600，日志在测试中结束，但没有明确的终止事件或保存失败记录。推断：不能把会话推进成功或换握缺指接触作为受评进度、现象，也不能由缺交付或预算耗尽推断控制、认知或交付操作根因；按 D23 保留两层为空，按 N9 保留节点终值未知，全部视频时刻为空。", + "unmet": { + "pen_advanced": null, + "pen_tripod_grip": null + } + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，受评动作数与仿真步数均为 0；两个节点均无可确认的受评终值。会话中 agent 曾测试通过推进阶段（log step 557），末条仍在测试换握稳定性（log step 593），但没有交付轨迹，断点记 unknown／首步前。无本次视频、状态日志或逐节点评分字段，按 D23、N9 保留现象与根因为空，不将会话测试计入进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、n_actions=0；run.json 全部步骤中没有任何交付/提交调用。两节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a) 与 N9；会话测试未被当作受评进度，也没有时钟换算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:18:21Z", + "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/dexhand-essential-pen-regrasp-i00-privileged--7wen6cp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--7wen6cp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0c9328f6fa4f6b650dcf2178fc26fed1664896b75fa89c3da34d892149048222", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--e2krr4p.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--e2krr4p.json new file mode 100644 index 0000000000000000000000000000000000000000..74cd958f4ce3964e5a8fc2e65d64bb241ffc4cc1 --- /dev/null +++ b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--e2krr4p.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-privileged--e2krr4p", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.612, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pen_advanced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告受评推进阶段；inputs/video.json 为 kind=none，亦无状态日志。log step 42、44 的 stage=1 来自 agent 的独立参数测试，未交付，不能用于本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手指与笔接触不计入本次受评接触。" + } + ] + }, + "pen_tripod_grip": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告受评转向三指握持阶段或末段保持计数；本次无视频和状态日志。log step 53 的三指握带接触及 log step 67 的 stage=1 均属于会话测试，不是交付结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话测试中的手指与笔接触不计入本次受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pen_axial", + "unit": "m", + "threshold": [ + 0.024, + 0.036 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_advance", + "unit": "rad", + "threshold": [ + 0, + 0.2 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_tripod", + "unit": "rad", + "threshold": [ + 0.65, + 0.92 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "object_displacement", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "object_height", + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 83, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0。最后的 log step 83 中，agent 自述仍在等待 test_lead.py，工具仅返回后台任务 Status: DONE，没有轨迹保存或提交结果。推断：没有交付可定位物理失败步骤的受评轨迹，断点保留 unknown，位置为首步前。" + }, + "unmet": { + "pen_advanced": null, + "pen_tripod_grip": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无受评视频、无状态日志，评分器明确报告缺少轨迹，且没有两个节点的阶段判定或原生指标。log step 42、44、46、53、67 记录的是 agent 会话中的测试，不能当作受评进度、实际接触或失败现象；成功 oracle 是另一运行，也不能填补本次证据。log step 83 后没有进一步执行或交付记录；run.json 的 wall_s=3603、time_limit_s=3600 说明会话用时接近预算，但未记录为何没有交付，不能仅据此指定控制、规划或交付操作根因。按 D23，未交付的现象与根因均留空。" + }, + "summary_zh": "观察：评分器判定失败，missing_trajectory=1、n_actions=0、sim_steps=0；本次没有可确认完成的受评节点，沿轴推进与转向三指握持两个节点终值均为未知。观察：log step 44 的测试达到推进阶段，log step 53 的另一测试出现三指握带接触，但均没有交付记录，不能计入本次进度。推断：断点只能标为 unknown／首步前；缺少受评视频和状态日志，且日志未说明交付缺失的具体原因，故现象、根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无受评视频、无状态日志，评分器 missing_trajectory=1、n_actions=0、sim_steps=0；两节点终值 unknown、会话测试不计入受评进度、现象与根因留空并写 gap_zh（D23 (a)），均与证据一致，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:18:27Z", + "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/dexhand-essential-pen-regrasp-i00-privileged--e2krr4p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--e2krr4p/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d6b3ea706a217f63d3ddf1a595f64f9b54267e42be6537599ae9b4c51d069d86", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz.json new file mode 100644 index 0000000000000000000000000000000000000000..07f46fd3358af3713490e1b2a2c586aaa24db4e5 --- /dev/null +++ b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.766, + "peak_processes": 9, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pen_advanced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告推进阶段是否完成；inputs/video.json 为 kind=none，且无本次运行状态日志。log step 39 是 agent 的控制器会话测试，不能据此设定评分轨迹的推进节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未收到可评分动作轨迹；会话测试中的右手与笔接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "pen_tripod_grip": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告转向三指握阶段或末段保持结果；无本次运行视频和状态日志。log step 39 的 stage=0、success=False 属于会话测试，不能代替未交付的评分轨迹节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未收到可评分动作轨迹；会话测试中的右手与笔接触不计为本次评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pen_axial", + "unit": "m", + "threshold": [ + 0.024, + 0.036 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_advance", + "unit": "rad", + "threshold": [ + 0, + 0.2 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_tripod", + "unit": "rad", + "threshold": [ + 0.65, + 0.92 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "object_displacement", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "object_height", + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 39, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0。日志止于 log step 39 的 g5 控制器会话测试；log steps 33–37 中动作数组保存路径均在会话工作目录，未见调用 save_trajectory 将动作交付到指定输出目录。推断：未形成可供定位物理断点的评分轨迹，按无交付规则记 unknown／首步前，不把测试中的失握或速度越界当作评分尝试的失败现象。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次运行没有视频、状态日志或可评分交付轨迹；评分器只报告缺轨迹及零动作，未提供任何节点阶段终值或原生物理指标。日志最后的 log step 39 仍是会话测试，没有最终文字报告；run.json 记录 wall_s=3606，任务预算为 agent 墙钟 3600 s。推断：记录符合预算结束前未交付的情况，但没有独立终止事件记录；不将预算耗尽本身标为现象或根因。依据 DECISIONS.md D23，现象及根因均留空；会话调试中的接触丢失、速度越界和脚本异常不证明评分轨迹的物理断点或缺交付的具体根因。两个节点终值保持未知，所有视频时间为空。", + "unmet": { + "pen_advanced": null, + "pen_tripod_grip": null + } + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、n_actions=0、sim_steps=0，未收到可评分轨迹；笔沿轴前移和笔转向三指握两个节点均无可确认的终值。日志结尾仍在进行控制器会话测试，断点按无交付规则记 unknown／首步前，实际接触记不适用，现象和根因留空。缺少本次运行视频、状态日志和节点级评分结果，不能将会话试验的动作或失败移作评分轨迹证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次运行无视频、无状态日志，评分器记录 missing_trajectory=1、n_actions=0；run.json 日志（steps 2–39，约 3544 s）只有会话内测试，且没有 save_trajectory 交付。标注按 D23(a)：节点终值 unknown、现象和根因留空并附 gap_zh，预算耗尽不作现象或根因，未把会话测试当作评分轨迹，我认为合理。", + "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": "2026-10-30T22:18:25Z", + "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/dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--kgc9cxz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb4f02c72783a360fd21f89929798ef30c5f6631b7f2408bdb3cdb2a4a380594", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--kspkphx.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--kspkphx.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab98207293f4369f5430307d2e0ededf1ec6c30 --- /dev/null +++ b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--kspkphx.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-standard--kspkphx", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1473, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 3215, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 3215, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 19.38, + "peak_processes": 8, + "peak_disk_gb": 0.245, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pen_advanced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：log step 36 的服务状态为 episode 1、done=True、reason=task_failure；log step 37 复位后服务返回 episode 2，log step 105 仍为 episode 2。reward.resets=1、resumes=0、live_matches_replay=1，故以复位后的最后一回合作为受评尝试，不将第一回合的失败直接标在本回合。" + }, + { + "t": null, + "log_step": 134, + "text_zh": "观察：log step 54 的脚本注明第一阶段推进；log step 106、111、114 继续尝试以拇指推进笔，log step 116、119–137 改用食指屈曲和侧摆，注释仍要求沿笔轴向远端滑动。log step 134 服务仅返回 done=False、reason=None；笔帽位移 delta 来自 agent 自写 exp.measure，评分记录未报告 pen_axial、pen_angle 或 stage_index。本回合无视频、无状态日志，不能据这些估计确认推进阶段是否通过，final 留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 38–40、54–58、106–137 的脚本控制右手拇指、中指及食指尝试推进笔；本回合没有可检查的图像或接触记录，无法确认哪根手指实际碰到笔、是否夹住或完成手内滑移。" + } + ] + }, + "pen_tripod_grip": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 115, + "text_zh": "观察：log step 111、114 的脚本试图抬高笔尾并推进，log step 115、116 及后续食指动作试图改变笔的倾角；日志未给出服务端的三指握带接触、离掌、转角或保持计数。inputs/run.json 的 reward 只报告整体 live_success=0、replay_success=0，没有逐节点验收值；不能由整体失败确定本节点的终值。" + }, + { + "t": null, + "log_step": 137, + "text_zh": "观察：log step 134 最后一次有输出的动作仍报告服务 done=False、reason=None，log step 137 最后一次动作调用没有输出，且没有最终完成报告。本回合无视频、无状态日志，无法确认转向、三指握带夹持及稳定保持是否成立，final 留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 111–137 记录右手拇指与食指改变笔姿的动作意图；缺少本回合图像及实际接触对，无法确认是否已开展三指握带换握，也无法判定各指与笔或掌面的实际接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pen_axial", + "unit": "m", + "threshold": [ + 0.024, + 0.036 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_advance", + "unit": "rad", + "threshold": [ + 0, + 0.2 + ], + "direction": "target", + "value": null + }, + { + "name": "pen_angle_tripod", + "unit": "rad", + "threshold": [ + 0.65, + 0.92 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "object_displacement", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "object_height", + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pen_advanced", + "t": null, + "log_step": 134, + "where": "操作中", + "evidence_zh": "推断：log step 37 唯一复位后的 episode 2 是最后受评回合；log step 54 明确尝试第一阶段推进，log step 106、111、114 继续推进笔，log step 116、119–137 的食指动作仍注明向远端滑动，直到最后调用均未记录切换至三指握带终态验收。依据这些动作目标，将断点推定在笔沿轴前移的操作中；这只定位仍在尝试的步骤，不证明推进阶段的验收值。log step 134 服务仍为 done=False、reason=None，reward 最终 success=0；本回合无视频，无法定位物理失败时刻。" + }, + "unmet": { + "pen_advanced": null, + "pen_tripod_grip": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本回合 inputs/video.json 明确 kind=none，未提供本回合 replay.mp4 或 states.jsonl；inputs/run.json 中看图调用仅留下图片标记与偏移信息，不能检查实际画面。评分记录没有阶段索引、保持计数、逐节点结果及原生位姿/接触指标，两个节点的 final 和全部视频区间均为 null，实际接触为未知。断点仅由复位后脚本持续推进笔的动作目标推定，不能排除推进曾通过而后续换握未完成。agent 自写的笔帽深度估计与关节 effort 不能替代笔的真实位姿、接触力或验收结果；agent 在 log step 54 自述测量不可靠。log step 37 对第一回合失败的力峰值猜测没有服务接触力证据，而且该回合随后复位，不作为本回合现象或根因。最后调用 log step 137 没有返回，run.wall_s=3607、time_limit_s=3600 与预算结束时停止一致，但时间用完不作失败现象或根因；缺少受评物理失败和因果证据，现象与根因均留空。inputs/oracle/replay.mp4 存在，已查看成功参考的概览接触表；它不能补作本回合证据。" + }, + "summary_zh": "评分记录确认最后受评回合失败（success=0、live_matches_replay=1），但未报告逐阶段结果，两个节点终值均未知。唯一复位后的脚本持续尝试用拇指及食指推进并调整笔姿，故将断点推定为 pen_advanced 的操作中，无法确认具体物理失败现象或根因。本回合没有视频和状态日志，所有视频区间与未报告的九项原生指标均留空；成功 oracle 只用于了解目标外观。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本回合无视频、无状态日志，两节点 final 与区间均为未知，符合 N9；以复位后的 episode 2 作为受评回合有 log step 36/37 支持；现象与根因留空并写了 gap_zh，未把超时当原因。断点为推断并已标明，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:20:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--kspkphx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--kspkphx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c2948791bae9ec156fac441502f65ba70b7d505feefe72d8be420f5623ddff51", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--5sospex.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--5sospex.json new file mode 100644 index 0000000000000000000000000000000000000000..a991ffd2ef777f6fad36ef83e557a3fd399ad230 --- /dev/null +++ b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--5sospex.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-privileged--5sospex", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.804, + "peak_processes": 9, + "peak_disk_gb": 0.838, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "knob_forward_720": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 132, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告正转阶段验收结果；inputs/video.json 为 kind=none，且无状态日志。log step 132 是 agent 的开发搜索输出（候选 turn 约 11.214 rad），没有成为交付轨迹的证据，不能据此判定本节点最终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；开发测试中的右手与旋钮接触不作为受评轨迹接触。" + } + ] + }, + "knob_reversed_360_held": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 132, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告反转阶段或 terminal_hold 验收结果；本次无视频、无状态日志。log step 132 仍为 agent 的正向候选搜索，没有受评反转停稳结果可供判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；开发测试中的右手与旋钮接触不作为受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target", + "value": null + }, + { + "name": "turn:one_reverse_turn", + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target", + "value": null + }, + { + "name": "speed:stage", + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:terminal", + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:invariant", + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 132, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0。log step 131 仅拼接开发用动作数组，log step 132 继续搜索下一组手指目标并输出候选结果；全日志未见保存受评轨迹的调用，也没有最终交付报告。推断：没有形成可定位物理失败步骤的受评轨迹，因此断点未知、位置为首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确本次无视频，inputs/ 中也无状态日志；存在的 inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次动作或进度。评分器未收到轨迹且未给出两个节点的阶段验收或原生指标；log step 132 的转角、接触与候选有效性均来自开发测试，不能赋给受评节点。运行 wall_s=3607、预算 time_limit_s=3600，日志止于开发搜索，没有最终汇报或明确结束原因记录。推断：记录与预算结束前未交付相符，但不能从缺交付推定具体控制、规划或保存错误；依 D23 两个失败解释层均留空，依 N9 两节点 final 和所有视频区间为 null。", + "unmet": { + "knob_forward_720": null, + "knob_reversed_360_held": null + } + }, + "summary_zh": "评分器记录未收到轨迹文件、受评动作数为 0，正转两圈与反转停稳两个节点的最终值均无法判定。log step 132 仍在开发搜索，未形成可供定位物理失败的受评轨迹，故断点未知、位置为首步前。此次无视频或状态日志，开发测试读数及另一成功运行的参考录像不能计为本次节点进度；现象和根因依缺交付规则留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器记录 missing_trajectory=1、n_actions=0，无视频无状态日志；两个节点 final 为 null、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 D23(a) 与 N9。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": "2026-10-30T22:18:11Z", + "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/dexhand-essential-rotary-gait-i00-privileged--5sospex/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--5sospex/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c5cafb6adaccdbcca820105db1905b7edf390aad9525de0868edf26943ad5c67", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--p5srguc.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--p5srguc.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbe780b833135fd94f187c2670944f0f1f31a88 --- /dev/null +++ b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--p5srguc.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-privileged--p5srguc", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.571, + "peak_processes": 9, + "peak_disk_gb": 0.243, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "knob_forward_720": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 52, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告正转阶段验收结果；inputs/video.json 为 kind=none，且无状态日志。log step 52 的 stage 0、269 个控制步和接触中断属于开发测试，并非交付回放，不能据此填写本节点终值（N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹；会话测试中的右手与旋钮接触不计为本节点的实际接触。" + } + ] + }, + "knob_reversed_360_held": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 48, + "text_zh": "观察：评分器只报告未交付轨迹及 success=0，没有反转阶段或 terminal_hold 结果；本次无视频、无状态日志。log step 48 的生成器仅保存开发动作数组，log step 52 仍为正转阶段的开发测试，未见正式交付，故无法判断本节点终值（N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹；会话测试中的右手与旋钮接触不计为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target", + "value": null + }, + { + "name": "turn:one_reverse_turn", + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target", + "value": null + }, + { + "name": "speed:stage", + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:terminal", + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:invariant", + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 52, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0。log step 48 的生成器末尾仅将动作保存为开发目录中的 rows.npy；日志止于 log step 52 的开发测试输出，未出现正式轨迹保存或重放验收。推断：没有可定位物理失败步骤的评分轨迹，断点记 unknown，位置为首步前。" + }, + "unmet": { + "knob_forward_720": null, + "knob_reversed_360_held": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频（inputs/video.json: kind=none）、无状态日志，评分器报告未交付轨迹；reward 未提供两个物理节点及任何原生指标的终值。日志中的转角、接力和接触中断均来自开发测试，不能作为评分尝试的进度或失败现象；成功参照也不能证明本次运行发生了什么。推断：依 DECISIONS.md D23，未交付且无已证实外因时，现象与根因均留空；不能仅凭缺交付推定交付操作错误或控制根因。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1，n_actions=0，sim_steps=0），两个物理节点均无法判定，未确认任何节点达成。日志止于 log step 52 的开发测试；log step 48 的生成器仅保存开发动作数组，不能将测试进展或接触中断当作评分尝试。无本次视频及状态日志，按 D23 将断点记为 unknown／首步前，现象与根因留空，原生指标均未报告。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、n_actions=0、sim_steps=0，无视频无状态日志；两节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 03 与 D23(a)。日志最后一步（step 52）仍是开发测试，未见交付，标注未把会话测试当作评分尝试。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:17:12Z", + "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/dexhand-essential-rotary-gait-i00-privileged--p5srguc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--p5srguc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "50f6adad1aebe33584353b7ab61c542fd9c8e57e7180774ba048f8a9f98af53d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--uodurxc.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--uodurxc.json new file mode 100644 index 0000000000000000000000000000000000000000..82d5d3ef3256e7469c08193a7862bee635bdbb02 --- /dev/null +++ b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--uodurxc.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-privileged--uodurxc", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.64, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "knob_forward_720": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 74, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未提供正转阶段验收字段；inputs/video.json 为 kind=none，且无状态日志。log step 73 仅写入生成脚本，log step 74 启动后只返回后台任务通知，log step 75 为 agent 自述正在生成和验证，没有生成结果；会话测试不能证明受评正转节点取值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中右手与旋钮的接触不计入受评接触。" + } + ] + }, + "knob_reversed_360_held": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 74, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告反转阶段或终末保持结果；inputs/video.json 为 kind=none，且无状态日志。log step 73 的生成脚本仅在自身 success 为真时保存轨迹，log step 74–75 没有返回最终状态或保存确认；会话中的反转测试不是交付轨迹证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中右手与旋钮的接触不计入受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target", + "value": null + }, + { + "name": "turn:one_reverse_turn", + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target", + "value": null + }, + { + "name": "speed:stage", + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:terminal", + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "speed:invariant", + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 74, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 73 写入生成脚本，log step 74 启动该脚本后仅返回后台运行通知，log step 75 的最后自述是正在生成和验证轨迹，之后无结果记录。没有交付的受评动作，无法定位某个物理步骤的失败。" + }, + "unmet": { + "knob_forward_720": null, + "knob_reversed_360_held": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次运行无视频、无状态日志，评分器没有收到轨迹，也未报告两个物理节点的阶段验收或任何原生物理指标；因此所有 intervals 与 final 均为 null，接触为不适用。log step 74 启动的生成进程没有后续输出，无法确认其终止位置或未保存原因；运行 wall_s=3603、预算 time_limit_s=3600 只说明会话预算情况，不能作为失败现象或根因。log step 45、53、57、72 等调试回合的接触中断不能作为受评轨迹现象；按 DECISIONS.md D23 / CASES.md OPEN-16，未交付时两层留空，不从缺交付推断控制或交付操作错误。inputs/oracle/replay.mp4 是另一成功运行，不能替代本次受评证据。" + }, + "summary_zh": "评分器以 missing_trajectory=1 判定失败，受评动作数与仿真步数均为 0；两项旋钮节点均无可确认的终值，不能将会话调试进度记为受评进度。log step 73–75 只记录编写并启动生成脚本及 agent 自述正在生成验证，没有交付保存或验证成功的结果，故断点为 unknown／首步前。无本次视频、状态日志或节点验收字段，失败现象与根因按 D23 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": "无视频/状态日志，评分器 missing_trajectory=1、n_actions=0；两节点 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合 D23/OPEN-16，未把预算耗尽当作原因，也未把会话测试当作受评事实。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": "2026-10-30T22:18:12Z", + "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/dexhand-essential-rotary-gait-i00-privileged--uodurxc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--uodurxc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e67bfe7244d70a736839d80c05be3a0a845695fbb576de8aaead25abb2fa6b59", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--5y5ktk6.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--5y5ktk6.json new file mode 100644 index 0000000000000000000000000000000000000000..1e6e590faf38ac646e057505d7f2f9f1f5c8aa56 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--5y5ktk6.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--5y5ktk6", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.968, + "peak_processes": 9, + "peak_disk_gb": 0.261, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "a_quarter_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 262, + "text_zh": "观察：评分器 reward.missing_trajectory=1、n_actions=0、sim_steps=0；无本次视频或状态日志。log step 262 的 stage_index=1 属于 agent 的会话测试，未见该测试被保存并交付为评分轨迹，不能据此确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，无该轨迹的实际接触可标注。" + } + ] + }, + "a_returned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 262, + "text_zh": "观察：log step 262 的会话测试输出 stage_index=2，但评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0，未提供评分轨迹的阶段结果；无本次视频或状态日志，本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，无该轨迹的实际接触可标注。" + } + ] + }, + "a_in_tray": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 415, + "text_zh": "观察：log step 415 是 agent 新建 Session 后运行的落盘静置测试，输出 stage_index=3、terminal_hold=0，未见保存或提交；评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0。该会话测试不是评分轨迹，不能用来确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹，无该轨迹的实际接触可标注。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 415, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；完整日志末尾 log step 415 仍为 agent 的独立落盘静置测试，没有评分轨迹交付记录，无法定位某个物理步骤的失败。" + }, + "unmet": { + "a_quarter_turned": null, + "a_returned": null, + "a_in_tray": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，评分器只报告轨迹缺失和零执行动作，未报告各节点或原生指标。log step 262、415 的阶段及接触数值来自 agent 会话测试，不属于已交付的评分轨迹；inputs/oracle/replay.mp4 属于另一次成功运行，也不能证明本次进度。推断：无法确定本次三个节点的终值、实际物理失败现象或根因；按无交付规则保留空现象和空根因，不以会话测试替代评分尝试，也不从轨迹缺失反推交付操作出错。" + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1、n_actions=0、sim_steps=0，本次没有交付评分轨迹，三个节点终值均未知。观察：log step 262 的转动与回正、log step 415 的落盘静置均为 agent 会话测试，末次测试的 terminal_hold 始终为0，不能计入本次评分进度。推断：断点只能记为 unknown／首步前；因无本次视频、状态日志或交付轨迹，失败现象和根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、n_actions=0、sim_steps=0，无视频/状态日志；agent 在 3600 s 上限（wall 3608 s）内始终只做会话测试，未交付。标注为 unknown／首步前、两层为空并带 gap_zh、节点均 unknown，符合 03 无交付规则（D23）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:19:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--5y5ktk6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--5y5ktk6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "94814266b11bb2c165e24e3f205cd8c7f82de6058981f0ab6d2ee4952b7d17f3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--9sacyfj.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--9sacyfj.json new file mode 100644 index 0000000000000000000000000000000000000000..97798256d654c8ab8a79daf81c2ad64ee9c92b78 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--9sacyfj.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--9sacyfj", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.976, + "peak_processes": 10, + "peak_disk_gb": 0.835, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "a_quarter_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 53, + "text_zh": "观察：评分器 reward.missing_trajectory=1、n_actions=0、sim_steps=0，未提供该节点的受评阶段结果；inputs/video.json 的 kind=none，且无状态日志。log step 53 的候选测试输出 stage_index=1 属于会话开发记录，不能作为受评轨迹的节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0；没有交付的受评轨迹，无法标注该步的实际接触，会话测试不计入。" + } + ] + }, + "a_returned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 68, + "text_zh": "观察：log step 68 的候选测试输出 stage_index=2，但评分器记录 missing_trajectory=1、n_actions=0，没有交付轨迹或该节点的受评结果；无本次视频及状态日志，不能把会话测试的回正进展计入受评轨迹，终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0；没有交付的受评轨迹，无法标注该步的实际接触，会话测试不计入。" + } + ] + }, + "a_in_tray": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 115, + "text_zh": "观察：log step 115 的候选测试输出 stage_index=3、terminal_hold=0、success=False，随后测试脚本出现 NameError；这些是会话测试结果。评分器记录 missing_trajectory=1、n_actions=0，未报告受评落盘或静置终值，且无本次视频及状态日志，故节点未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0；没有交付的受评轨迹，无法标注该步的实际接触，会话测试不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 130, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0、infra_error=0；log step 127、129 的脚本仅在测试 success 为真时保存最终轨迹，log step 130 仍在查询候选测试日志及交付目录，输出为空，没有保存成功或回放验证的记录。没有交付的受评轨迹，不能以会话中正在调试的释放步骤指定物理断点。" + }, + "unmet": { + "a_quarter_turned": null, + "a_returned": null, + "a_in_tray": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频（inputs/video.json: kind=none），无状态日志，评分器未提供各节点终值或原生物理指标，且 missing_trajectory=1。log step 53、68、115 的阶段记录与 log step 123 关于B缓慢转动的自述均属于候选测试，不能当作受评轨迹的物理现象；log step 127—130 没有返回保存或验证成功的结果。运行记录 wall_s=3606、time_limit_s=3600，与预算结束相符，但不能据此归因为控制、规划或交付操作出错，也没有证据确认外部中断。按 DECISIONS.md D23，无交付且未证实外因时保留空现象和根因，不标没尝试；缺少受评轨迹也无法定位具体失败节点或视频时刻。" + }, + "summary_zh": "评分器判定失败且缺少交付轨迹（missing_trajectory=1、n_actions=0），三个节点的受评终值均未知，实际接触均为不适用。会话候选测试曾输出 stage_index=3、terminal_hold=0（log step 115），最后仍在调试释放与稳持（log step 123—130），这些不能算作受评进度。无本次视频及状态日志，断点记 unknown／首步前，并按 DECISIONS.md D23 将现象和根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1、n_actions=0，无交付轨迹；三节点终值 unknown、接触不适用、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)。会话测试的 stage_index 未被当作受评进度，也未把预算耗尽当作原因。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": "2026-10-30T22:21:29Z", + "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/dexhand-essential-two-object-i00-privileged--9sacyfj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--9sacyfj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9f128130b52c26f50fe660939962e4d01a94decdff47ec1904bd47d1d2c0fa73", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--cdpetpm.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--cdpetpm.json new file mode 100644 index 0000000000000000000000000000000000000000..104c0742115bb1bc24e303927fa2002420d7f47d --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--cdpetpm.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--cdpetpm", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.721, + "peak_processes": 9, + "peak_disk_gb": 0.253, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "a_quarter_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：log step 37中，agent的会话测试脚本输出stage_index=1；评分器reward却记录missing_trajectory=1、n_actions=0、sim_steps=0，未提供此节点的受评结果。无本次受评视频或状态日志，不能把测试中的转动进度记为交付节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，无交付轨迹；会话测试中的右手与核桃接触不计入受评轨迹接触。" + } + ] + }, + "a_returned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67中，agent的会话测试脚本输出stage=2；本次评分器只记录轨迹缺失和零受评动作，没有回正节点的受评结果。无受评视频或状态日志，测试输出不能决定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，无交付轨迹；会话测试中的右手与核桃接触不计入受评轨迹接触。" + } + ] + }, + "a_in_tray": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：log step 71中，agent的释放测试脚本输出success=True、stage_index=3、terminal_hold=25；log step 70显示该脚本从复制的第二阶段状态测试释放，未保存交付动作文件。评分器reward记录missing_trajectory=1且n_actions=0；该会话测试不是受评落盘结果，本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，无交付轨迹；会话测试中的右手与核桃接触不计入受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "force", + "unit": "N", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "palm_drift", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "wrist_rotation", + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_terminal", + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 72, + "where": "首步前", + "evidence_zh": "观察：log step 72以“This request was blocked by Gemini's filters”结束，之后没有交付调用；评分器reward记录missing_trajectory=1、n_actions=0、sim_steps=0。log step 71的success=True来自agent的会话测试，未保存并验证交付轨迹，因此没有可定位的受评物理失败步骤。" + }, + "unmet": { + "a_quarter_turned": null, + "a_returned": null, + "a_in_tray": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json明确kind=none，本次没有受评视频或状态日志；inputs/oracle/replay.mp4属于另一成功运行，不能证明本次节点进度。log step 72记录Gemini供应商过滤拦截，评分器记录missing_trajectory=1，未交付受评轨迹；log step 37、67、71均为会话测试输出，不能替代受评节点结果。推断：按外部因素中断处理，应重试并排除出机器人失败分析；断点为unknown／首步前，现象和根因留空，不标没尝试，也不从缺交付推断交付操作出错。所有节点的终值及视频区间均未知，原生指标未在评分器字段报告。" + }, + "summary_zh": "本次未交付受评动作轨迹，评分器记录missing_trajectory=1、n_actions=0，三个节点均无可确认的受评终值。log step 71的会话脚本虽输出成功，但未形成已保存并验证的交付，随后log step 72出现Gemini过滤拦截，按外部中断处理，断点unknown／首步前，现象与根因留空。没有本次受评视频或状态日志，成功参考视频属于另一运行，无法补足节点与接触证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "同意：本次无受评视频/状态日志，评分器 missing_trajectory=1、n_actions=0；log step 70-71 的脚本只做会话内验证，未保存交付动作，step 72 为 Gemini 过滤拦截，按外部因素中断处理（空现象/根因+gap_zh、断点 unknown/首步前）合理，节点均为 unknown 且 contact_actual 为不适用，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": "2026-10-30T22:18:42Z", + "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/dexhand-essential-two-object-i00-privileged--cdpetpm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--cdpetpm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "87234f222b8722383f64db6b9d6cd619917939ceacaec6e79c37cfafafe3489e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--e7ctvui.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--e7ctvui.json new file mode 100644 index 0000000000000000000000000000000000000000..42c4c4e6c476418575f814be79196379da822b24 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--e7ctvui.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--e7ctvui", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.754, + "peak_processes": 9, + "peak_disk_gb": 0.261, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "guard_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；本次无视频和状态日志，评分器未报告“前护罩就位”的终态。log step 345 仅启动另一次基于缓存前缀的新建 Session 调试，未给出交付结果，不能据此判断该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，本次没有交付轨迹，故无受评轨迹接触可标注；会话调试接触不计入。" + } + ] + }, + "clip_45_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；本次无视频和状态日志，评分器未报告“合上45度扣”的终态。log step 345 仅启动另一次基于缓存前缀的新建 Session 调试，未给出交付结果，不能据此判断该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，本次没有交付轨迹，故无受评轨迹接触可标注；会话调试接触不计入。" + } + ] + }, + "clip_135_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；本次无视频和状态日志，评分器未报告“合上135度扣”的终态。log step 345 仅启动另一次基于缓存前缀的新建 Session 调试，未给出交付结果，不能据此判断该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，本次没有交付轨迹，故无受评轨迹接触可标注；会话调试接触不计入。" + } + ] + }, + "clip_225_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；本次无视频和状态日志，评分器未报告“合上225度扣”的终态。log step 345 仅启动另一次基于缓存前缀的新建 Session 调试，未给出交付结果，不能据此判断该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，本次没有交付轨迹，故无受评轨迹接触可标注；会话调试接触不计入。" + } + ] + }, + "clip_315_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0；本次无视频和状态日志，评分器未报告“合上315度扣”的终态。log step 345 仅启动另一次基于缓存前缀的新建 Session 调试，未给出交付结果，不能据此判断该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，本次没有交付轨迹，故无受评轨迹接触可标注；会话调试接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 345, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0、infra_error=0；log step 343 中 agent 仍自述正在评估腕部撤回与放松抓握，最后的 log step 345 只返回调试后台任务已启动，没有交付或验证结果。推断：无可定位的受评物理步骤，按未交付轨迹记 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，且无本次状态日志；评分器仅报告缺交付及零动作，未报告任何节点或原生几何指标。log step 262 的 Stage=1、Clips locked=2，以及 log step 323、341 的松手或撤回失败读数，均来自 agent 自建 Session 的调试测试，不能视为受评终态或失败现象；log step 345 启动的后台测试没有返回最终结果。推断：按 DECISIONS.md D23 与 N9，五节点终值保留未知，缺交付不足以确定物理断点或根因，现象及根因均留空；成功参考视频属于另一运行，不能补足本次证据。", + "unmet": { + "guard_seated": null, + "clip_45_closed": null, + "clip_135_closed": null, + "clip_225_closed": null, + "clip_315_closed": null + } + }, + "summary_zh": "评分器判定未交付轨迹（missing_trajectory=1，n_actions=0，sim_steps=0），本次五个节点均无可确认的受评终态。日志会话曾测试护罩就位及合扣，至 log step 343、345 仍在调试松手、腕部撤回和就位位置；这些测试不计入轨迹进度，断点为 unknown／首步前。无本次视频、状态日志或逐节点评分结果，依 D23、N9 保留节点未知并将失败现象、根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器仅报告 missing_trajectory=1、n_actions=0、sim_steps=0；标注文件按 D23(a)/N9 将五节点留未知，断点 unknown/首步前，现象与根因留空并写 gap_zh，且不把会话调试读数当作受评事实。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": "2026-10-30T22:29:58Z", + "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/dexhand-fan-guard-install-i00-privileged--e7ctvui/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--e7ctvui/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83b44501780aae9ed56694166fbec18a715ff7ef8f35ff9fcb45e0caba631107", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--ftzpnvq.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--ftzpnvq.json new file mode 100644 index 0000000000000000000000000000000000000000..84960e9a03546734eb80c7c8b8f6045d568de6c6 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--ftzpnvq.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--ftzpnvq", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.487, + "peak_processes": 8, + "peak_disk_gb": 0.254, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "guard_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 139, + "text_zh": "观察：inputs/video.json标记本次无视频，且无状态日志；评分器reward仅报告missing_trajectory=1、n_actions=0、sim_steps=0和success=0，未报告“前护罩就位”的受评终值。log step 139仍是agent自建Session的抓取测试输出，不能作为受评节点值；按N9保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，未交付受评轨迹；会话测试中的手指接触不计入本节点。" + } + ] + }, + "clip_45_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 139, + "text_zh": "观察：inputs/video.json标记本次无视频，且无状态日志；评分器reward仅报告missing_trajectory=1、n_actions=0、sim_steps=0和success=0，未报告“合上45度扣”的受评终值。log step 139仍是agent自建Session的抓取测试输出，不能作为受评节点值；按N9保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，未交付受评轨迹；会话测试中的手指接触不计入本节点。" + } + ] + }, + "clip_135_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 139, + "text_zh": "观察：inputs/video.json标记本次无视频，且无状态日志；评分器reward仅报告missing_trajectory=1、n_actions=0、sim_steps=0和success=0，未报告“合上135度扣”的受评终值。log step 139仍是agent自建Session的抓取测试输出，不能作为受评节点值；按N9保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，未交付受评轨迹；会话测试中的手指接触不计入本节点。" + } + ] + }, + "clip_225_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 139, + "text_zh": "观察：inputs/video.json标记本次无视频，且无状态日志；评分器reward仅报告missing_trajectory=1、n_actions=0、sim_steps=0和success=0，未报告“合上225度扣”的受评终值。log step 139仍是agent自建Session的抓取测试输出，不能作为受评节点值；按N9保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，未交付受评轨迹；会话测试中的手指接触不计入本节点。" + } + ] + }, + "clip_315_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 139, + "text_zh": "观察：inputs/video.json标记本次无视频，且无状态日志；评分器reward仅报告missing_trajectory=1、n_actions=0、sim_steps=0和success=0，未报告“合上315度扣”的受评终值。log step 139仍是agent自建Session的抓取测试输出，不能作为受评节点值；按N9保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录missing_trajectory=1，未交付受评轨迹；会话测试中的手指接触不计入本节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 139, + "where": "首步前", + "evidence_zh": "观察：评分器reward记录missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 139最后执行的仍是agent抓取测试，输出After upright后fail: guard_dropped，日志没有后续保存交付或最终报告。推断：没有可定位物理断点的受评轨迹，断点记unknown、首步前；测试掉落不当作受评失败现象。" + }, + "unmet": { + "guard_seated": null, + "clip_45_closed": null, + "clip_135_closed": null, + "clip_225_closed": null, + "clip_315_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频、无状态日志且未交付受评轨迹，评分器也没有逐节点终值，五个节点的intervals与final均为null。inputs/oracle/replay.mp4属于另一成功运行，不能补作本次证据。日志中的下扣闭合、搬运与guard_dropped均为agent会话测试（如log step 133、139），不能标为本次受评轨迹的进度或现象。run.json记录会话wall_s=3602、time_limit_s=3600，末尾仍在调试且无最终报告，会话耗时接近预算；日志未明确给出终止事件或可归因的交付操作错误。依D23，对agent侧未交付保留现象和根因两层为空，不从缺交付或会话测试反推受评根因。" + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1、n_actions=0、sim_steps=0），本次成功值为0；五个节点均无可确认的受评终值，不能把会话测试中合下扣或搬运护罩的结果计入进度。断点为unknown／首步前；会话在预算附近结束时仍在调试抓取，未见保存交付或最终报告。本次没有视频和状态日志，按N9及D23保留节点未知、接触不适用，现象与根因均为空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器仅报告missing_trajectory=1、n_actions=0；五节点unknown、断点unknown/首步前、现象与根因为空并附gap_zh，符合N9与D23(a)，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--wkigebp.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--wkigebp.json new file mode 100644 index 0000000000000000000000000000000000000000..69f7d6b5ac0dc544fdd63d17958d00f43900d429 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--wkigebp.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--wkigebp", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.787, + "peak_processes": 9, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "guard_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的输出目录检查没有列出交付文件；inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“前护罩就位”的节点结果；本次没有视频或状态日志，无法判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；会话调试中的手部接触不计入本次受评轨迹。" + } + ] + }, + "clip_45_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的输出目录检查没有列出交付文件；inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上45度扣”的节点结果；本次没有视频或状态日志，无法判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；会话调试中的手部接触不计入本次受评轨迹。" + } + ] + }, + "clip_135_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的输出目录检查没有列出交付文件；inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上135度扣”的节点结果；本次没有视频或状态日志，无法判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；会话调试中的手部接触不计入本次受评轨迹。" + } + ] + }, + "clip_225_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的输出目录检查没有列出交付文件；inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上225度扣”的节点结果；本次没有视频或状态日志，无法判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；会话调试中的手部接触不计入本次受评轨迹。" + } + ] + }, + "clip_315_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的输出目录检查没有列出交付文件；inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上315度扣”的节点结果；本次没有视频或状态日志，无法判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；会话调试中的手部接触不计入本次受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 92, + "where": "首步前", + "evidence_zh": "观察：log step 92 的最终目录检查未列出任何交付文件；log step 93 中 agent 明确自述未生成轨迹。评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0，因而没有可定位物理步骤的受评轨迹，断点记 unknown、首步前。" + }, + "unmet": { + "guard_seated": null, + "clip_45_closed": null, + "clip_135_closed": null, + "clip_225_closed": null, + "clip_315_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，输入中没有本次回放或状态日志；评分器只报告轨迹缺失，未报告五个节点终值或原生几何、速度指标。log step 79 的下扣闭合结果及 log step 84、87、91 的抓罩测试均来自 agent 会话调试，未保存为交付轨迹，不能作为本次节点、实际接触或物理失败现象的依据。log step 90 的预算读数仍为 time_left_s=1874.9，log step 93 随后主动结束并承认无交付；没有外部中断证据，不采信其“时间用完”的自述为归因。按 DECISIONS.md D23，agent 侧未交付且无受评物理尝试时，现象与根因留空；不由交付缺失反推交付操作出错，也不由其抓罩诊断推断任务不可行。参考成功视频属于另一运行，不能补足本次证据。" + }, + "summary_zh": "本次没有交付受评轨迹：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，log step 92 检查输出目录为空，五个节点终值均未知。agent 在 log step 79 的会话测试中闭合了两个下扣，随后继续测试抓罩，但 log step 93 承认未生成轨迹，故断点记 unknown／首步前。没有本次视频、状态日志或逐节点评分结果，按 D23 不将会话测试记为受评进展，现象和根因均留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志、无交付轨迹（missing_trajectory=1，log step 92 输出目录为空）；五节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 D23(a)，未把会话测试当作受评事实，也未把 agent 的“时间用完”当作原因。", + "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": "2026-10-30T22:27:38Z", + "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/dexhand-fan-guard-install-i00-privileged--wkigebp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--wkigebp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2612d9a4d17ad575f88e1c5bd77a243dcf0f00d6fe7d583777aabab18822c363", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--z4k5tse.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--z4k5tse.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f7ca7cf2585865787a95cea20a941ce42e662c --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--z4k5tse.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--z4k5tse", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.236, + "peak_processes": 6, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "guard_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 13, + "text_zh": "观察：本次无视频、无状态日志；评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未报告“前护罩就位”的节点结果。log step 13记录响应超过32000输出token上限的API错误，无法据此判定该节点的物理终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，未交付可评分的机器人轨迹，因此轨迹级接触不适用。" + } + ] + }, + "clip_45_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 13, + "text_zh": "观察：本次无视频、无状态日志；评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上45度扣”的节点结果。log step 13记录响应超过32000输出token上限的API错误，无法据此判定该节点的物理终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，未交付可评分的机器人轨迹，因此轨迹级接触不适用。" + } + ] + }, + "clip_135_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 13, + "text_zh": "观察：本次无视频、无状态日志；评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上135度扣”的节点结果。log step 13记录响应超过32000输出token上限的API错误，无法据此判定该节点的物理终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，未交付可评分的机器人轨迹，因此轨迹级接触不适用。" + } + ] + }, + "clip_225_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 13, + "text_zh": "观察：本次无视频、无状态日志；评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上225度扣”的节点结果。log step 13记录响应超过32000输出token上限的API错误，无法据此判定该节点的物理终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，未交付可评分的机器人轨迹，因此轨迹级接触不适用。" + } + ] + }, + "clip_315_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 13, + "text_zh": "观察：本次无视频、无状态日志；评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未报告“合上315度扣”的节点结果。log step 13记录响应超过32000输出token上限的API错误，无法据此判定该节点的物理终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，未交付可评分的机器人轨迹，因此轨迹级接触不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 13, + "where": "首步前", + "evidence_zh": "观察：log steps 2–5仅记录agent读取任务及模拟器源码，log steps 6、8、10、12没有工具调用或输出；log step 13以“API Error: Claude's response exceeded the 32000 output token maximum”结束。评分器记录missing_trajectory=1、n_actions=0、sim_steps=0，未产生已交付的评分尝试，无法定位到某个物理步骤。" + }, + "unmet": { + "guard_seated": null, + "clip_45_closed": null, + "clip_135_closed": null, + "clip_225_closed": null, + "clip_315_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json的kind为none，本次无视频、无状态日志；log steps 6、8、10、12的tok.out各为32000，calls均为空且say、out.text均为空，log step 13以响应超过32000输出token上限的API错误结束。评分器记录missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0，未报告五个节点或原生物理指标的结果。推断：连续耗尽输出上限后仍无交付，按docs/03_trajectory.md Step 3第5项及DECISIONS.md D23当前处理归为agent侧无交付，不作为外部因素；保留断点unknown／首步前，两层留空，不标“没尝试”，也不从缺交付反推具体能力根因。inputs/oracle/replay.mp4属于另一成功运行，不能作为本次动作或终态证据。" + }, + "summary_zh": "本次没有交付可评分的机器人轨迹，评分器记录missing_trajectory=1、n_actions=0、sim_steps=0；五个节点均无可确定的终态，保留未知。log steps 6、8、10、12各记录32000个输出token却无工具调用或可见文本，log step 13以输出上限错误结束，据此按agent侧无交付处理，非外部因素，保留success=0及断点unknown／首步前。本次无视频、无状态日志或逐节点评分结果，无法判定物理失败现象或具体根因，按D23当前处理将两层留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全unknown、断点unknown/首步前、两层空，结构正确（无视频无状态日志）；但gap_zh与summary把这次中断定性为“外部中断/不是机器人操作失败”，证据不支持：log steps 6/8/10/12四次连续各输出32000 token却无任何工具调用或文本，是agent自身的超长输出（API错误只是它触发的输出上限），按D23应为agent侧无交付，而非外部因素。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 9, + "summary_zh": "无视频无状态日志；节点全unknown、断点unknown/首步前、两层留空并有gap_zh，符合D23(a)；已按上轮意见改为agent侧无交付，与run.json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": "2026-10-30T22:30:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--z4k5tse/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--z4k5tse/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--z4k5tse/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--z4k5tse/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5f08a2feaf4ae69b4be59867cb0d510efc8233d80074d6d42cea89655d82b500", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--d3rrwwm.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--d3rrwwm.json new file mode 100644 index 0000000000000000000000000000000000000000..41ba4371de5d05750a9bea344c697372c258f802 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--d3rrwwm.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--d3rrwwm", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": null, + "source": "run.json state", + "raw": {} + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "guard_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的机器人服务返回 episode=1、control_steps=25、done=False、reason=None，但未报告“前护罩就位”的判据或节点结果；run.json 的 reward={}、success=null。本次无视频及状态日志，无法判定该节点的终值或达到时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频、状态日志或任务接触读数，无法确认右手与前护罩之间是否及如何接触；不以任务DAG的典型接触方案代填。" + } + ] + }, + "clip_45_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的机器人服务返回 episode=1、control_steps=25、done=False、reason=None，但未报告“合上45度扣”的判据或节点结果；run.json 的 reward={}、success=null。本次无视频及状态日志，无法判定该节点的终值或达到时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频、状态日志或任务接触读数，无法确认右手与45度夹扣之间是否及如何接触；不以任务DAG的典型接触方案代填。" + } + ] + }, + "clip_135_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的机器人服务返回 episode=1、control_steps=25、done=False、reason=None，但未报告“合上135度扣”的判据或节点结果；run.json 的 reward={}、success=null。本次无视频及状态日志，无法判定该节点的终值或达到时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频、状态日志或任务接触读数，无法确认右手与135度夹扣之间是否及如何接触；不以任务DAG的典型接触方案代填。" + } + ] + }, + "clip_225_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的机器人服务返回 episode=1、control_steps=25、done=False、reason=None，但未报告“合上225度扣”的判据或节点结果；run.json 的 reward={}、success=null。本次无视频及状态日志，无法判定该节点的终值或达到时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频、状态日志或任务接触读数，无法确认右手与225度夹扣之间是否及如何接触；不以任务DAG的典型接触方案代填。" + } + ] + }, + "clip_315_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的机器人服务返回 episode=1、control_steps=25、done=False、reason=None，但未报告“合上315度扣”的判据或节点结果；run.json 的 reward={}、success=null。本次无视频及状态日志，无法判定该节点的终值或达到时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频、状态日志或任务接触读数，无法确认右手与315度夹扣之间是否及如何接触；不以任务DAG的典型接触方案代填。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 40, + "where": "首步前", + "evidence_zh": "推断：完整日志中唯一返回执行结果的运动为 log step 40：agent 脚本将腕部z目标从0.95 m提高至0.97 m，机器人服务返回执行25个控制步；log step 43仍报告episode=1、done=False。其余动作是观察、正运动学计算和环境诊断，没有向护罩或夹扣提交操作轨迹的记录，因此只能定位到任务步骤开始前，不能唯一指定某个DAG节点；无视频，不填写视频时刻。" + }, + "unmet": { + "guard_seated": null, + "clip_45_closed": null, + "clip_135_closed": null, + "clip_225_closed": null, + "clip_315_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的kind=none，inputs/中没有本次replay.mp4或states.jsonl；inputs/oracle/replay.mp4属于另一个成功运行，不能证明本次进展。run.json记录state=failed、success=null、reward={}，没有任务节点终值或评分器判负原因；log step 40仅记录25个控制步的腕部抬升测试，log step 43的服务状态仍为done=False。log step 51、54、58只返回后台任务启动信息，最后log step 59是agent自述仍在检查手指配置，未给出完成报告或中断原因。无本次可视证据，无法确认实际接触与物理失败现象；亦无充分证据区分控制困难、决策问题或外部中断，故两层留空，不从failed或总墙钟时长推断根因。" + }, + "summary_zh": "运行记录为failed，但success=null、reward={}，五个任务节点均无可判定的终值，不能将未知计作已完成或未完成。log step 40只确认机器人执行了25个控制步的腕部抬升测试，log step 43仍为未终结的episode；没有开始护罩装配或合扣操作的日志证据，断点记首步前、具体节点未知。本次无视频和状态日志，且缺少最终服务裁决及明确中断原因，实际接触、失败现象和根因均无法确认。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，run.json 为 state=failed、success=null、reward={}；五个节点均为 unknown 且 contact_actual 为未知，符合 N9。日志只有只读检查和一次 25 控制步的腕部抬升测试，没有向护罩或夹扣提交操作，断点记首步前（ref unknown）、两层留空并写 gap_zh，符合 D23(a)。引用的 log step 40/43 存在，未把 agent 或墙钟时间换算成视频时间。未发现需要修改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:23:52Z", + "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/dexhand-fan-guard-install-i00-standard--d3rrwwm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--d3rrwwm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3e1793a8e6e506b7ee6c961d61ba33cd6697d03de9f50a80499289b6b2acc65b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--n4suxtn.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--n4suxtn.json new file mode 100644 index 0000000000000000000000000000000000000000..6b6b09764a06f48b92f54eee4af7719bba408ede --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--n4suxtn.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--n4suxtn", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.399, + "peak_processes": 11, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "lid_unscrewed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告 stage 或本节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 50 是 agent 本地脚本测试，输出 stage 0、turn=0.623 rad、success=False，不能作为已交付评分轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话中右手的测试接触不计为本次评分轨迹的实际接触。" + } + ] + }, + "lid_on_worktop": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 42, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1，未提供抬离、放置、hold_steps 或本节点终值；本次无视频及状态日志。log step 42 的脚本仅在 s.success 为真时保存轨迹，后续测试没有成功保存记录；不能从总分为零推定罐盖放置节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有可标注放置接触的交付轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 50, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0。log step 40、42 的保存语句均由 if s.success 保护；最后的 log step 50 仍为 agent 的本地测试，输出 success=False，之后无交付确认或最终汇报。推断：没有形成可评分的物理轨迹，不能把会话中的拧盖测试选作评分轨迹的断点，故定位为 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有本次 run.json、video.json 等记录及另一次成功运行的 oracle 视频，没有本次 replay.mp4 或 states.jsonl；评分器确认轨迹缺失，且没有逐节点或原生物理指标结果。run.json 的 wall_s=3605、time_limit_s=3600，最后的 log step 50 仍是未成功的本地脚本测试。推断：会话在预算附近结束且未交付；时间耗尽本身不作现象或根因。按 DECISIONS.md D23，未交付时不把会话测试中的接触、罐身倾斜或逆解问题移作评分轨迹现象，也不据缺交付反推根因；两层均留空。按 N9，两节点 final 均为 null，全部 intervals 为 null；九项原生指标未由评分器报告，均留 null。成功 oracle 属于另一运行，不能补足本次证据。", + "unmet": { + "lid_unscrewed": null, + "lid_on_worktop": null + } + }, + "summary_zh": "评分器未收到交付轨迹（missing_trajectory=1、n_actions=0），本次无视频及状态日志，两节点的达成情况均未知。agent 的保存代码只在本地测试成功后写出轨迹（log step 40、42），最后一次测试仍未成功（log step 50），会话用时接近预算上限；这些会话测试不能代替评分轨迹。断点记为 unknown／首步前，按 D23 留空现象及根因；评分器也未报告九项原生物理指标。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、n_actions=0，无视频无状态日志；两节点 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23(a) 与 N9。log step 40、42 的保存语句确由 if s.success 保护，step 50 为未成功的本地测试，引用属实。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": "2026-10-30T22:19:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--n4suxtn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--n4suxtn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7f7b924621f200d72ad9de18b1cb9a259c4cc4d1e1719ea786b7522e17e740a3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pntki5r.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pntki5r.json new file mode 100644 index 0000000000000000000000000000000000000000..a4364acce8ef1e95808535c9b80b5732993ea389 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pntki5r.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--pntki5r", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.124, + "peak_processes": 7, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "lid_unscrewed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告评分轨迹的 stage 或拧盖结果；inputs/video.json 的 kind=none，亦无状态日志。log step 57 的 stage=1 来自 agent 的会话测试，不能作为交付轨迹完成拧盖的证据，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；未交付评分轨迹，轨迹级接触不适用，会话测试中的右手与罐盖接触不计入。" + } + ] + }, + "lid_on_worktop": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：评分器 reward 记录 missing_trajectory=1，未报告评分轨迹的放盖状态或 hold_steps；本次没有评分视频及状态日志。log step 60 的两组 success=True、stage=3、hold_steps=50 是从 snap_lifted 恢复后进行的会话测试；log step 63 仍在测试放盖，log step 64 随后显示过滤器中断，不能据此给评分节点赋真值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；未交付评分轨迹，轨迹级接触不适用，会话测试中的右手与罐盖接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 64, + "where": "首步前", + "evidence_zh": "观察：log step 64 的最终消息为“This request was blocked by Gemini's filters”，无后续调用或交付；评分器 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0。推断：供应商过滤器在交付前中断会话，无评分轨迹可定位物理失败步骤；首步前仅指评分尝试，不代表 agent 未进行会话测试。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，无评分视频和状态日志，评分器仅报告缺少轨迹，未给出两个节点的终态及原生指标。log step 57–63 是包含快照恢复的会话测试，其中 log step 60 虽出现成功结果，但并非已保存且验证的交付；log step 64 显示 Gemini 过滤器中断。推断：按外部中断规则，本次应重试并排除出 agent 失败分析；保留目录 success=0，节点终值均未知，断点 unknown／首步前，现象与根因均留空，不将会话失败、缺交付或中断标为没尝试、控制或交付错误。", + "unmet": { + "lid_unscrewed": null, + "lid_on_worktop": null + } + }, + "summary_zh": "观察：目录 success=0，评分器报告缺少轨迹且 n_actions=0，无法确认拧开罐盖或罐盖放到桌面两个评分节点，终值均保留未知。观察：log step 60 的会话测试曾返回成功，但 log step 64 最终显示 Gemini 过滤器拦截，未产生评分交付。推断：这是交付前的外部中断，应重试并排除出 agent 失败分析；没有本次评分视频或状态日志，无法定位物理断点或填写现象、根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、n_actions=0；log step 64 为 Gemini 过滤器拦截，未交付。标注（节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh）符合外部中断规则，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": "2026-10-30T22:19:18Z", + "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/dexhand-jar-lid-open-i00-privileged--pntki5r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--pntki5r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bc9033268668712ba4a4bde58f63a2d537f26fe24a9bcbd7499a1a348fc045a5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ryz2dvf.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ryz2dvf.json new file mode 100644 index 0000000000000000000000000000000000000000..69268c8d96e95d16f996e609ee05fdc54aa2fc5c --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ryz2dvf.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--ryz2dvf", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.784, + "peak_processes": 11, + "peak_disk_gb": 0.26, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "lid_unscrewed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，没有报告受评轨迹的 stage 或拧盖节点结果；inputs/video.json 为 kind=none，且没有状态日志，无法判定该节点终值。" + }, + { + "t": null, + "log_step": 459, + "text_zh": "观察：log step 459 的输出来自 agent 的 test_grasp_and_lift.py 会话测试，含测试控制步 430 的“Stage=1, Turn=1.054”；该测试并非已交付轨迹的重放，不能据此认定受评节点完成，也不能转换成视频时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话调试中的右手接触不作为本次轨迹的实际接触。" + } + ] + }, + "lid_on_worktop": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward 只有缺交付及整体失败记录，没有报告放盖节点、stage、hold_steps 或终态验收字段；本次没有视频或状态日志，无法判定盖是否曾抬离并在桌面松手保持。" + }, + { + "t": null, + "log_step": 549, + "text_zh": "观察：log step 549 是 agent 启动 test_symmetric_lift.py 会话抬盖测试，log step 550 显示该后台任务仍在运行，log step 551 仅自述等待；没有该测试结果的交付或重放验证记录。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，未交付受评轨迹；会话调试中的右手接触不作为本次轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 551, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 的 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有交付受评动作序列。log step 549–551 仍是 agent 启动并等待会话抬盖测试，最后自述“Waiting for task-876 to complete.”；没有受评物理过程可定位失败步骤或视频时刻。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中有完整 inputs/run.json、inputs/video.json 和另一成功运行的 oracle 视频，但没有本次 replay 视频或状态日志；评分器记录缺交付，未报告任一节点终值或原生物理指标。会话测试的 stage、接触和脚本异常不能替代受评轨迹，故两个节点 final 与 intervals 均为 null，接触为不适用，现象及根因留空。运行记录 wall_s=3669、time_limit_s=3600，日志末尾仍在等待测试；这些记录不足以证明某项物理失败或特定保存操作错误，也没有依据把失败归为基础设施故障。", + "unmet": { + "lid_unscrewed": null, + "lid_on_worktop": null + } + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1），受评动作数与仿真步数均为 0，拧开罐盖和罐盖放到桌面两个节点均无法确认终值。日志中的 Stage 1 是会话测试结果，末尾 log step 549–551 仍在启动并等待抬盖测试，不能视作已交付进度；断点记为 unknown／首步前。没有本次视频或状态日志，无法确定受评物理失败现象与根因，均留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无 replay 视频、无状态日志，评分器记录 missing_trajectory=1、n_actions=0；标注把节点 final 置 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 03 规则（未交付、不用会话测试作事实、不标没尝试、不把超时当原因）。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": "2026-10-30T22:19:55Z", + "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/dexhand-jar-lid-open-i00-privileged--ryz2dvf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--ryz2dvf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cd54db59e301afa7bcff4e43b8d583b0854ebe2d981e3592d1d6860176bae24b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gm4qrmm.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gm4qrmm.json new file mode 100644 index 0000000000000000000000000000000000000000..e6353864c9c0555fc70cf1e8ab56c960c6c24a30 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gm4qrmm.json @@ -0,0 +1,241 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--gm4qrmm", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.414, + "peak_processes": 9, + "peak_disk_gb": 0.283, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "turner_in_hand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 165, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告拿起锅铲的节点结果，且本次无视频或状态日志。log step 165 的握铲、提铲输出属于 agent 的会话测试，不能确定受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；没有交付轨迹，无法记录该步骤的受评接触。" + } + ] + }, + "pancake_on_blade": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器仅报告 missing_trajectory=1、success=0，未报告 on_blade 或阶段结果；本次无视频或状态日志。log step 447、451 是 agent 的托饼参数搜索及检查脚本，log step 453 仍在等待测试，不能作为受评轨迹托饼成功或失败的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；没有交付轨迹，无法记录该步骤的受评接触。" + } + ] + }, + "pancake_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 453, + "text_zh": "观察：评分器未报告 served、hold 或装盘阶段结果，missing_trajectory=1 且本次无视频或状态日志；总 success=0 不单独决定装盘节点终值。日志末尾 log step 451—453 仍为托饼测试，没有可核实的交付装盘结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1；没有交付轨迹，无法记录该步骤的受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 453, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 451—452 中 agent 编写并启动托饼检查脚本，log step 453 最后自述仍在等待 task-796 完成，未见轨迹导出及新进程回放验证记录。没有交付的受评动作，无法定位某个物理步骤的失败。" + }, + "unmet": { + "pancake_on_blade": null, + "pancake_on_plate": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 的 kind=none，inputs/ 无本次回放和状态日志；评分器明确报告缺少交付轨迹，亦未给出逐节点终值及原生指标。完整会话包含多次 reset、调试和 snapshot/restore（如 log step 447、451），这些测试不构成已交付受评轨迹；oracle 视频仅属于另一成功运行，不能补作本次证据。按 DECISIONS.md N9，各节点 intervals 与 final 均为 null；按 D23，缺交付时现象和根因均留空，不能把会话测试的接触失败或缺交付本身推为物理现象或交付操作根因。日志未明确记载最终终止事件，不能仅凭 wall_s=3622 与 time_limit_s=3600 断定具体终止机制。" + }, + "summary_zh": "本次评分失败，评分器明确记录缺少交付轨迹、受评动作数和仿真步数均为0，三个节点都没有可确认的终值。agent 在会话中反复调试握铲与托饼，最后仍等待托饼检查测试（log step 453）；断点只能记为 unknown／首步前，缺少证据确定物理失败现象及根因。本次无视频、无状态日志，按 N9、D23 保留节点未知及空的失败原因层，不能将会话测试或另一运行的成功视频当作本次进展。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器给出 missing_trajectory=1、n_actions=0。节点全 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 N9 和 D23(a)。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": "2026-10-30T22:28:53Z", + "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/dexhand-pancake-serve-i00-privileged--gm4qrmm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--gm4qrmm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e12735c660f8e06abba317ece87e4e3869f3560c04fe74dec8ac4408f589fb79", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lcjsttr.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lcjsttr.json new file mode 100644 index 0000000000000000000000000000000000000000..40c036ba163e5e15951a396efd960910cb4f87c2 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lcjsttr.json @@ -0,0 +1,241 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--lcjsttr", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "picture_lifted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 18, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告受评相框离台结果；本次无视频及状态日志。log step 18 的 stage=1 来自 agent 的夹持抬升测试，不能作为未交付轨迹的节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人双手接触不计为本轨迹的实际接触。" + } + ] + }, + "left_ring_on_hook": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 19, + "text_zh": "观察：评分器报告 missing_trajectory=1，未报告受评左环穿挂或承重结果；本次无视频及状态日志。log step 19 的 threaded 与 load 读数来自 agent 的草稿测试，不是已交付轨迹的评分结果，左环节点终值无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人双手接触不计为本轨迹的实际接触。" + } + ] + }, + "right_ring_on_hook": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 19, + "text_zh": "观察：评分器报告 missing_trajectory=1，未报告受评右环穿挂或承重结果；本次无视频及状态日志。log step 19 的 threaded 与 load 读数来自 agent 的草稿测试，不是已交付轨迹的评分结果，右环节点终值无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人双手接触不计为本轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 20, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 19 中 agent 将草稿动作保存到会话工作区的 draft_actions.npy，log step 20 仍在重置并调试该草稿，未见交付成功记录。推断：没有可定位物理失败步骤的受评轨迹，断点记为 unknown、位置为首步前；不将会话测试失败作为受评断点。" + }, + "unmet": { + "left_ring_on_hook": null, + "right_ring_on_hook": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none，且无状态日志；评分器仅报告缺交付及零动作，没有逐节点结果，故各节点 final 与 intervals 均为 null。inputs/oracle/replay.mp4 是另一成功运行，只能作任务参考，不能补充本次执行证据。log step 18–20 是会话测试，部分代码和输出还被原始记录截断；没有最终完成报告，也没有足以解释缺交付的具体保存错误或控制故障证据。运行 wall_s=3603、time_limit_s=3600 提示预算耗尽，但预算本身不是失败现象或根因；依 D23 两层均留空，不从缺交付反推没尝试或交付操作出错。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1，n_actions=0，sim_steps=0），相框离台和左右环挂钩三个节点均无可判定的受评终值。log step 18–20 中 agent 进行了抬框、草稿生成和回放调试，但这些会话测试不能计入受评进度；断点记为首步前的 unknown。由于本次无视频、无状态日志，且缺交付的具体原因证据不足，失败现象与根因均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、n_actions=0，未交付受评轨迹。三个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；log step 18-20 的会话读数未被当作受评事实，预算耗尽也未被当作现象或根因。", + "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": "2026-10-30T22:20:27Z", + "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/dexhand-picture-hang-i00-privileged--lcjsttr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--lcjsttr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8992e72ea110ca6178ccae8b24f725a627b42911409563513aab75d748f4b07", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--lswxfgb.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--lswxfgb.json new file mode 100644 index 0000000000000000000000000000000000000000..34308337b9d3eca26468be6a43c3b0913ddf3cbc --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--lswxfgb.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--lswxfgb", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.251, + "peak_processes": 6, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "module_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 26, + "text_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，未报告本节点评分状态；本次没有视频或状态日志。log step 24–26 是 agent 的指尖运动学调试，并非交付轨迹，不能证明内存插入，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付可供评分的动作轨迹，实际接触标注不适用。" + } + ] + }, + "latch_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：评分器记录 missing_trajectory=1，未报告 latched、seated 或锁扣终态；本次没有视频或状态日志。log step 27–28 仍是 agent 查阅手模型几何，后续 log step 29、32 无调用、输出或最终陈述，不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，未交付可供评分的动作轨迹，实际接触标注不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；完整日志未显示轨迹保存或提交，最后 log step 32 无调用、输出或最终陈述。推断：没有交付评分回合，断点位于首步前，不能从会话调试选择某个物理失败节点。" + }, + "unmet": { + "module_seated": null, + "latch_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，评分器未报告两节点终值或任何原生几何指标；inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进展。log step 18 的几何检查报错及 log step 25 的数组维度报错均发生于会话调试，分别在 log step 19–20、26 修正，不能作为未交付评分回合的失败现象或根因。观察：run.wall_s=3603 s、time_limit_s=3600 s，末尾无停止原因陈述；推断：会话耗尽墙钟预算时仍无交付，但没有证据定位具体能力缺陷，按 D23 将现象和根因均留空，不以缺交付或超时反推原因。" + }, + "summary_zh": "观察：评分器记录未交付轨迹（missing_trajectory=1），评分动作数及仿真步数均为0，插入内存与合上锁扣两节点均无已确认完成，终值保留未知。推断：本次在墙钟预算耗尽时仍未形成评分轨迹，断点记 unknown／首步前；日志中的几何检查、保持动作测速与指尖运动学调试不代表交付回合进展。观察：没有本次视频、状态日志或逐节点服务结果，无法确认物理失败现象及其根因，故两层留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、n_actions=0；文件按 D23(a) 将两节点终值记为未知、现象与根因留空并写 gap_zh，断点 unknown／首步前，会话调试未被当作交付回合事实，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": "2026-10-30T22:24:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--lswxfgb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--lswxfgb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d1835529618f815cbff2d968965ab3d643b4541539ef04c879016cd20d8db11a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ptnjpwp.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ptnjpwp.json new file mode 100644 index 0000000000000000000000000000000000000000..9786bb2a71345bf5bf037c0debe9f282d8b12675 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ptnjpwp.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--ptnjpwp", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.671, + "peak_processes": 6, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "module_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 76, + "text_zh": "观察：log step 76 的输出来自 agent 新建 Session 的本地测试，报告 seated=True、latched=True 或 stage=3、succ=True；日志没有将该测试保存为交付轨迹的操作。评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，且 inputs/video.json 的 kind=none；无受评回放或状态日志可确认“插入内存”节点的最终值，本地测试结果不能替代交付结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0；没有交付轨迹，故不将本地测试中的右手与内存条接触计入受评轨迹。" + } + ] + }, + "latch_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 77, + "text_zh": "观察：log step 77 的输出来自 agent 新建 Session 的本地测试，报告 seated=True、latched=True 或 stage=3、succ=True；日志没有将该测试保存为交付轨迹的操作。评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0，且 inputs/video.json 的 kind=none；无受评回放或状态日志可确认“合上锁扣”节点的最终值，本地测试结果不能替代交付结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0；没有交付轨迹，故不将本地测试中的右手与内存条接触计入受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 79, + "where": "首步前", + "evidence_zh": "观察：log step 79 的最终消息为“This request was blocked by Gemini's filters”，随后没有工具调用或交付记录；评分器 reward 记录 missing_trajectory=1、n_actions=0、sim_steps=0。本次未形成已交付的受评轨迹，无法定位物理步骤断点。" + }, + "unmet": { + "module_seated": null, + "latch_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有受评视频（inputs/video.json：kind=none），也没有状态日志；评分器未报告两个节点的最终状态或任何 DAG 原生指标。log step 76、77 的成功输出仅属未保存交付的本地测试，log step 78 又进行了另一测试，log step 79 随后记录 Gemini 过滤器阻断。推断：这是交付前被模型提供方过滤器中断的外因运行，按 CASES.md FAIL-5 留待重测，不纳入 agent 失败归因；现象、根因均留空，不标“没尝试”，也不凭缺少交付推断交付操作出错。成功参考录像不能证明本次轨迹的节点或接触。" + }, + "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1、n_actions=0，没有交付的受评轨迹，两个节点的最终值均无法确认；log step 76、77 的本地测试虽报告成功，但未保存交付。观察：log step 79 记录 Gemini 过滤器阻断；推断：本次属于交付前的外因中断，应重测并排除在 agent 失败归因之外，断点为 unknown／首步前，现象和根因留空。观察：本次没有受评视频或状态日志，全部节点时间与原生指标均不可确定。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "标注正确：无交付轨迹（missing_trajectory=1, n_actions=0），无视频；log step 79 为 Gemini 过滤器阻断，属外因，断点 unknown/首步前，现象与根因留空且 gap_zh 说明，符合 CASES.md FAIL-5；本地测试未当作受评结果。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:22:33Z", + "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/dexhand-ram-module-install-i00-privileged--ptnjpwp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--ptnjpwp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "189c98486714cbb9ee9cc5f11af364bc7c6a6dc1a1818446df760db4618ce600", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--8zcfmjs.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--8zcfmjs.json new file mode 100644 index 0000000000000000000000000000000000000000..ae159cd08394d954dd45628dfd94e09adfe34bd5 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--8zcfmjs.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--8zcfmjs", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.629, + "peak_processes": 9, + "peak_disk_gb": 0.268, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "battery_cover_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 598, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未报告正式回放的开盖阶段；inputs/video.json 为 kind=none，亦无状态日志。log step 598 的 Stage 1 latched: True 来自 agent 运行 test_2f_pinch.py 的会话测试，不能作为交付回合的开盖结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0；无交付轨迹可标注实际接触，会话测试接触不计入。" + } + ] + }, + "old_cell_in_tray": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 598, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1，未报告旧电池入托盘的正式结果；本次无视频或状态日志。log step 598 的旧电池坐标、接触列表和 remote_tipped 终止信息属于 agent 的抓取测试，不能确定正式节点末值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0；无交付轨迹可标注实际接触，会话测试接触不计入。" + } + ] + }, + "new_cell_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 606, + "text_zh": "观察：评分器 reward 仅报告缺少轨迹和零动作，没有新电池入槽的阶段或末态字段；本次无视频和状态日志。log step 606 仍是 agent 对捏取姿态指尖向量的计算，输出为空，不能据此确定新电池入槽。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0；无交付轨迹可标注实际接触，会话测试接触不计入。" + } + ] + }, + "battery_cover_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward 未报告电池盖的正式末态，且 missing_trajectory=1；本次无视频或状态日志。任务 DAG 描述的初始闭盖状态并非本次正式末态观测，不能替代末值证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0；无交付轨迹可标注实际接触，会话测试接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 606, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 的 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；log step 604 中 agent 最后自述仍在等待指尖坐标检查，log step 606 又发起捏取姿态向量计算且无返回输出，未见保存并验证交付轨迹的记录。推断：没有可定位物理失败步骤的正式轨迹，按未交付情形标为 unknown／首步前，不把会话抓取测试的失败当作正式断点。" + }, + "unmet": { + "battery_cover_opened": null, + "old_cell_in_tray": null, + "new_cell_seated": null, + "battery_cover_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none（HF 视频 404 且无本地视频），没有状态日志；评分器仅给出 missing_trajectory=1 与零动作，未给四个节点的正式阶段、末态或原生几何指标。inputs/run.json 的 wall_s=3609、time_limit_s=3600，日志结束于 log step 606 的调试调用，未记录明确退出原因；log step 598 的开盖成功、旧电池接触及 remote_tipped 均属于未交付的会话测试。推断：会话持续至预算附近，但不能据此给出物理失败现象或能力根因；依 DECISIONS.md D23，未交付且无可识别正式回合时两层留空，也不从缺交付反推交付操作出错。成功参考视频属于另一运行，不能补足本次证据。" + }, + "summary_zh": "评分器报告未找到交付轨迹、正式动作数和仿真步数均为零，四个节点的末值均未知，无法确认本次正式进度。日志中 agent 曾测试开盖及抓取旧电池，但最后仍在调试，未见保存并验证交付的记录，因此断点为未知／首步前。由于本次没有视频、状态日志或节点级评分结果，接触均不适用，失败现象和根因按未交付规则留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、n_actions=0，四个节点 unknown、接触不适用、两层留空并写 gap_zh，符合 D23(a)；会话测试未被当作正式回合事实。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": "2026-10-30T22:29:33Z", + "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/dexhand-remote-battery-swap-i00-privileged--8zcfmjs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--8zcfmjs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83712d4bbcc7e8d5d98ea6aa4d64412a4856daf72bc262a91a29d29d31a09a7b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--vc3unz7.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--vc3unz7.json new file mode 100644 index 0000000000000000000000000000000000000000..3f53b35684ed005b0cfc0416288a32855b5843ab --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--vc3unz7.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--vc3unz7", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.255, + "peak_processes": 9, + "peak_disk_gb": 0.266, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "battery_cover_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：inputs/run.json 的 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；inputs/video.json 为 kind=none，且无状态日志。评分记录没有报告受评轨迹的开盖节点值；log step 91 的开盖测试以 remote_tipped 结束，log step 92 仍是姿态运动学调试，均非交付回放。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的机器人接触不计为本节点的轨迹级接触。" + } + ] + }, + "old_cell_in_tray": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；inputs/video.json 为 kind=none，且无状态日志。评分记录没有报告灰色旧电池入托盘的节点值；不能从整体 success=0 或未交付轨迹推定该物理状态为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的机器人接触不计为本节点的轨迹级接触。" + } + ] + }, + "new_cell_seated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；inputs/video.json 为 kind=none，且无状态日志。评分记录没有报告绿色新电池入槽的节点值；会话中的开盖测试不能证明受评回放中电池的位置、极性或接触。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的机器人接触不计为本节点的轨迹级接触。" + } + ] + }, + "battery_cover_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 为 missing_trajectory=1、n_actions=0、sim_steps=0；inputs/video.json 为 kind=none，且无状态日志。评分记录没有报告受评轨迹的盖合锁定状态；log step 10、11 中盖已关闭的读数属于调试会话初态，不能替代不存在的交付回放终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的机器人接触不计为本节点的轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 92, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0、success=0、infra_error=0；log step 92 是 agent 对开盖手指姿态的运动学验证，之后没有最终汇报或保存轨迹的记录。没有交付可供定位物理失败步骤，故断点为 unknown，位置为首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有受评视频、状态日志或交付轨迹，评分器也未报告四个节点的终值。log step 91 的 remote_tipped 和 log step 92 的姿态验证只属于作者调试，不能作为受评轨迹的失败现象或节点值；成功参考视频 inputs/oracle/replay.mp4 属于另一运行，不能补足本次证据。inputs/run.json 记录 wall_s=3605、time_limit_s=3600，日志结束时仍在调试，但没有可确认具体保存错误或物理断点的交付记录。依 DECISIONS.md D23，无交付且无已证实外因的运行保留失败判定，现象和根因均留空；不从缺交付推导没尝试、交付操作出错或控制根因。", + "unmet": { + "battery_cover_opened": null, + "old_cell_in_tray": null, + "new_cell_seated": null, + "battery_cover_closed": null + } + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1、n_actions=0、sim_steps=0），本次未通过；四个节点均无受评终态证据，保留未知。日志末尾仍在调试开盖（log step 91、92），不能将调试中的开盖失败当作受评轨迹的断点，因此标为 unknown／首步前。没有本次视频或状态日志，按无交付规则留空失败现象与根因，全部原生指标因评分记录未报告而为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志、无交付轨迹（评分器 missing_trajectory=1、n_actions=0）。四个节点保持 unknown/null，contact_actual 用 不适用，断点 unknown/首步前，现象与根因为空并带 gap_zh，符合 DECISIONS.md D23 与 N9；会话调试读数未被当作受评事实。未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:29:05Z", + "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/dexhand-remote-battery-swap-i00-privileged--vc3unz7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--vc3unz7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "174491f241e4d42f492afb2f6f479eed7eb31a05bae832d405f0943d9b0285a1", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--9eo8gcy.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--9eo8gcy.json new file mode 100644 index 0000000000000000000000000000000000000000..db4f7e909cc13c7e876937321958b07e60f4c4ec --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--9eo8gcy.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--9eo8gcy", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.63, + "peak_processes": 9, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "brace_in_lower_frame": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 34 的 test_brace.py 会话测试输出 stage=2、seated=True；评分器 reward 却记录 missing_trajectory=1、n_actions=0、sim_steps=0，且未报告本节点结果。本次无受评视频或状态日志，会话测试不作为节点完成证据，final 与 intervals 均为 null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、n_actions=0；未交付受评轨迹，故本节点的实际接触不适用。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 98, + "text_zh": "观察：log step 98 仅启动 test_stage34.py 后台测试，log step 99 的 agent 自述仍在等待完成，随后 log step 101 出现 Gemini 过滤器拦截。评分器 reward.missing_trajectory=1、n_actions=0，未报告四个上榫插接结果；无受评视频或状态日志，final 与 intervals 均为 null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、n_actions=0；未交付受评轨迹，故本节点的实际接触不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 101, + "where": "首步前", + "evidence_zh": "观察：log step 98 启动会话测试，log step 99 的 agent 自述仍在等待，log step 101 的最终消息为“This request was blocked by Gemini's filters”；评分器 reward.missing_trajectory=1、n_actions=0、sim_steps=0。未交付受评轨迹，无法定位物理步骤断点。" + }, + "unmet": { + "brace_in_lower_frame": null, + "upper_frame_on_dowels": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 的 kind=none，未提供本次受评视频或状态日志；inputs/oracle/replay.mp4 是另一成功运行的参考视频，不能证明本次进度。log step 101 显示模型提供方 Gemini 过滤器拦截，评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0，交付前受外因中断；按外因规则不标机器人失败现象或根因，也不标“没尝试”。会话中 log step 34 的横撑插好测试及 log step 57 起恢复快照的对侧框测试均非交付轨迹，不能确定两个节点的受评终值；评分器未报告各项原生指标。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、n_actions=0，未交付受评轨迹，横撑插入下框与装上对侧框两个节点的受评进度均未知。log step 98–99 仍在启动并等待会话装配测试，log step 101 随即显示 Gemini 过滤器拦截，属于交付前外因中断，断点记 unknown／首步前，失败现象与根因留空。本次无受评视频或状态日志，会话测试与其他运行的成功参考视频均不能代替本次节点证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "本次无受评视频，评分器 missing_trajectory=1、n_actions=0，log step 101 为 Gemini 过滤器拦截，交付前外因中断。标注（节点 unknown、断点 unknown/首步前、两层为空并有 gap_zh、不标没尝试）符合 03 外因规则。", + "n_issues": 0, + "n_major": 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/dexhand-stool-brace-insert-i00-privileged--9eo8gcy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--9eo8gcy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35c68aba66f821ac1d058e3d6adc9cc36aa254f38b50b03ab5609b4b6e72f168", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--npghzqz.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--npghzqz.json new file mode 100644 index 0000000000000000000000000000000000000000..4c251d2c8763e361d5d472ddc9aa0c07c1c16637 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--npghzqz.json @@ -0,0 +1,338 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--npghzqz", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 17400, + "sim_steps": 17386, + "stages_completed": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.082, + "peak_processes": 9, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 7, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_0.inside_pan=False（橙包装），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对橙包装的实际作用方式。" + } + ] + }, + "red_cap_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_1.inside_pan=False（红瓶盖），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对红瓶盖的实际作用方式。" + } + ] + }, + "wood_chip_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_2.inside_pan=False（木屑），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对木屑的实际作用方式。" + } + ] + }, + "blue_package_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_3.inside_pan=False（蓝包装），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对蓝包装的实际作用方式。" + } + ] + }, + "paper_ball_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_4.inside_pan=False（纸球），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对纸球的实际作用方式。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 中，基准 Session.status() 在仿真 8.693 s 返回 done=True、failed=True、in_pan=0；Session.features() 的 debris_5.inside_pan=False（黄瓶盖），未满足完整入箕判据。这些是基准检查器字段，不是 agent 自定义几何检查。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据该次基准终止结果判定本节点终值为假；没有本次视频，不能确定历史区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本用共同推扫动作处理六件碎屑（log step 43、44）；缺少本次视频和状态接触对，不能核实右手扫帚及左手簸箕对黄瓶盖的实际作用方式。" + } + ] + }, + "pan_raised": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：log step 44 的基准 Session.features() 终态字段 pan_lift_m=0.022606951667184447，pan_position 的世界 z=-0.07739304833281556 m，低于节点要求的抬高0.05 m；脚本在终止后打印这些基准字段并保存17400行动作。" + }, + { + "t": null, + "log_step": 44, + "text_zh": "推断：log step 44 的基准 Session 返回终止步17386、保存动作17400行，与 reward.sim_steps=17386、n_actions=17400、deterministic=1一致；log step 47 无返回或保存记录，因此将 log step 44 识别为本次评分交付。据对应交付的基准终态判定抬箕节点为假，不从其他会话测试取值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "log step 43、44 的脚本包含左臂抬动及前移簸箕；缺少本次视频与状态接触对，不能核实左手对簸箕柄的实际抓握接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": null, + "log_step": 44, + "where": "操作中", + "evidence_zh": "推断：log step 43 的脚本将仿真 4.0–9.0 s 设为扫帚前推动作；对应保存交付的 log step 44 中，基准刷毛历史在仿真 5.6 s 首先成为010000，确认先处理红瓶盖，随后共同推扫其他碎屑，但红瓶盖终态 inside_pan=False、in_pan=0。在仿真 8.693 s，基准以 tool_pressed_by_other_robot_link 永久判负，未完成或修复该扫入步骤；以最早有基准接触记录且未完成的红瓶盖节点锚定共同推扫断点。该次保存17400行、终止17386步均与评分器记录一致；没有视频时刻，t留空。" + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": null, + "log_step": 44, + "evidence_zh": "观察：log step 44 的基准 Session.status() 在仿真 8.693 s（17386物理步）返回 failed=True、reason=tool_pressed_by_other_robot_link；任务文本将该条件定义为工具受到所属手以外的机器人部位超过0.01 N的压碰。该段终止和保存行数与本次 reward 的 sim_steps、n_actions一致。基准记录直接支持禁用接触违规，但未报告具体工具、机器人部位或阻挡形态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 43、44 的机器人脚本目标仍是用扫帚将碎屑推入簸箕，执行该动作时却由基准返回 tool_pressed_by_other_robot_link 而终止；会话测试 log step 36、37 也返回相同判负，改为先前移簸箕的保存版本 log step 44 仍未消除这类受禁接触。由此将根因保留在控制层级；现有证据不足以区分接触设计、轨迹或逆解、反馈控制，也不足以指定某个参数错误。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none，inputs/ 无本次 replay.mp4 或 states.jsonl；所有视频区间及视频锚点均留空，contact_actual 均为未知。节点终值来自与评分器动作行数及终止步数吻合的 log step 44 基准 Session.status()/features() 字段；此交付对应关系属于推断，不能独立复核整段运动。日志已有输出截断，且 log step 47 未返回，无法核实具体违规工具、机器人部位、接触力大小及精细控制原因；成功参考视频不作为本次轨迹证据。reward 未独立报告 DAG 的四个原生指标，native_metrics.value 留空。", + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + } + }, + "summary_zh": "推断：log step 44 保存的17400行轨迹及仿真终止步17386与评分器记录一致；该次基准终态显示六件碎屑均未完整入箕，簸箕仅抬高约22.6毫米，七个节点终值均为假，会话其他测试的进展不计入本次交付。共同推扫中最早有基准刷毛接触记录的红瓶盖步骤未完成，基准在仿真 8.693 s 以工具受非所属手机器人部位压碰而判负，根因仅支持到控制层级。本次无视频及状态日志，无法给出视频区间或实际接触细节。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频/状态日志；七个节点终值为假、交付识别（log step 44：17400行、17386步，与reward一致）、违反约束现象均有基准Session字段支撑，断点与根因保守且标明为推断。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": "2026-10-30T22:30:10Z", + "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/dexhand-sweep-dustpan-i00-privileged--npghzqz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--npghzqz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "300b9cddbf57059c914f55d8e065a2e204e764437457bab08764ded6eb76edc4", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--uvbbhft.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--uvbbhft.json new file mode 100644 index 0000000000000000000000000000000000000000..88918c7dfd418479fc1bf32170c0b5a7484a95e5 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--uvbbhft.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--uvbbhft", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 13500, + "sim_steps": 13500, + "stages_completed": 1, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.306, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "orange_package_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为橙包装，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "red_cap_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为红瓶盖，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "wood_chip_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为木屑，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "blue_package_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为蓝包装，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "paper_ball_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为纸球，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 9, + "text_zh": "观察：inputs/video.json 标明本次无视频，亦无状态日志；评分器只报告 stages_completed=1、success=0，没有逐件入箕字段。log step 9 的接口代码定义 stage=in_pan+int(success)，log step 11 的重放代码输出终态 stage。推断：评分记录支持一件碎屑入箕的总体进展，但不能确定是否为黄瓶盖，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排右臂持扫帚扫向碎屑、左臂随后抬簸箕；log step 236 确认交付含13500行控制。推断：此节点在整批扫入的尝试范围内，但无本次画面或接触日志，无法确认扫帚刷毛或簸箕与该碎屑实际如何接触。" + } + ] + }, + "pan_raised": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 227, + "text_zh": "观察：log step 227 的交付生成脚本安排左臂抬高目标0.12 m；log step 236 确认交付含13500行控制，评分器也报告 n_actions=sim_steps=13500。评分器没有 pan_lift_m，log step 231、237 的重放调用只返回后台运行提示，没有终态高度或服务判定。推断：抬箕控制已被安排，但控制目标不等于实际簸箕高度，抬起节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 227 的交付生成脚本安排左臂抬簸箕并同时撤起右臂扫帚。推断：抬箕被尝试，但没有本次画面或手柄接触记录，无法核实左手与簸箕柄的实际接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "未知", + "evidence_zh": "观察：评分器记录 success=0、deterministic=1、infra_error=0、stages_completed=1、sim_steps=13500；log step 227 的最终脚本包含整批扫入、抬箕和保持，log step 235、236 确认轨迹文件存在且含13500行控制。log step 231、237 没有保留重放结果明细。推断：已有被评分的交付，不能按未交付或首步前处理；缺少逐件状态及失败原因，无法确定最早未修复的是哪件碎屑入箕、抬箕还是共同终态验收。" + }, + "unmet": { + "orange_package_in_pan": null, + "red_cap_in_pan": null, + "wood_chip_in_pan": null, + "blue_package_in_pan": null, + "paper_ball_in_pan": null, + "yellow_cap_in_pan": null, + "pan_raised": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频（inputs/video.json 为 none），无状态日志。评分器的 stages_completed=1 只有总量，未报告物件身份、簸箕高度、碎屑速度、terminal_run 或失败原因；这些量的原生指标均保留 null。log step 231、237 只有重放启动提示，log step 241 关于验证和哈希一致的说法是 agent 自述，不能补成重放判定或物理状态。会话中的碰撞、扫入和抬箕测试没有可绑定本次评分轨迹的结果，不能据测试名称判定现象或根因；因此两层留空。已查看成功参考视频的粗采样，但它属于另一运行，不能证明本次节点或接触。" + }, + "summary_zh": "评分器判定失败，记录13500个仿真步、stages_completed=1且重放确定性成立；结合 log step 9、11 的接口与重放代码，可推断有一件碎屑入箕的总体进展，但无法识别物件，七个具体节点的终值均未知。最终交付脚本包含扫入、抬箕和保持，现有证据无法定位最早未修复的失败步骤，也不足以归因。本次没有视频或状态日志，成功参考视频仅用于理解任务视角，不作为本次状态证据。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志；评分器只给出 stages_completed=1（log step 9 的 status() 定义 stage=in_pan+int(success)，success=0 即终态恰有一件碎屑入箕），无法识别物件，七个节点 unknown、断点 unknown、现象与根因留空并写明 gap_zh，均符合 03 的 N9 规则；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:29:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--uvbbhft/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--uvbbhft/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fc8c982275d41068328a7824abcc50a60efb41c3f51e88d9943d3635e267208e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--vup9yjl.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--vup9yjl.json new file mode 100644 index 0000000000000000000000000000000000000000..18d3d85079f55548b2dccff3d0d80406ad231ae6 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--vup9yjl.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--vup9yjl", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 15060, + "sim_steps": 15060, + "stages_completed": 7, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.48, + "peak_processes": 7, + "peak_disk_gb": 0.249, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 7, + "base": null, + "peak": null, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，橙包装入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "橙包装入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "red_cap_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，红瓶盖入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "红瓶盖入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "wood_chip_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，木屑入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "木屑入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "blue_package_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，蓝包装入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "蓝包装入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "paper_ball_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，纸球入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "纸球入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，黄瓶盖入簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "黄瓶盖入簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + }, + "pan_raised": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success=1、stages_completed=7、deterministic=1、n_actions=sim_steps=15060，infra_error=0；本次无视频且无状态日志。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：log step 55 保存的最终轨迹哈希为 d73a8cda1588c6f1b917b0ae09103db2a01706631bbf811a99809b8c555295b5；log step 62 中基准 replay.py 对该文件的两次独立重放均报告 success=true、stage=7、steps=15060、bad_trajectory=0，且 state_sha 相同，与最终评分一致。按 DAG 的联合成功判据，抬起簸箕在验收时成立；无本次视频，无法确定首次达成、途中失去或恢复的时间，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "抬起簸箕已由成功验收确认，但本次无视频或状态接触对，无法直接核实作用端及接触方式；不以生成脚本、agent 自述或另一运行的参考视频代替实际接触证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better" + }, + { + "name": "terminal_run", + "value": null, + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：评分器报告 success=1、stages_completed=7、deterministic=1；最终15060步交付轨迹在 log step 62 的两次独立重放中均成功且终态哈希相同，据联合验收可确定六件碎屑入簸箕及抬箕共7/7节点终值为真，无失败断点。推断：该成功说明共同装载、刷毛接触历史与抬箕保持条件通过验收，但本次无视频、无状态日志，所有节点时间区间留 null、实际接触标未知；已查看的 oracle 画面属于另一成功运行，不能填补本次证据。观察：本次 reward 未报告四项原生指标数值，均留 null；log step 49 的详细诊断属于较早14454步版本，log step 65 的抬高数值属于 agent 自述，均不转作最终评分指标。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志；评分器 success=1、stages_completed=7、n_actions=15060，七个目标节点终值为真、failure 为 null 均有分级结果支撑；log step 55/62 的哈希与重放结果与标注一致；时间区间留 null、contact_actual 为未知均合理。", + "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": "2026-10-30T22:28:06Z", + "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/dexhand-sweep-dustpan-i00-privileged--vup9yjl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--vup9yjl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "74bdd9f3d0e393bcbd1e7955c4b3ca9c4e936aa1a496025b98efef5e98ddd6a2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5tu5agb.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5tu5agb.json new file mode 100644 index 0000000000000000000000000000000000000000..143f92a97f670722bc909f2ecdd98ad956b3457e --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5tu5agb.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--5tu5agb", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.444, + "peak_processes": 9, + "peak_disk_gb": 0.267, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "plug_lifted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 514, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、n_actions=0、sim_steps=0，未报告拿起阶段或 lift_step；本次 video.kind=none，且无状态日志。log step 514 的脚本含抓取、抬起测试，但工具输出仅表示后台任务已启动，不能作为受评交付中拿起插头的证据；节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；未交付受评轨迹，右手与USB插头的会话测试接触不计入实际受评接触。" + } + ] + }, + "plug_seated_port4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 526, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、success=0，未报告端口就位、松手或 released_hold_controls；本次无视频和状态日志。log step 514 为会话内插入测试，log step 526 仍在检查运动路径，均无受评交付结果；不能由总失败判定该节点的物理终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；未交付受评轨迹，右手与USB插头的会话测试接触不计入实际受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 527, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；未有可标注的受评交付。log step 526 启动路径逆解与碰撞检查，末条 log step 527 仅为 agent 自述“Waiting for task 731.”，无保存或提交结果。推断：只能将断点定位在受评轨迹首步前，无法指定某个物理步骤。" + }, + "unmet": { + "plug_lifted": null, + "plug_seated_port4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，未提供本次回放视频或状态日志；inputs/oracle/replay.mp4 是另一成功运行，不能证明本次动作。评分器只报告缺少交付，未报告两个节点的物理终态和任何原生指标；后期测试输出主要是后台启动通知，末条 log step 527 仍在等待。运行记录 wall_s=3606、time_limit_s=3600，但没有明确的最终报告或中断原因；不能据此确定具体控制故障或外部中断。依 DECISIONS.md D23/N9，节点终值与区间均留 null，实际接触填不适用，失败现象及根因留空；不把会话测试当成受评轨迹，也不把时间预算本身当成原因。" + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1，n_actions=0），因此“拿起插头”和“插入第四口”均无可确认的受评进度，终值保留未知。断点记为 unknown／首步前；日志结束于路径检查后的等待（log step 526—527），无本次视频、状态日志或节点级评分，无法确定物理失败现象及根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付轨迹（missing_trajectory=1，n_actions=0），无视频与状态日志；节点保持 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23/03 规则；未把会话测试或超时当成现象或根因。", + "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": "2026-10-30T22:25:12Z", + "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/dexhand-usb-plug-insert-i00-privileged--5tu5agb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--5tu5agb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2e08bf15434f62c154ecf0b169dba93aa84e7dfef62f40db6931651639f4ab33", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--hjln6vy.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--hjln6vy.json new file mode 100644 index 0000000000000000000000000000000000000000..540e5618d3ba4e004c01206ef7c259d0c71509ef --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--hjln6vy.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--hjln6vy", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 645, + "sim_steps": 645, + "stages_completed": 1, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.65, + "peak_processes": 11, + "peak_disk_gb": 0.835, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "plug_lifted": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 stages_completed=1，说明受评轨迹已经通过第1阶段的刚性插头夹持抬起检查；本节点为锁存事件，后续掉落不撤销已完成事件。无本次视频和状态日志，不能确定达成时刻。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次没有视频或状态接触日志；评分器仅报告完成抬起阶段，不能独立核实右手各指与插头的实际接触方式。" + } + ] + }, + "plug_seated_port4": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 stages_completed=1、success=0，原生第2阶段就位和第3阶段释放静置均未通过，因此包含就位、释放及连续50个控制步要求的本节点最终为假；不是仅从零奖励推断未完成。" + }, + { + "t": null, + "log_step": 104, + "text_zh": "观察：log step 104 的 agent 脚本另开 Session，尝试从已抬起状态驱向第4口，但保存目标为临时 try.npz；log step 102、106 核对的正式交付仍为645行的 trajectory.npz。该额外测试无返回状态，不能据此确认受评轨迹执行了该插入动作。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次缺少视频和状态日志，且正式交付的末段动作未在日志中完整展开；无法确定右手是否已开始搬运插头向第4口以及期间实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_seated_port4", + "t": null, + "log_step": 108, + "where": "未知", + "evidence_zh": "推断：inputs/run.json 的评分器字段 stages_completed=1、success=0，结合任务按顺序验收抬起、就位和释放，表明拿起插头事件已完成，插入第四口节点未达成，故失败步骤为 plug_seated_port4。本次无视频和状态日志，无法确定出错的具体时刻及 where；log step 108 仅为 agent 最终报告的导航锚点，其中 plug_dropped 自述不作为已核实的失败现象。" + }, + "unmet": { + "plug_lifted": true, + "plug_seated_port4": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 明确 kind=none，且没有状态日志，因此所有视频时间及 intervals 均为null。已有成功参考视频只能说明另一次成功的可见线索，不能证明本次接触或掉落。agent 在 log step 90 自述握持在电缆牵拉下脱开，log step 108 自述交付轨迹 plug_dropped；多次会话握持测试的输出为空或只有SESSION_ID，缺少可归属到正式645行交付的接触、速度、终止原因和动作末段记录。不能据自述将“没保持住”及抓取设计问题确认为本次失败现象和根因，故两层留空；评分器阶段结果已能确定失败步骤为插入第四口，但无法定位具体出错时刻及位置。评分器没有报告DAG各原生连续指标，数值均留null。" + }, + "summary_zh": "评分器报告受评645步轨迹完成第1阶段：拿起插头事件已达成，插入第4口并释放静置未达成，最终节点为1/2，断点步骤为插入第四口。agent 在 log step 108 自述抬起后因 plug_dropped 失败，但本次无视频或状态日志，且另一次插入测试未替换正式交付，具体时机、接触、失败现象和根因无法核实。", + "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（plug_lifted 真、plug_seated_port4 假）与评分器 stages_completed=1 一致，两层留空并写明 gap_zh 合理；但断点 ref 设为 unknown 不对：评分器已确定抬起完成、就位未达，失败步骤就是插入第四口。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频/状态日志；节点值与评分器 stages_completed=1、success=0 一致，断点已按第1轮修为 plug_seated_port4，现象与根因留空并有 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": "2026-10-30T22:30:17Z", + "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/dexhand-usb-plug-insert-i00-privileged--hjln6vy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--hjln6vy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--hjln6vy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--hjln6vy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "421721b874ce3689653cf70c2c6d7082023f565b1c858e7b96d736992abc7ac4", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--zvqjjdf.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--zvqjjdf.json new file mode 100644 index 0000000000000000000000000000000000000000..29e6d9b851adc4650a9c6904a8e6f6de4ddc8b0a --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--zvqjjdf.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--zvqjjdf", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.477, + "peak_processes": 9, + "peak_disk_gb": 0.254, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "plug_lifted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，未报告受评轨迹的抬起阶段；inputs/video.json 为 kind=none，且没有状态日志。log step 63、80 的抬起读数来自 agent 的会话测试，不能确定本节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；未交付受评轨迹，右手与USB插头、线缆或集线器的会话测试接触不计入本节点。" + } + ] + }, + "plug_seated_port4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 84, + "text_zh": "观察：评分器只报告 success=0、missing_trajectory=1，未报告受评轨迹的端口就位、释放计数或阶段；没有本次运行的视频或状态日志。log step 82、84 是恢复快照后的会话对准测试，不能据此判定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；未交付受评轨迹，右手与USB插头、线缆或集线器的会话测试接触不计入本节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 85, + "where": "首步前", + "evidence_zh": "观察：log step 85 的最后消息为“This request was blocked by Gemini's filters”；评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0。推断：提供方过滤在轨迹交付前截断会话，没有可定位到物理步骤的受评尝试，按外部因素中断规则标 unknown / 首步前。" + }, + "unmet": { + "plug_lifted": null, + "plug_seated_port4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次运行无视频（inputs/video.json：kind=none）、无状态日志且未交付轨迹。log step 85 记录 Gemini 提供方过滤中断；log step 63、80 的抬起及 log step 82、84 的对准和掉落均为会话测试，不能作为受评节点值或失败现象。评分器未报告任一节点或原生指标，故两节点终值和全部指标留空；无交付前外部中断按 CASES.md FAIL-5 处理，不标没尝试或机器人根因。成功参考视频仅属于另一运行，不能补足本次证据。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、n_actions=0，本次没有受评轨迹，拿起插头与插入第四口两个节点的终值均未知。log step 85 记录 Gemini 提供方过滤中断，按外部因素处理，断点为 unknown / 首步前，现象与根因留空。本次无视频或状态日志；log step 63、80、82、84 的调试结果不计入受评进度。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，n_actions=0），log step 85 为 Gemini 过滤中断；节点终值 unknown、断点 unknown/首步前、现象与根因为空并带 gap_zh，符合 FAIL-5。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:22:41Z", + "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/dexhand-usb-plug-insert-i00-privileged--zvqjjdf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--zvqjjdf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6fa8ca07808f224c53f23e0fc762ec7877f8a9a5f16e4943505f39b41c156682", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--wigngyp.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--wigngyp.json new file mode 100644 index 0000000000000000000000000000000000000000..12329827ffea4c7396778d1fadb0f287e9c0efa9 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--wigngyp.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--wigngyp", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 0, + "infra_error": 0, + "missing_trajectory": 1, + "n_actions": 0, + "sim_steps": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.976, + "peak_processes": 9, + "peak_disk_gb": 0.259, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bin_removed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、n_actions=0、sim_steps=0，未给出取下尘盒节点结果；log step 55 的 stage=1 来自 agent 自建 test_sim.py 中新建 Session 的本地测试，并非交付轨迹。inputs/video.json 为 kind=none，且无状态日志，不能把本地测试的拆下结果计入受评节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评动作轨迹；本地测试中的双手接触不作为该节点的轨迹级接触。" + } + ] + }, + "bin_reseated": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 126, + "text_zh": "观察：评分器 reward 仅报告缺少轨迹及零受评动作，未报告装回关系的终值；log step 124 的最后一条 agent 自述仍在等待本地测试，log step 126 新建 Session 检查机身和按钮碰撞几何，没有交付结果。没有本次视频或状态日志，不能从测试初态已就位或成功参考录像推定受评终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评动作轨迹，无法定义本节点的受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 126, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 为 success=0、missing_trajectory=1、n_actions=0、sim_steps=0、infra_error=0；完整日志未见动作轨迹保存或提交，log step 123 启动本地测试、log step 124 自述等待该测试，末尾 log step 126 仍在新建 Session 检查碰撞几何。没有已交付的受评尝试，无法定位到取下或装回节点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，inputs/ 中无本次 replay.mp4 或 states.jsonl，state=null；评分器也未给出逐节点状态或原生物理指标。日志仅有多次独立 Session 的测试和诊断，未见受评轨迹保存、提交或重放；最后一条 agent 自述（log step 124）仍是等待测试，末尾 log step 126 是几何检查。推断：按 DECISIONS.md N9，两个节点的 intervals 与 final 均保留 null；参考成功视频仅能说明目标外观，不能证明本次动作。按 D23，未交付时测试现象不能充作受评现象，缺交付本身也不足以推定交付操作出错、控制或规划根因，因此两层均留空；日志未明确交代未交付的具体原因。", + "unmet": { + "bin_removed": null, + "bin_reseated": null + } + }, + "summary_zh": "观察：评分器以缺少动作轨迹判失败（missing_trajectory=1、n_actions=0、sim_steps=0），未报告两个节点的受评终值；本地测试曾出现取下阶段，但不能计入受评进度。观察：日志末尾仍是本地测试与几何诊断（log step 123—126），没有保存或提交轨迹的记录，因此断点记 unknown／首步前，现象与根因留空。观察：本次没有视频或状态日志，两个节点均为未知，成功参考录像不作为本次证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1、n_actions=0；文件把两节点留 unknown、断点 unknown/首步前、现象与根因为空并写 gap_zh，符合 03 第5条与 N9/D23。agent 日志末尾（step 123-126）仍是本地测试，未见交付。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:27:26Z", + "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/dexhand-vacuum-bin-reseat-i00-privileged--wigngyp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--wigngyp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5cb9693a965fe9bd11952f1a1220563dc76cbd145164ed932dc65708d5d836cd", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--azxdtgg.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--azxdtgg.json new file mode 100644 index 0000000000000000000000000000000000000000..f291bac23780e0236b0363e5c1e0aa5f94b2157e --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--azxdtgg.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--azxdtgg", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 612, + "sim_steps": 612, + "max_steps": 1612, + "steps": 204, + "elapsed_s": 1615.1, + "symbolic_success": 1, + "success_step": 612, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 62, + "text_zh": "观察：log step 62 中，agent 的控制脚本提交静止保持动作后，机器人在线服务返回 control_steps=612、done=True、reason=success；该控制步编号不是视频时间。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、symbolic_success=1、success_step=612、finalized=1，且 sim_startups=1、resumes=0、infra_error=0，表明评分依据为同一在线单局。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：本 DAG 唯一目标为游戏盒摆正，在线服务的正式成功判定与评分器结果一致，因此本节点终态为真，包含其朝向、图示关系、非持有及连续 45 控制步静置验收；未用 agent 自算的朝向值替代评分器判定。" + }, + { + "t": null, + "log_step": 56, + "text_zh": "观察：log step 56 的脚本给右夹爪 right_tcp 提交绕游戏盒估计中心的圆弧推扫目标，服务随后累计到 control_steps=504，尚未成功；日志没有提供夹爪与盒子的接触对，本次也没有可检查的视频或状态日志，无法核实实际接触部位和方式。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 47、50 记录机器人右夹爪闭合和抬升尝试，log step 56 记录右夹爪圆弧推扫指令；这些指令及夹爪开度不能证明实际抓握、压擦或推扫。缺少本次视频及接触状态日志，实际作用端与游戏盒的接触方式均未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "在线服务在 log step 62 的控制步 612 返回成功，评分器同时给出 live_success=1、symbolic_success=1，唯一目标“游戏盒摆正”终态完成（1/1）。agent 在 log step 47、50 尝试闭合右夹爪并抬升，随后于 log step 56 提交右夹爪圆弧推扫，最终静止保持通过正式验收，无失败断点。虽然评分记录含 video_rendered=1，本次 inputs/video.json 明确为 none，且无状态日志；故所有视频时间与区间为空、实际接触标未知，七项原生指标未报告数值，参考成功录像仅用于了解摆正外观，未充当本次证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志；唯一目标节点终态为真有评分器字段（success=1、live_success=1、symbolic_success=1、success_step=612）和 log step 62 的服务读数（done=True, reason=success）支持。时间全为空，控制步未被转成视频时间，实际接触标未知合理，无失败断点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:24:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--azxdtgg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--azxdtgg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c99c618b354e17d744bb513e89a840c867df4297b61e76dd7d876a58752496a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--f95v63k.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--f95v63k.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f2dddb73574da67ed579cca7c2212b9f3cab25 --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--f95v63k.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--f95v63k", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 560, + "sim_steps": 560, + "max_steps": 1612, + "steps": 94, + "elapsed_s": 2595.4, + "symbolic_success": 1, + "success_step": 560, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.28, + "peak_processes": 9, + "peak_disk_gb": 0.264, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 字段记录 success=1、live_success=1、graded_by_live=1、symbolic_success=1、finalized=1，success_step=560；sim_startups=1、resumes=0、replays=0，说明评判对象是本次单次在线运行。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：任务 DAG 只有游戏盒摆正一个目标节点，评分器接受本次在线运行成功，因此按本次评分规则将该节点终值记为 true。inputs/video.json 为 kind=none，且没有状态日志，不能确定达成时刻或保持区间；控制步计数不转换为视频时间。" + }, + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 中 agent 保存并执行的脚本向服务提交右夹爪张开状态下的前推、后撤和静置动作；agent 在 log step 113 自述 done=True、reason=\"success\"、剩余 1052 控制步。脚本和自述仅说明动作意图及汇报，不能证明实际指尖接触、盒子运动或完整静置数值；节点终值依据评分器结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82 提交右夹爪夹取转动方案，log step 101 提交左夹爪推动修正方案，log step 109 提交右夹爪张开推动方案，对象均为绿色 Clue 游戏盒；本次没有可用视频或状态接触记录，无法核实各次操作中机器人夹爪与游戏盒实际如何接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分器记录本次单次在线运行 success=1、live_success=1、symbolic_success=1，唯一目标“游戏盒摆正”终值为 true（1/1），无失败断点。日志记录 agent 先后提交右夹爪转动、左夹爪修正和右夹爪张开推动方案，最终自述成功（log step 82、101、109、113），具体接触过程不能据此确证。本次视频不可用且无状态日志，所有节点时间区间均为 null，实际接触为未知；评分器未报告七项原生指标的数值，因此全部保留 null，不能独立复核朝向误差与静置阈值。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次运行无视频、无状态日志；评分器字段（success=1、live_success=1、symbolic_success=1、replays=0、resumes=0）支持唯一目标节点 final=true，时间区间为 null、未转换 agent 时间、接触标为未知，均符合规则。引用的 log step 82/101/109/113 的 id 存在且内容与描述一致，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": "2026-10-30T22:20:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--f95v63k/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--f95v63k/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b90b47849433f4b3c2145f3bc7a99754bfe9165a986c40da402c97509a5f2ece", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ijwwcmh.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ijwwcmh.json new file mode 100644 index 0000000000000000000000000000000000000000..c1887dda8478aa61d667c5c2902f07943c9f3806 --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ijwwcmh.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--ijwwcmh", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "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": 1611, + "sim_steps": 1611, + "max_steps": 1612, + "steps": 1611, + "elapsed_s": 1348.4, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.43, + "peak_processes": 12, + "peak_disk_gb": 1.115, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 192, + "text_zh": "观察：log step 190、192 中机器人在线服务均返回 control_steps=1611、done=False、reason=None；inputs/run.json 的评分器字段为 finalized=1、graded_by_live=1、live_success=0、symbolic_success=0、success_step=0，且 resumes=0、infra_error=0。" + }, + { + "t": null, + "log_step": 190, + "text_zh": "推断：本任务只有“游戏盒摆正”一个目标节点，包含朝向、关系和连续45控制步静置的联合验收；评分器最终未接受该节点，故 final=false。这不能单独说明是朝向、关系还是静置失败；没有本次录像或状态日志，全部 intervals 保持 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 154、155 记录机器人执行了旨在推动盒子的底盘运动，log step 193 中 agent 自述此前碰动盒子；本次没有可用录像、接触传感结果或状态日志，无法确定机器人何部位是否及如何接触游戏盒，不把运动指令或自述当作实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "game_box_aligned", + "t": null, + "log_step": 155, + "where": "操作中", + "evidence_zh": "推断：log step 154 的脚本以底盘横移和前进尝试将游戏盒推回，log step 155 服务返回执行至 control_steps=769、done=False；其后 log step 176 提出受控旋转计划，但 log step 178、183 仍为接近运动，log step 190 只执行158行静置，最终评分器 live_success=0。因此断点归于唯一被操作且未获验收的“游戏盒摆正”；log step 155 是操作记录锚点，缺少本次影像，不能定位首次失误时刻。" + }, + "unmet": { + "game_box_aligned": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "任务理解", + "t": null, + "log_step": 164, + "source_zh": "日志", + "evidence_zh": "观察：log step 143、165 的脚本通过调整底盘和躯干去逼近目标相机位置与俯仰角，log step 144、166 分别以“Drive to hypothesized goal viewpoint”和“Drive to reproduced goal viewpoint”为调用目标，服务累计 control_steps 从513增至1093；log step 164 的 agent 自述要复现目标视点，log step 188 的脚本文档仍将任务写为匹配头相机视图。log step 176 的 agent 才自述意识到任务可能只关乎盒子朝向，并提出受控旋转；此前最近服务读数为剩519控制步。log step 177、182 的接近脚本只安排底盘行进、躯干调整与持姿，log step 178、183 服务累计步数分别为1321、1453，剩余291、159步；log step 188、190 最后提交158行静置，未执行所提出的旋转序列。推断：结合 inputs/run.json 的任务文本明确说明机器人自身姿态不必匹配目标图，行为与目标表述支持 agent 将物体朝向任务误读为相机视角复现，朝错误目标工作，直至后期才转向盒子转动，因此未完成游戏盒摆正；根因归为任务理解，不把预算消耗本身当作原因，也不将 agent 自述的盒子位姿当作物理事实。" + } + ], + "gap_zh": "本次 inputs/video.json 明确 kind=none（HF视频404且无本地录像），也没有状态日志；因此不能核实游戏盒真实朝向、关系、静置是否分别满足，不能确认目标接触、碰撞或位姿偏差等物理现象，现象层留空。agent 在 log step 137、171、173、175 自行估计的盒子位置与朝向及 log step 193 的碰撞叙述仅为会话证据，不作为节点真值或物理现象。评分器未报告DAG所列七项数值指标，均填null。成功参考录像只能展示另一运行的目标外观，不能补足本次事实；依暂行N9不填写视频时间或区间。首次失误是否发生在早期探索阶段也无法复核。" + }, + "summary_zh": "本次在线评分未成功，唯一目标“游戏盒摆正”最终为false，节点完成0/1；服务记录执行1611控制步，最后一次提交为158行静置。日志支持推断任务理解有误：agent反复驾驶以复现目标相机视角，log step 176 才提出盒子受控旋转，后续接近与静置结束前未执行该旋转序列。本次没有可用录像或状态日志，故接触标未知、物理现象留空、视频区间与未报告的原生指标均为null。", + "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 final=false、接触未知、现象层留空（无录像）均有 N9 与评分字段支撑，我同意。但根因应为认知·任务理解而非推理/规划：日志显示 agent 前约 1100 控制步都在把任务当作“复现目标图的相机视角”，直到 log step 176 才意识到只需摆正盒子朝向。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无录像、无状态日志；节点 final=false 由评分字段（live_success=0、finalized=1）支撑，接触未知、现象层留空并有 gap_zh，根因认知·任务理解有 log 证据且区分了观察与推断。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/ispatialgym-alignment-axial-i00-standard--ijwwcmh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--ijwwcmh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--ijwwcmh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--ijwwcmh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "accd222ea6e87661372afd5508af437593d4cbe20a01b53d3512eebb0a18c4e0", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ohn3iew.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ohn3iew.json new file mode 100644 index 0000000000000000000000000000000000000000..42dbef9870fe84a6bbe5201fc33f7f716175488e --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ohn3iew.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--ohn3iew", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1507, + "sim_steps": 1507, + "max_steps": 1612, + "steps": 227, + "elapsed_s": 897.6, + "symbolic_success": 1, + "success_step": 1507, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.212, + "peak_processes": 11, + "peak_disk_gb": 0.264, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：本次标准模式为单次在线评分；log step 57 中 agent 调用机器人服务 r.get_obs(seconds=3.0) 等待后，服务返回 done=True、reason=success，r.status() 返回 control_steps=1507、done=True、reason=success、resumes=0。该结果是服务的在线验收读数，而非 agent 的角度估计。" + }, + { + "t": null, + "log_step": 57, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、live_success=1、symbolic_success=1、graded_by_live=1、success_step=1507，与 log step 57 的服务成功结果一致；任务 DAG 只有“游戏盒摆正”这一个目标节点，故其终态为 true，包括该运行规则要求的关系、朝向及静置验收。" + }, + { + "t": null, + "log_step": 54, + "text_zh": "推断：log step 15、40 的辅助代码将右 TCP 逆解转换为机器人服务的 joint_position 执行命令；log step 52、54 的前推调用有执行返回，服务本体读数打印的右 TCP 分别到达 [1.042,0.042,0.865] 和 [0.971,0.008,0.838] 米，log step 55 撤回后到达 [0.9,-0.2,1.051] 米。结合 log step 57 的服务成功验收，支持右夹爪以推/扫方式作用于游戏盒；log step 52、54、55 的 30.8°、76.2°、88.1°仅是 agent 脚本的图像估计，作为辅助线索，不作为原生朝向误差或独立验收。具体接触面没有视频或接触对日志可核实。" + }, + { + "t": null, + "log_step": 49, + "text_zh": "观察：log step 15 的 state() 直接读取机器人服务 get_obs().meta.proprio；log step 8 的起始 base_x=0，log step 19、37、49 的底盘前进命令执行后，本体读数依次为 base_x=0.095、0.171、0.238 米，确认本步工作期间底盘实际移动。log step 58 的动作记录为事后脚本注释，不单独用作移动事实的依据。inputs/video.json 为 kind=none，inputs/ 无本次状态日志，故 intervals 与全部视频时间保持 null。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：机器人右夹爪沿桌面方向推动绿色 Clue 游戏盒。log step 52、54 的右 TCP 前推命令有执行返回和本体位置反馈，log step 55 撤回后，log step 57 服务验收成功；据此判断粗粒度推动接触。无本次视频或接触对日志，具体碰到盒边还是顶面、接触点及各次接触过程不细化。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在本步操作期间前移底盘；log step 19、37、49 执行底盘驱动命令后，从服务本体读数打印的 base_x 依次为 0.095、0.171、0.238 米（log step 8 起始为 0），累计前移约 0.24 米。底盘承载机器人移动，随后继续用右夹爪操作游戏盒；这些移动与夹爪推动依次发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次唯一目标“游戏盒摆正”终态成立，节点完成 1/1：评分器给出 live_success=1、symbolic_success=1，机器人服务在 log step 57 返回 done=True、reason=success（control_steps=1507），因此无失败断点、现象或根因。右 TCP 前推、撤回的执行命令和本体反馈结合成功验收支持推断“手指/夹爪 × 推/扫”，log step 19、37、49 的服务本体读数确认底盘累计前移约 0.24 米，补标“底盘 × 支撑”。本次无视频及状态接触日志，具体接触面和进度区间无法核实，接触方式含推断，置信度保留 7；七项原生连续指标均未报告，值保留 null，所有视频时间保持 null。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "成功运行、终态 true、无失败层均正确；但 contact_actual 标“未知”过于保守：log 中脚本命令（非仅自述）已显示右夹爪前推盒子并且底盘实际前移。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行、game_box_aligned 终态 true（grader success、log step 57 服务 done/success）、无失败层均正确；contact_actual 的推/扫与底盘依据 log 本体读数，标为推断合理，无视频故时间保持 null。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:30:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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"video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--tjgpuxj.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--tjgpuxj.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a2699952d8a368cd955f8305dd7bfdfddd608c --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--tjgpuxj.json @@ -0,0 +1,246 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--tjgpuxj", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "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": 1612, + "sim_steps": 1612, + "max_steps": 1612, + "steps": 1612, + "elapsed_s": 2604.0, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 2.382, + "peak_processes": 9, + "peak_disk_gb": 1.698, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 234, + "text_zh": "观察：本次为单次在线评分；log step 234 的机器人服务返回 done=True、control_steps=1612、control_steps_left=0，reason=\"failed: the episode's control steps ran out\"；inputs/run.json 的 reward 同时报 live_success=0、symbolic_success=0、graded_by_live=1、finalized=1。" + }, + { + "t": null, + "log_step": 234, + "text_zh": "推断：DAG 仅有游戏盒摆正这一个目标，且该节点已包含朝向、关系及连续45控制步联合静置验收；服务在本次在线尝试结束时明确判失败，因此该完整节点 final=false。无本次录像或状态日志，无法给出视频时间区间，也不能从 agent 对盒子偏角或接触的自述判断节点的局部条件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 233 的 agent 脚本向机器人提交底盘接近、左臂推盒、回撤和静置指令；无本次录像或状态接触记录，无法核实左夹爪是否碰到绿色 Clue 游戏盒、是否形成抓握或推动接触，实际接触类型记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "game_box_aligned", + "t": null, + "log_step": 233, + "where": "操作中", + "evidence_zh": "观察：log step 233 中 agent 的脚本执行机器人底盘接近后，将左臂逆解得到的关节序列作为推盒动作提交，随后回撤并静置；该步服务返回 PUSH done=False、HOLD done=False。log step 234 继续静置后，服务以控制步耗尽终止且未成功。推断：失败步骤为唯一目标“游戏盒摆正”，锚定最后一次实际提交的纠正操作；没有本次视频，t=null，无法定位物理动作最早出错的瞬间。" + }, + "unmet": { + "game_box_aligned": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 233, + "source_zh": "日志", + "evidence_zh": "观察：log step 233 的 agent 脚本从底盘接近后的本体感知 left_tcp_x/y/z 构造再前伸 0.09 米的推盒目标，打印底盘增量 dx=-0.076、dy=0.037 米及 IK push err=0.256 米后，仍向机器人提交该逆解关节插值；服务返回 PUSH done=False、HOLD done=False，log step 234 最终报控制步耗尽且未成功。log step 104、226 的 Arm.pose 调用 fk 时未传 base_pose，结合 log step 18 的里程计与底盘坐标系说明，提示可能的坐标系实现缺陷。推断：未消除明显逆解残差便执行末次纠正动作，支持控制大类根因；但末次底盘增量不等于累计坐标变换，现有读数不足以量化坐标系差异对 0.256 米残差的贡献，不能将其确定为主要失败机制。agent 在 log step 233、238 自述左臂满伸、目标超出可达范围，仅属会话证据；目标本身不可达或底盘接近量不足仍不能排除。", + "note_zh": "保留控制大类，子类不定：日志支持在逆解残差未消除时继续提交动作，但未验证推盒目标及接触方案可行，也未核实累计底盘位姿或同一坐标系下的真实末端误差。坐标系混用只是可能的实现缺陷；缺少本次画面与物体状态，无法判定其相对于可达性或接近量选择的因果贡献，也不能据 agent 自述添加“够不着”现象。" + } + ], + "gap_zh": "本次 inputs/video.json 明确为 kind=none（HF录像404且无本地录像），inputs/ 中没有本次 replay.mp4 或 states.jsonl；run.json 的图片项只有记录引用，未提供可查看的本次图像。依 N9，所有节点 intervals=null，终值仅依据服务及评分结果；没有逐帧物体姿态、接触、持有和静置读数，无法区分未接触、位姿偏差或静置未通过，故现象层留空、contact_actual记未知。agent 在 log step 238 自述盒子未转动及约23度偏差，只作会话证据，不作为已观察的物理现象或原生指标。已查看的成功参考录像仅帮助理解目标，不能补足本次观测。" + }, + "summary_zh": "本次在线尝试结束时“游戏盒摆正”未通过，节点终态为0/1；log step 234 的服务以1612控制步用尽终止，评分器 live_success=0。断点定位在该步骤的纠正操作，log step 233 的脚本在逆解残差0.256米后仍提交动作，支持控制大类根因，但无法确定坐标系实现缺陷、目标可达性及底盘接近量各自的影响。本次无可用录像或状态日志，实际接触、具体物理失败现象及原生指标无法核实，根因机制仍不确定，故置信度由6降至5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无录像/状态日志，节点 final=false、contact 未知、现象留空并附 gap_zh 均符合 N9 与证据；唯一问题是控制根因把“坐标系混用”写成支持证据，但日志数值并不能支撑这一机制。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无录像/状态日志（video.json kind=none），节点 final=false 由服务 done=True 与 live_success=0 决定，contact_actual 记未知、现象留空并附 gap_zh，均符合 N9；根因已按上一轮意见降为不定子类的控制并保留替代解释，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": "2026-10-30T22:30:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--tjgpuxj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--tjgpuxj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--tjgpuxj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--tjgpuxj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "344a078f049ba5ef1cc03a52878ac51d43bc23b8a2caabe9d85bad5390781eb5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--zeffwkz.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--zeffwkz.json new file mode 100644 index 0000000000000000000000000000000000000000..27da554cfcf7b027e40479e1e5c36a04aec7c9c9 --- /dev/null +++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--zeffwkz.json @@ -0,0 +1,241 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-alignment-axial-i00-standard--zeffwkz", + "taskKey": "ispatialgym/alignment_axial", + "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c", + "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": 1612, + "sim_steps": 1612, + "max_steps": 1612, + "steps": 349, + "elapsed_s": 2629.0, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.668, + "peak_processes": 9, + "peak_disk_gb": 0.367, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "game_box_aligned": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 275, + "text_zh": "观察：在线机器人服务在 log step 275 返回 control_steps=1612、done=True、reason=\"failed: the episode's control steps ran out\"、resumes=0；评分记录同时给出 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0。" + }, + { + "t": null, + "log_step": 233, + "text_zh": "推断：log step 233 的服务契约说明这是一局不可重置的在线回合，目标首次通过即终止为 success；本 DAG 只有“游戏盒摆正”一个合并了朝向、桌面关系和静置验收的目标节点。结合 log step 275 的正式失败状态及评分器字段，可判该节点终值为 false；不能据此确定究竟是哪项子条件未通过，也不能重建历史区间。" + }, + { + "t": null, + "log_step": 270, + "text_zh": "观察：log step 269 启动 agent 的末轮微推脚本；log step 270 的脚本输出记录左臂接近、预推和两次向更大 x 坐标的推送，并自行估计误差从 0.1901 增至 0.1936、0.2107 弧度。这是 agent 的图像测量及脚本记录，不是评分器朝向读数，不用它给节点赋值或填写原生指标。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录 agent 驱动底盘接近桌面并先后提交右臂、左臂推盒动作（log step 125、181、213、269）；本次无录像和状态接触记录，无法核实夹爪与绿色 Clue 游戏盒是否接触、接触部位及方式，故实际接触记为未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "game_box_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_object_robot_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "game_box_aligned", + "t": null, + "log_step": 270, + "where": "操作中", + "evidence_zh": "推断：log step 270–271 记录 agent 的左臂脚本仍在执行对游戏盒的微推校正与收臂，log step 275 的在线服务随后报告控制步耗尽并失败，评分器 live_success=0、symbolic_success=0。唯一目标“游戏盒摆正”始终未获服务验收，断点归该步操作中；无本次录像，视频时刻留空。" + }, + "unmet": { + "game_box_aligned": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 明确 kind=none（远端录像 404 且无本地录像），也没有状态日志；评分字段虽有 video_rendered=1，但不是可供检查的录像。无法定位视频时刻、重建节点历史区间或核实实际接触；agent 自己的二维/三维角度测量不能证明实际盒子偏转、碰撞或静置失效，故物理现象层留空，实际接触记未知。DAG 所列七项原生指标均未由评分器报告，value 全为 null；log step 247、270 的误差来自 agent 自己的图像估计，log step 248 可见其使用 HSV 分割和 ray_plane 投影，并非评分器或服务的朝向读数；这些只能作为会话线索，缺乏独立核实，无法区分测量误差、接触方案或反馈控制问题。服务在 log step 275 只报告控制步耗尽与失败，不能确定根因类别，故根因层也留空。已检查成功参考录像的粗采样画面，其终段可见盒边摆正，但参考运行不能证明本次发生了什么。" + }, + "summary_zh": "本次是单局在线评分，agent 先后提交右臂与左臂推盒校正，唯一目标“游戏盒摆正”最终未通过（0/1）；log step 275 的服务状态确认控制步耗尽，评分器 live_success 和 symbolic_success 均为 0。断点在该步操作中；log step 247、270 的偏航误差为 agent 自测，未获独立核实，无法据此确定根因，故物理现象与根因层均留空。没有本次录像或状态日志，无法核实具体物理失败现象、接触及七项原生数值，时间区间全部留空；因这些证据缺口，整体置信度保留为 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点终值 false、断点 game_box_aligned/操作中、无录像时全部时间留空、接触未知均合理；但唯一的根因“控制”完全建立在 agent 自己用图像估计的偏航误差（脚本打印）上，这属于 agent 自述/自测，不是评分器或服务读数，不应作为根因。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无录像、无状态日志；终值 false（log step 275 服务 done=True、控制步耗尽，live_success=0）、断点 game_box_aligned/操作中、接触未知、现象与根因留空并有 gap_zh，均与可采信证据一致；agent 自测误差未被当作观察。未发现需改动处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:29:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--zeffwkz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--zeffwkz/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--zeffwkz/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-alignment-axial-i00-standard--zeffwkz/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b882f3fc4cefa9c66ffa1129c0a065c377de3ba150f7fab19d22a42cb18ee13d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw.json new file mode 100644 index 0000000000000000000000000000000000000000..75e81a075eb79ca275b2639338b289fd7e2e5f6b --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "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": 1321, + "sim_steps": 1321, + "max_steps": 1324, + "steps": 1141, + "elapsed_s": 1181.4, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 记录 graded_by_live=1、finalized=1、live_success=0、success_step=0，且 trajectory=1、n_actions=1321、resumes=0、infra_error=0。" + }, + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 100 中机器人服务返回 executed_rows=132、control_steps=1321、done=False；agent 脚本打印里程计坐标下的底盘位置[2.910,-0.813]米、偏航-0.444弧度和相机位置[2.906,-0.812,1.615]米。这些是会话记录，未作为精确目标误差或节点达标的证据。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：本任务只有一个绑定原生成功检查的目标节点，live_success=0 表明其位姿、符号关系及连续静止的联合验收未通过，因此 final=false；不能由此确定具体哪项验收失败。inputs/video.json 标明 kind=none，且无状态日志，故 intervals=null，不能标注到达或丢失的时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、40、77、85、96、100 记录 agent 向机器人服务提交底盘运动并读取变化的底盘位置，说明已尝试导航；本次无录像或接触状态日志，无法核实车轮与地板的实际支承及其他接触，接触方式保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "camera_at_goal_pose", + "t": null, + "log_step": 100, + "where": "操作中", + "evidence_zh": "观察：log step 77、85、96 中 agent 的导航脚本依次驱动机器人到候选观察位姿；log step 99 编写最后一段底盘移动及零指令保持，log step 100 返回执行132个控制步后 done=False。评分器最终记录 live_success=0、success_step=0，未发生重置或恢复。推断：尝试始终围绕唯一的相机导航步骤，末段移动和保持后仍未通过该步骤，故断点为 camera_at_goal_pose、位置为操作中；log step 100 仅作末次尝试的日志锚点，没有本次录像，无法定位最早偏离的时刻。" + }, + "unmet": { + "camera_at_goal_pose": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": null, + "log_step": 92, + "source_zh": "日志", + "evidence_zh": "推断：目标相机位姿的视觉定位不可靠，使 agent 只能用粗略候选位置继续导航。依据：log step 58 的 agent 定位脚本对244个目标到点云匹配返回 PnP inliers=0；log step 73 的人工对应定位给出相机高度2.717米、细化后2.169米，log step 75 的固定高度拟合均方根重投影误差443.3像素；log step 92 的另一次定位仅6个内点，输出目标偏航-2.852弧度，与 log step 73 的-0.429弧度明显不一致。agent 随后自述“PnP is unreliable”（log step 93），在 log step 99 明确按“best estimate”作最后移动，log step 100 执行后仍未成功。这支持定位环节的感知根因，但未用这些估计替代真实目标位姿或证明具体偏差方向。" + } + ], + "gap_zh": "观察：inputs/video.json 的 kind=none，原因是远端录像404且没有本地录像；本目录没有本次状态日志。日志中的图片仅有占位符，无法检查本次最终构图、碰撞或车轮支承，故失败现象留空、contact_actual 为未知，全部视频时间及区间为 null。评分器未报告相机位置误差、朝向误差、静止速度或窗口漂移的数值，native_metrics 均为 null；联合失败不能区分位姿、符号关系和静止验收中的具体未满足项。定位根因来自会话算法输出的推断，缺少同坐标系下的真实目标位姿核对。已查看成功参考录像的整秒抽帧（参考视频0至12秒），其只说明达标视角的外观，不能证明本次尝试的行为。" + }, + "summary_zh": "观察：评分器按单次 live 过程计分，记录1321个动作、live_success=0、success_step=0；唯一目标“相机到目标位姿”最终未通过，完成0/1。推断：断点在该导航步骤操作中，日志中多种视觉定位结果不一致，支持感知根因。观察：本次没有录像或状态日志，无法核实具体可见失败现象、实际接触和失败时刻；原生误差及静止指标未报告。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无录像、无状态日志；节点 final=false 有 live_success=0 / success_step=0 支撑，断点、unknown 的接触、感知根因与 log step 引文（58、73、75、92、93、99、100）逐一核对属实，未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:22:35Z", + "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/ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--3qfbagw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f6fbde924a9d8ab8bfd62306cc758176b88ae371048f877cfdf655ee27e02c26", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg.json new file mode 100644 index 0000000000000000000000000000000000000000..dac77783b2e63198a1259eeaa02852efbd8b3a68 --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 830, + "sim_steps": 830, + "max_steps": 1324, + "steps": 735, + "elapsed_s": 474.9, + "symbolic_success": 1, + "success_step": 830, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.471, + "peak_processes": 9, + "peak_disk_gb": 0.33, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "观察：agent 的脚本在同一实时单回合中调用机器人服务 r.get_obs(seconds=2.0) 等待静止，服务返回 done=True、reason=success、control_steps_left=494；该返回是服务终局判定，不是 agent 的完成自述。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=1、live_success=1、graded_by_live=1、symbolic_success=1、success_step=830、finalized=1，resumes=0、replays=0；评分依据是这次实时回合。" + }, + { + "t": null, + "log_step": 33, + "text_zh": "推断：DAG 只有相机到目标位姿这一目标节点，且其验收包括位姿容差、符号关系及连续45控制步静止；服务的 success 终局与评分器成功字段共同支持该节点 final=true。本次无可用视频或状态日志，不能定位视频时刻或恢复曾经达标的区间，故 intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 17、20、23、28、31 记录 agent 的脚本提交底盘旋转或平移指令并读取位置反馈，说明已尝试导航；但本次没有可用视频、状态日志或接触对记录，无法核实底盘车轮与地板等实际接触，不从 DAG 的典型接触方案复制。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：log step 33 的机器人服务返回 done=True、reason=success，评分器同时记录 live_success=1、graded_by_live=1、symbolic_success=1，因此唯一目标“相机到目标位姿”终值为真，完成1/1节点，无失败断点。观察：日志记录 agent 的脚本先旋转勘察、分段移动、用多视图特征估计目标，再驶向估计位姿并等待服务验收（log step 17—33）。观察：本次无可用视频和状态日志，故所有视频时间区间为 null、实际接触未知，8项原生误差或静止指标未在评分器字段中报告而保留 null；参考成功录像只用于理解目标视角，未作为本次运行的证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；唯一目标节点 final=true 由服务返回 done=True/reason=success（run.json id 33）及评分器 success/live_success/symbolic_success 字段支持，intervals=null、接触未知、无断点均合理，原生指标保留 null 正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:19:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--4sfifhg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8315b19e4b7adbb7efcee54eb458e9a01f6b4ab49d3303d22614dc062878db9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9.json new file mode 100644 index 0000000000000000000000000000000000000000..f8895f7d974f0eecec673d5e89969118ace23b88 --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9.json @@ -0,0 +1,227 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "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": 0, + "sim_steps": 0, + "max_steps": 1324, + "steps": 0, + "elapsed_s": 2949.5, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.523, + "peak_processes": 9, + "peak_disk_gb": 0.323, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、trajectory=1，live_success=0、symbolic_success=0，且 n_actions=0、sim_steps=0、steps=0；该任务仅有“相机到目标位姿”一个目标节点，其原生联合验收未通过，故 final=false。" + }, + { + "t": null, + "log_step": 10, + "text_zh": "观察：log step 10 返回的初始观测元数据为 seconds=0.0、control_steps_watch=0、physics_steps_watch=0；log step 2、3 的脚本只连接机器人服务并调用 status、spec、get_obs，未发送运动动作。" + }, + { + "t": null, + "log_step": 107, + "text_zh": "观察：检查全部日志调用后，后续机器人服务调用只涉及 spec 和用于计算假设关节位姿的 fk（log step 31、32、83），其余为初始图像的离线处理；log step 107 仍在读取初始观测的本体感知数据。该导航步骤没有启动，故不填 contact_actual；不能将任务 DAG 的典型底盘支撑接触当作本次实际移动接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "camera_at_goal_pose", + "t": null, + "log_step": 107, + "where": "首步前", + "evidence_zh": "观察：本次为已建立且已结束的 live 评分局（评分器 finalized=1、trajectory=1、resumes=0）；评分器记录 n_actions=0、sim_steps=0。agent 从 log step 9 获取初始图像后持续进行图像匹配、位姿估计和离线运动学计算，最后 log step 107 仍读取初始数据，全日志没有驱动底盘或躯干的动作调用，故相机重定位步骤未启动。" + }, + "unmet": { + "camera_at_goal_pose": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 107, + "evidence_zh": "观察：评分器记录有效 live 局 finalized=1、trajectory=1、n_actions=0、sim_steps=0；log step 83 的躯干关节变化仅送入 fk 计算，log step 96—100 继续离线匹配地面纹理，log step 105—107 仍读取初始观测，没有执行相机重定位动作。" + } + ], + "root_causes": [], + "gap_zh": "本次没有可用视频（inputs/video.json 为 kind=none，记录回放请求404且无本地视频），也无状态日志，因此全部视频时间和区间为 null，不能核查实际接触或精确位姿、速度及静止窗口指标。虽然日志显示 agent 持续离线估计目标位姿直到会话结束，但没有足够证据证明具体任务计划错误、错误感知被用于运动或控制执行失败，故不从“没尝试”或预算耗尽反推根因。成功参考录像仅用于理解目标视角，不作为本次轨迹证据。" + }, + "summary_zh": "评分器对已结束的 live 局记录 live_success=0、n_actions=0、sim_steps=0，唯一目标“相机到目标位姿”未通过验收，最终达成0/1。agent 获取初始图像后持续离线估计相机目标位姿，没有发送运动动作，断点为该导航步骤的首步前，现象为没尝试。无本次视频和状态日志，无法给出视频时间或核查实际接触，具体根因证据不足，保留为空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 n_actions=0、sim_steps=0、live_success=0，节点 final=false、断点首步前/没尝试、根因留空并写 gap_zh，均符合 FAIL-22/FAIL-4，且未把超时或离线估计当作根因。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": "2026-10-30T22:24:25Z", + "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/ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--6e5dch9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c830a2dd9d4a4bc57563378a57cd9154f8a928a75f8db497c309103168e9a773", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8.json new file mode 100644 index 0000000000000000000000000000000000000000..f3026e2a3099b4a1b35c722eeba8a6ab592ecf4b --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "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": 1125, + "sim_steps": 1125, + "max_steps": 1324, + "steps": 375, + "elapsed_s": 2182.4, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：这是无重置的单次live评分会话；log step 71的机器人服务状态为control_steps=1125、done=false、resumes=0。inputs/run.json最终评分字段graded_by_live=1、live_success=0、symbolic_success=0、success_step=0；唯一目标节点的联合验收未通过，故final=false。没有本次录像，不能给出视频时间区间。" + }, + { + "t": null, + "log_step": 42, + "text_zh": "观察：log step 40的服务本体读数显示底盘位置约(3.762,-2.026,0.001)，四元数XYZW约(0,0,-0.274,0.962)；log step 42执行接近厨房的底盘移动后，位置变为(4.235,-2.824,0.322)，四元数约(0.485,-0.398,-0.467,0.623)。" + }, + { + "t": null, + "log_step": 69, + "text_zh": "推断：log step 44直接读取的服务底盘四元数(0.48481593,-0.3977088,-0.46713775,0.62334865)对应横滚约77.7°，支持机器人在log step 42的导航期间侧翻；log step 50、62、64、69记录的恢复后姿态仍明显侧倾，log step 69最后横滚约75.5°，未恢复导航。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：log step 32、35、38、40、42的服务base_pose依次显示底盘从原点移动至约(1.325,-0.686,0)、(2.708,-1.278,0)、(3.762,-2.026,0.001)、(4.235,-2.824,0.322)；机器人执行了轮式底盘导航，按S17记移动阶段的底盘支撑。推断：log step 42后的四元数对应横滚约78°，支持机身侧翻；与家具的具体接触对象仍未知。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：侧翻后agent脚本执行手臂撑起、夹爪探寻和摆臂恢复尝试；本次没有录像或状态接触对。无法核实手臂、夹爪与地板或家具分别是否及如何接触，不将agent自述碰到沙发或尝试抓沙发当作已确认接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "camera_at_goal_pose", + "t": null, + "log_step": 42, + "where": "操作中", + "evidence_zh": "推断：log step 40至42的服务底盘读数由直立变为侧倾约78°，发生在机器人向目标观察位置移动的控制段内；log step 50、62、64、69的恢复没有使底盘恢复直立，最终live_success=0。这是相机重定位步骤中未修复的失衡；本次无视频，t留空。" + }, + "unmet": { + "camera_at_goal_pose": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 42, + "evidence_zh": "推断：log step 42执行底盘移动后，服务返回的底盘四元数约(0.485,-0.398,-0.467,0.623)，log step 44再次读取相同姿态，换算横滚约77.7°、机体竖轴偏离竖直约77.7°，支持机器人侧翻而非正常平面转向；log step 69恢复段最后横滚仍约75.5°。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/video.json的kind=none（HF返回404且无本地视频），本次也没有状态日志；日志中的图片只有占位信息，成功oracle录像不属于本次。评分器未报告DAG列出的精确相机位姿误差、静止速度或窗口漂移指标，故这些值与视频时间均留空，移动阶段按服务底盘读数记底盘支撑，家具碰撞对象及手臂、夹爪的具体接触仍未知。推断：服务姿态足以支持失衡，但不能独立确认agent在log step 70、75所称的沙发碰撞和执行器力矩限制；缺少失稳前后的接触、力或连续姿态证据，不能确定路线、接触还是控制机制导致侧翻，根因层留空。观察：log step 28的关节映射错误已被修正，log step 32后底盘仍直立，不能据此把该早期错误认定为侧翻原因。观察：agent在log step 75自述控制步耗尽，但log step 71最后可核对的服务状态仍为1125/1324控制步且done=false，评分记录也为1125控制步；没有服务结果支持其所称耗尽，不将该说法作为终止原因。" + }, + "summary_zh": "本次仅有相机重定位一个目标节点，最终live评分未通过，节点终值为false（0/1）。机器人已执行接近目标视角的导航，log step 42的服务底盘姿态支持约78°侧翻，后续恢复仍未站起，断点为该导航步骤的操作中、现象为全身失衡。没有本次录像或状态接触日志，无法确认碰撞对象和失稳根因，精确验收指标也未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "无录像，标注基本忠实于服务读数：final=false、侧翻约78°（log step 42/44）、未恢复，断点与平衡现象有据，根因留空合理。唯一问题：服务位置读数已证明底盘在各步移动，contact_actual 却全记未知，应按 S17 记底盘。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "无录像；标注忠实于服务读数：final=false，log step 42/44 底盘四元数支持约78°侧翻且至 step 69 未恢复，断点与平衡现象有据，根因留空合理；上轮底盘×支撑的接触问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:29:38Z", + "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/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--koeydm8/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df11e86721cf5c1c8c4a8a0946f1abfc7a245ad87945165584ac7011ad387714", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn.json new file mode 100644 index 0000000000000000000000000000000000000000..7c39e835183c5e6ce358da699746e7d29cbe54d4 --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 980, + "sim_steps": 980, + "max_steps": 1324, + "steps": 327, + "elapsed_s": 1017.9, + "symbolic_success": 1, + "success_step": 980, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.712, + "peak_processes": 11, + "peak_disk_gb": 0.433, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 156, + "text_zh": "观察：agent 的脚本向仿真服务提交底盘微调和静止保持动作后，服务返回 Done: True、Reason: success、Control steps left: 344；这些是服务的终局结果，而非 agent 自行计算的图像匹配结论。" + }, + { + "t": null, + "log_step": 159, + "text_zh": "观察：agent 随后查询仿真服务状态，返回 control_steps=980、done=True、reason=success、resumes=0；inputs/run.json 的评分器字段同时记录 success=1、live_success=1、graded_by_live=1、symbolic_success=1、success_step=980、replays=0，确认评分依据为该次实时执行。" + }, + { + "t": null, + "log_step": 159, + "text_zh": "推断：本任务唯一目标节点是相机到目标位姿并通过静止验收，服务终局成功与评分器成功共同支持该节点 final=true。本次无录像或状态日志，不能定位其成立区间；控制步计数不换算为不存在的视频时钟。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 95、156 记录了 agent 脚本提交底盘运动与微调动作；本次无录像或状态接触日志，无法核实车轮与地面及其他物体的实际接触，故记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "仿真服务在 log step 156 返回成功，并在 log step 159 的终局查询中确认 done=True、reason=success、control_steps=980；评分器以实时执行判定成功，唯一目标“相机到目标位姿”最终完成（1/1），无失败断点。输入没有本次录像或状态日志，所有视频区间均为 null，实际接触记未知；八项原生误差、速度和漂移指标未由评分器报告，数值均为 null，未采用 agent 自算误差或参考成功录像替代本次证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无录像、无状态日志；唯一目标节点 final=true 由服务终局 Done:True/success（log step 156）与 step 159 状态查询、评分器 success=1 支持，区间 null、接触记未知均合理，无失败断点，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": "2026-10-30T22:22:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--mhqtthn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a8461217d907f74d7e8dd72154e54b921e4ed46ee6d864455e1aaa6452115691", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat.json new file mode 100644 index 0000000000000000000000000000000000000000..eff27ef05197f3d26ad065dce9c098aba0762dfd --- /dev/null +++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat", + "taskKey": "ispatialgym/camera_relocalization_obstructed", + "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2", + "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": 1324, + "sim_steps": 1324, + "max_steps": 1324, + "steps": 370, + "elapsed_s": 1478.6, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "camera_at_goal_pose": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 51, + "text_zh": "观察：log step 51 的机器人服务返回 executed_rows=36、control_steps=108、done=false；log step 53 的服务本体反馈显示底盘从里程计原点移至约(0.015,-1.040)米。机器人已启动相机重定位导航；这是无重置的单次实时评分回合，不是另一次试验。" + }, + { + "t": null, + "log_step": 164, + "text_zh": "观察：log step 164 中，agent 脚本发送零底盘命令后调用机器人服务等待，服务最终返回 done=true、control_steps=1324、reason=\"failed: the episode's control steps ran out\"；inputs/run.json 的评分器字段 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0，且 resets/resumes 均为0。" + }, + { + "t": null, + "log_step": 164, + "text_zh": "推断：本任务唯一目标节点包含原生位姿、符号关系和连续45控制步静止验收，服务满足验收即终止成功；结合 log step 164 的失败终止与评分器 live_success=0，节点最终为 false。此结论不区分具体哪项验收未满足，也不把 agent 自算的相机位姿当作服务的节点判定。无本次录像，intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 51、53、98、137、156 的命令与服务本体反馈记录底盘移动以调整头部相机；但本次没有可用录像或接触状态日志，无法核实车轮支撑面及其他实际接触端、对象和方式，故保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "head_camera_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "head_camera_orientation_error", + "unit": "rad", + "threshold": 0.45, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_robot_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "camera_at_goal_pose", + "t": null, + "log_step": 98, + "where": "操作中", + "evidence_zh": "观察：log step 98 中，agent 的导航脚本已朝估计目标行驶，服务本体反馈显示底盘在约(-0.389,-1.430)米处多次不再接近该估计目标；log step 105 脱离此处后，log step 137、147、156、160 又继续导航，最终 log step 164 的服务返回控制步耗尽且未成功。推断：唯一相机重定位步骤已被实际执行，但一直未通过其完整验收，断点落在该步骤的操作中；无本次录像，无法提供视频时刻或确认首次物理偏差的机制。" + }, + "unmet": { + "camera_at_goal_pose": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确为 kind=none（未取得本次回放），且未提供本次状态日志；完整日志中的图片只有路径和文字占位，无法查看当时的画面。log step 100、158 的服务本体反馈记录底盘抬高、姿态倾斜，log step 105、158 的后续反馈又记录高度恢复，但没有接触对或画面确定阻挡物、失去支撑或碰撞的机制，故不据此选失败现象。log step 69、80 的 agent 定位计算主要依赖局部地面点，log step 111 的非地面PnP失败；agent 在 log step 167 自述目标前景识别错误、位姿估计偏差及渲染差异。这些记录提示定位困难，但缺少目标在里程计坐标系中的真值及本次画面，不能独立核实错误估计或区分感知、路径规划与执行控制，因此根因留空。成功参考录像仅说明达标视角，不是本次接触或失败原因的证据；所有原生误差、速度与漂移指标均未由评分器报告。" + }, + "summary_zh": "本次为无重置、无恢复的单次实时评分回合，机器人已执行底盘导航和躯干调姿，但唯一目标“相机到目标位姿”最终未通过完整验收，节点最终为0/1。断点为该导航步骤的操作中：log step 98 起记录目标趋近停滞，后续继续调整，log step 164 的服务最终报告1324控制步耗尽且未成功。没有本次录像或状态日志，无法确定达标时间区间、实际接触及具体失败现象和根因；agent 的定位困难自述保留为待核实线索。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无录像、无状态日志；节点 final=false 由服务 done=true 的失败终止与评分器 live_success=0 界定，contact_actual 保留未知，断点 camera_at_goal_pose、根因与现象留空并附 gap_zh，均有依据，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": "2026-10-30T22:20:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--tcddlat/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dbc1918fc18b8317fc4f75c8388d54ab0b2c110d9e778533c2c96ec74c3cd018", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i.json new file mode 100644 index 0000000000000000000000000000000000000000..9c67299b7445e11d79a7749ff22d9e96cf5e0291 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 168, + "sim_steps": 168, + "max_steps": 2382, + "steps": 36, + "elapsed_s": 2923.0, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.323, + "peak_processes": 9, + "peak_disk_gb": 0.284, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 94, + "text_zh": "观察：log step 94 中，agent 的控制脚本向机器人服务提交本次唯一一次左臂下降、闭合左夹爪并抬升的动作批次，共14行、dt=0.1，服务 control_steps_left 从 log step 91 的2316降至2274，即执行42个控制步；批次最后6行用于抬升，未追加抬升后的保持段。服务返回 done=False、reason=None，左末端位置约为 [0.7392, 0.1051, 1.2835] m；这些执行读数不能证明盖环已被抓住或杯盖已打开，也不能单凭该批次未安排保持段确定原生稳定检查失败。" + }, + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中，拟重试动作所引用的脚本不存在；随后机器人服务在 get_obs(seconds=2.0) 后仍返回 done=False、reason=None。评分器 reward 记录 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0、n_actions=168、resumes=0。" + }, + { + "t": null, + "log_step": 103, + "text_zh": "观察：log step 103 的重试脚本因导入 save_result 报 ImportError，log step 104 因列表使用字符串索引报 TypeError，两次均在 r.submit 之前退出，sim.submit 均为0；log step 105 的动作脚本缺失，随后仍调用 get_obs(seconds=2.0) 并得到 done=False。推断：这些错误说明补救动作未提交，不能确定 log step 94 的初次开盖尝试为何未被验收，也不能据此断言整局没有稳定观察窗口。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：log step 97 的资源服务 usage.json 回执为 elapsed_s=3430.2、time_left_s=169.8；inputs/run.json 的整局 wall_s=3602、time_limit_s=3600，运行结束于墙钟限时附近。log step 7（agent 工作时间652 s）仍记录仿真服务启动等待，随后大量日志为相机、物体几何和逆解计算。上述会话时间与脚本错误只作背景，不是视频时刻、失败现象或根因，也不证明更多时间能否使补救成功。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG 只有一个目标节点，其验收包含开盖、机身位姿及原生连续稳定检查；本次实时评分器未接受这组条件，因此该节点 final=false。此结论不表示盖完全没动，也不从零分推断未尝试；inputs/video.json 明确 kind=none，故所有区间和视频时刻均为 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 81、91、94 记录底盘移位、左臂靠近及闭爪抬升的提交与服务返回，但本次没有视频或状态日志，无法核实左夹爪与盖环、盖缘的实际接触方式；不把动作指令或夹爪开口读数当作抓握证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 94, + "where": "操作中", + "evidence_zh": "推断：log step 91、94 显示机器人已执行左臂靠近和针对杯盖的闭爪抬升动作，故开盖步骤已经启动；log step 105 的服务终态仍 done=False，评分器最终 live_success=0、symbolic_success=0，唯一开盖目标未被验收。断点定位在该步骤操作中；没有本次视频，无法定位最早发生偏差的物理瞬间。" + }, + "unmet": { + "blender_lid_opened": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（录像源返回404且无本地录像），inputs/ 也没有状态日志；run.json 的看图调用只有文本回执，没有可检查的图片。故区间和视频时刻全部为 null，实际接触为未知，失败现象留空：无法区分未夹住、滑脱、开度不足、机身偏移或稳定条件未通过。评分器没有报告 DAG 的三项原生误差，故 native_metrics.value 均为 null；它只确定唯一复合目标最终未通过，不能恢复中途进展。观察：唯一的下降—闭爪—抬升批次在 log step 94 提交，共14行、dt=0.1、42个控制步，该批次未追加抬升后的保持段；但 log step 105 随后调用 get_obs(seconds=2.0)，不能据批次长度断言整局没有45步稳定窗口。log step 103—105 的脚本错误阻断重试提交；log step 97 的资源服务回执显示墙钟剩余169.8 s，整局 wall_s=3602、time_limit_s=3600，结束于墙钟限时附近。log step 7（agent 工作时间652 s）仍有仿真服务启动等待记录，后续大量日志为几何推算。推断：这些只说明会话与补救背景，不能解释初次开盖尝试未被验收的物理机制，失败现象与根因均留空。已查看成功参考录像的参考视频 0、8、14、18、24、28 s 画面，参考视频 18、24、28 s 可见盖掀起、杯口露出；参考录像不作为本次接触或进展证据。" + }, + "summary_zh": "观察：本次实时评分器记录执行了168个控制步，live_success=0、symbolic_success=0，唯一“打开搅拌机盖”目标最终未通过（0/1）；唯一的下降、闭爪和抬升批次在 log step 94 提交并返回 done=False。推断：断点在开盖操作中，但后续 log step 103—105 的脚本错误及整局墙钟限时（wall_s=3602，time_limit_s=3600）只能作为补救与结束背景，不能确定首次尝试失败的原因。观察：本次无视频及状态日志，无法确认实际接触、物理失败现象、中途达成区间或原生稳定窗口是否通过，原生误差值未报告，故失败现象与根因均留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "本次无视频/状态日志，节点 final=false、contact_actual 未知、各时刻 null 均合理；但根因“控制·控制脚本异常”不被证据支持：log step 103/104 的脚本报错发生在 step 94 的开盖抓取已提交且服务返回之后，只阻止了补救重试，并不解释开盖为何未被验收；且 step 97 的 usage.json 显示 elapsed 3430 s、剩余约 170 s，run.json wall_s=3602 超过 3600 s 限时，重试即使不报错也几乎没有时间。D38 要求控制脚本崩溃本身是失败原因，此处不是。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志；唯一节点 final=false（评分器 live_success=0）、contact_actual 未知、各时刻 null、现象与根因留空并有 gap_zh，均有证据支持，且上轮已删除不被支持的根因。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": "2026-10-30T22:30:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--dhgqf6i/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9c3c33bb38752ee91457ab41ec0f353f4aa80d750c03c5157e5b25e8b764d07e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae.json new file mode 100644 index 0000000000000000000000000000000000000000..33b0c177832b81d15736b88e09bb160ed1f93f53 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 2382, + "sim_steps": 2382, + "max_steps": 2382, + "steps": 794, + "elapsed_s": 1665.7, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.237, + "peak_processes": 9, + "peak_disk_gb": 0.921, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 154, + "text_zh": "观察：log step 154 的实时机器人服务回报 done=true、control_steps=2382、control_steps_left=0，reason 为 failed: the episode's control steps ran out；inputs/run.json 的评分字段为 graded_by_live=1、finalized=1、live_success=0、symbolic_success=0、success_step=0，且 trajectory=1、resumes=0、infra_error=0。这是已执行的单局实时尝试。" + }, + { + "t": null, + "log_step": 154, + "text_zh": "推断：DAG 唯一目标 blender_lid_opened 将盖开度、机身位姿、原生关系和连续45个控制步稳定联合验收都纳入同一步；本局原生成功从未触发，服务最终判负，因此该联合目标 final=false。这不等于断言盖从未掀起；无本次视频和状态日志，无法确定具体开度及中途物理状态，intervals=null。" + }, + { + "t": null, + "log_step": 143, + "text_zh": "观察：log step 141 的 agent 脚本生成左夹爪绕估计铰链旋转且底盘转向的动作，log step 143 服务确认执行35行、control_steps=2145；log step 149–150 及 log step 152–154 又提交并执行恢复动作。因此本局确实尝试了开盖步骤，不能记为没尝试。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志中的动作脚本指令左夹爪尝试夹小环、接近盖缘并抬升，且包含底盘移动；但本次无视频或状态接触记录，夹爪开度与 agent 自述不能确认夹爪和盖、杯身之间实际形成何种接触，实际接触标未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 154, + "where": "操作中", + "evidence_zh": "推断：log step 141–143 的脚本及服务执行回执表明机器人在做开盖旋转；log step 149–150、152–154 随后执行恢复运动并留出静置行，最终 log step 154 服务判定控制步耗尽，评分字段 live_success=0、success_step=0。唯一的开盖联合目标始终未获验收，故断点为 blender_lid_opened，位置为操作中；无本次视频，无法定位最早物理失误时刻，t=null。" + }, + "unmet": { + "blender_lid_opened": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，注明远端录像404且无本地视频；本目录也没有本次状态日志。评分字段 video_rendered=1、video_live=1 不提供可检查的画面。agent 在 log step 55 自述试提使机身倾斜，log step 89 自述小环滑脱，log step 148、155 自述搅拌机倾倒且恢复失败；这些叙述无法核实，不能据此标带动本体、没保持住或被挡/碰撞。log step 66、133 有服务端关节限位裁剪，log step 138、140 有逆解失败，但后续 log step 143 已执行改变底盘姿态的开盖动作，缺少证据把早先求解困难确认为最终失败根因，故现象及根因均留空。评分器未给出机身位置误差、朝向误差、盖关节误差或稳定窗口诊断，无法细分哪项验收失败；三个原生指标 value 均为 null。已查看成功参考录像概览，参考录像只说明目标外观，不能补作本次接触或物理状态证据。" + }, + "summary_zh": "本局为单次实时尝试，机器人执行了多轮开盖与恢复动作，但服务最终在2382个控制步耗尽时判负；唯一的“打开搅拌机盖”联合验收节点终态为假，完成0/1（log step 143、150、154 及评分字段）。断点为该步骤的操作中；agent 自述部分开盖后搅拌机倾倒、恢复失败（log step 155），但本次没有可用视频或状态日志，实际接触、物理失败现象和根因无法核实，均保留证据缺口。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；标注仅依据服务端控制步耗尽判负（log step 154）与评分字段，节点 final=false、断点 blender_lid_opened/操作中、现象与根因留空并写明 gap_zh，均与可核实证据一致，未把耗尽预算当作现象，也未采信 agent 自述的倾倒。validator 通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:26:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--g7ybmae/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "72dc7c8f9056d2fa841b009938b9258f07382ad8c3dab9bad825ff315f87e780", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams.json new file mode 100644 index 0000000000000000000000000000000000000000..be2abf31aa6c917e15f1bb607ba8120d2fa4f683 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 2169, + "sim_steps": 2169, + "max_steps": 2382, + "steps": 723, + "elapsed_s": 2729.8, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 81, + "text_zh": "观察：本任务是单次实时评分局；log step 81 中 agent 的脚本提交了94行下降、闭爪、提拉及保持指令，机器人服务返回 done=False、reason=None、control_steps_left=213。inputs/run.json 的最终评分字段为 graded_by_live=1、finalized=1、live_success=0、symbolic_success=0、success_step=0、n_actions=2169，且无重置或恢复。" + }, + { + "t": null, + "log_step": 84, + "text_zh": "推断：DAG仅有“打开搅拌机盖”一个目标节点，其判据包含目标开度、机身位姿和原生45步稳定验收；实时评分最终未通过，故该完整验收节点 final=false。这不单凭零分断言盖从未运动或步骤未尝试；agent 在 log step 84 自述“盖从未被抓住或打开”，但无本次视频、状态日志或盖关节服务读数可独立核实。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 69、71、73、75 的脚本向左夹爪提交闭合指令，log step 78、79、81 改用右夹爪提交抓盖及提拉指令；本次没有视频或物体接触、持有状态记录，不能据闭爪命令、夹爪开度或 agent 自述判定夹爪与搅拌机盖实际如何接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 69, + "where": "操作中", + "evidence_zh": "推断：log step 69 起 agent 的脚本反复提交对盖的对位、闭爪指令，log step 78、79、81 又提交右臂抓盖、提拉及保持指令，工作始终指向唯一开盖节点；log step 81 服务仍返回 done=False，最终 live_success=0，完整开盖验收未修复。以 log step 69 的首轮闭爪尝试作日志导航锚点；缺少本次视频，无法定位物理失败瞬间，t=null。" + }, + "unmet": { + "blender_lid_opened": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "t": null, + "log_step": 78, + "evidence_zh": "推断：agent 的控制脚本在逆解未满足所设末端目标时仍继续执行关节轨迹及闭爪。log step 40 自编求解器报位置残差0.782 m；log step 41 的机器人服务本体读数为左TCP约(0.915,0.785,1.154) m，与该轮设定目标约(0.817,0.043,1.380) m明显不符。log step 78 抓取和抬升求解残差分别为0.702 m、0.822 m，代码仍将相应关节解提交给机器人；log step 79 服务两次返回 ok=False，脚本也未阻断，继续抓取、提拉。大残差解仍被执行直接破坏设定的对位动作，支持控制根因；实际盖定位及接触方案是否正确未能独立核验，故不进一步细分。" + } + ], + "gap_zh": "观察：inputs/video.json 明确 kind=none（本次录像获取失败），inputs/ 中没有本次 replay.mp4 或 states.jsonl，亦无状态进度文件；日志的图片项仅保留图片引用，不能检查画面。因无视频时钟，全部 intervals、证据时间和 breakpoint.t 均为 null；没有盖角、机身目标误差或原生稳定窗口诊断，三项 native_metrics 值均为 null。评分仅能确定唯一节点的完整验收最终为假，无法重建历史达成区间或区分盖开度、机身位姿与稳定窗口各自是否满足。agent 在 log step 71、75、83、84 所称夹空、越过盖和躯干转离未获本次画面核实，因此接触填未知、失败现象留空；根因仅采用脚本和服务读数支持的控制问题。已查看 inputs/oracle/replay.mp4 的成功参考画面，其闭盖、掀盖及撤臂外观仅帮助理解判据，不能补作本次接触或失败现象的证据。" + }, + "summary_zh": "该单次实时评分局提交了靠近搅拌机、左右臂对位闭爪及提拉保持指令，唯一节点“打开搅拌机盖”的完整原生验收最终未通过（live_success=0、symbolic_success=0）。断点在开盖操作中；日志记录多次大残差逆解及服务返回求解失败后仍执行动作，支持控制根因。没有本次视频和状态日志，无法独立核实 agent 所称夹空与盖仍关闭，实际接触未知、失败现象留空，历史区间及原生误差指标不可得。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志；标签仅依据 run.json 终局评分字段与日志，保守：节点 final=false、接触未知、现象留空、时间全 null 均与证据一致；控制根因的大残差/ok=False 数字与日志 step 40、41、78、79、81 核对一致。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": "2026-10-30T22:24:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--iaccams/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f16f2fcbac9132d2d7cec264c36c626905baba1e04476bba3ed42f5951a7aa57", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj.json new file mode 100644 index 0000000000000000000000000000000000000000..2174355c7b20662a69145dbf088604c6f3598254 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 2382, + "sim_steps": 2382, + "max_steps": 2382, + "steps": 174, + "elapsed_s": 1349.2, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.208, + "peak_processes": 11, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 122, + "text_zh": "观察：inputs/run.json 的 reward 记录 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0、n_actions=2382、resumes=0；log step 122 的机器人服务返回 EpisodeOver，原因是控制步耗尽。该服务在单次实时受评回合内检查任务，终止后不再执行动作。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG 只有打开搅拌机盖这一个目标节点，其判据已包含机身位姿、原生关系及连续45个控制步稳定验收；原生实时成功未触发，故这一完整节点终态为 false。不能据此断定盖完全没动，也不能分别判断开度、机身位姿和稳定性。无本次视频或状态日志，intervals 保持 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 93、113、118、121 的 agent 脚本向右臂和右二指夹爪提交接近、闭合及抬起指令，尝试操作搅拌机盖；服务本体感知显示多次闭合到达目标开度。推断：未建立所需的夹持；缺少本次视频和接触状态日志，仍无法确认是否有擦碰及其接触方式，实际接触类型保持未知，不能将指令标为已发生的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 93, + "where": "操作中", + "evidence_zh": "观察：log step 93 的 agent 脚本提交右夹爪闭合指令，log step 94 随即提交向上提盖动作；log step 113、118、121 继续接近、闭合及提盖重试，log step 122 在下一次重试中收到机器人服务的控制步耗尽终止消息。推断：受评回合一直在操作唯一目标搅拌机盖，原生 live_success=0，故断点为打开搅拌机盖；log step 93 作为操作尝试的导航锚点，不代表已观察到接触失败的确切时刻。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": null, + "log_step": 118, + "source_zh": "日志", + "evidence_zh": "观察：log step 93 的右夹爪闭合目标为0.02 m，服务本体感知返回 opening=0.0200002845 m；log step 113 闭合后 opening=0.01 m、两指关节各0.005 m。log step 118 两次下探后闭合目标均为0.0225 m，服务读数在打印精度内均为0.0225 m；log step 121 闭合目标为0.0275 m，读数同为0.0275 m。上述读数由脚本从机器人服务的 proprio.now 提取，并非 agent 对图像的叙述；log step 121 的“no contact”则是脚本自行按开度阈值生成的判断。推断：多次闭合均到达指令开度，未见物体阻止闭合的停滞，支持这些抓取尝试未建立夹住盖子所需的接触。没有本次视频或接触传感记录，不能据此排除指尖擦碰，也不能确定指尖实际位置。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "任务理解", + "t": null, + "log_step": 121, + "source_zh": "日志", + "evidence_zh": "推断：agent 在 log step 3 把目标图解释为盖子已取下并放在桌旁，在 log step 102-112 按桌面平面计算盖子的放置位置；log step 121 的实际脚本以抓到盖子为条件，计划上提、翻转180°并移动到桌面目标后松开。log step 125 最终仍将任务自述为“remove the blender lid, invert it, and lay it open-side-up on the table”。这表明错误目标持续指导操作，而 DAG 要求盖绕侧铰链打开至目标关节角；已检查的成功参考视频 18 s 也显示盖在杯口侧方竖起。参考视频只用于理解目标，不能证明本次夹爪或盖子的运动。 该项解释持续采用的错误目标，不作为闭爪未夹住盖子的直接原因。" + }, + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": null, + "log_step": 118, + "source_zh": "日志", + "evidence_zh": "观察：log step 113 的脚本将TCP直接送至估计盖位置附近 [0.80,0.11,1.095] m，服务返回TCP约 [0.80,0.109,1.095] m，但夹爪仍闭合到0.01 m；log step 118 改低TCP高度后，两次闭合仍到达目标0.0225 m。log step 121 的脚本才引入 tcp=LID-ze*0.10 的指尖偏移假设，闭合仍到达目标0.0275 m；log step 122 计划改试0.05/0.075 m偏移，但服务因控制步耗尽终止，未返回成功夹持证据。推断：抓取位置设计未把TCP与指尖夹持区域的关系落实为有效接触几何，多次接近虽到达设定TCP位置，仍未建立夹持，构成任务理解之外的接触设计原因。agent 在 log step 125 自述从未标定TCP到指尖的偏移；这一具体解释与脚本中后期才试用偏移及闭合无停滞的读数相容，但真实偏移、盖位置误差和各因素贡献仍待核实，不能把自述的5–10 cm当作实测值。没有在本次回合验证成功的替代抓取位置，alt_feasible 为未知。" + } + ], + "gap_zh": "观察：inputs/video.json 为 kind=none，注明 HF replay.mp4 返回404且无本地视频；inputs/ 没有本次 states.jsonl，日志图片仅有引用，未提供可查看的图像数据。reward 未报告 blender_position_error、blender_orientation_error 或 blender_lid_joint_error。推断：按 N9 仅用原生验收字段确定唯一完整目标节点终态为 false；按03的服务读数证据规则及 CASES.md FAIL-17，本次单一实时回合中的 proprio 开度可以支持“没建立接触”的推断，无需因缺视频而清空现象层。但开度并非接触传感器，不能确认指尖实际位置、排除擦碰或量化盖子运动；contact_actual 保持未知。TCP到指尖偏移未标定是接触设计问题的具体解释之一，精确偏移仅有 agent 自述、尚未独立验证，也不能排除盖位置估计误差。没有视频时钟，所有视频时间为空，不能把控制步或 agent 时间当作视频时间。", + "unmet": { + "blender_lid_opened": false + } + }, + "summary_zh": "原生实时评分 live_success=0，唯一节点“打开搅拌机盖”未通过完整验收，最终为0/1；右夹爪多次闭合到达目标开度，支持未建立所需夹持的推断，最后服务因控制步耗尽终止。日志脚本支持抓取位置及TCP到指尖接触几何未落实为有效夹持方案，agent 同时持续把铰接开盖误读为取下盖子、翻面并放到桌上；错误目标与接触设计分别记录，前者不直接解释闭爪落空。无本次视频和状态日志，指尖偏移这一具体解释尚待独立验证，故置信度保持6，节点区间、实际接触类型及未报告的三项原生误差仍未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点终态 false、断点 blender_lid_opened 和无视频时钟处理都正确；但现象层留空、根因只写任务理解，漏掉了 log 中服务本体感知读数直接支持的「抓取从未建立接触」及其原因（夹爪 TCP 到指尖偏移未标定）。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；节点 false、断点、无时钟处理均正确，第1轮意见（没建立接触现象、抓取和接触设计根因、step 94 引用）已按日志读数落实，log step 引用与 run.json 对应。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": "2026-10-30T22:31:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--okvg6zj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "95f931d49cc4ed6444b1830411661af7a1387d247a3e6e0cd0b63b03ac389f66", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6.json new file mode 100644 index 0000000000000000000000000000000000000000..07c836a69b73f6c2ca63408240b70593338e7b92 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 1886, + "sim_steps": 1886, + "max_steps": 2382, + "steps": 487, + "elapsed_s": 1303.0, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.23, + "peak_processes": 9, + "peak_disk_gb": 0.336, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 72, + "text_zh": "观察：log step 72 的机器人实时服务反馈 done=False、reason=None、control_steps_left=496；inputs/run.json 的最终评分器字段 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0，且记录单回合、resumes=0、sim_error=0。" + }, + { + "t": null, + "log_step": 75, + "text_zh": "推断：本任务只有“打开搅拌机盖”一个目标节点，其判据包含机身位姿、盖关节及连续45个控制步的原生验收；最终实时成功字段为0，故该完整验收节点 final=false。这不证明杯盖从未运动或从未打开；本次无视频、无状态日志，不能恢复任何达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 36 的脚本向左夹爪发送闭合和上提命令，log step 64–66 又发送闭爪、上提及回桌动作；无本次视频或接触状态日志，不能从命令、夹爪开度或 agent 自述确认左夹爪与杯盖、杯身实际采用何种接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 36, + "where": "操作中", + "evidence_zh": "推断：log step 36 的机器人脚本闭合左夹爪后，保持夹爪朝向并将目标点竖直上移0.06 m；log step 37–38 又规划并执行大幅翻转。agent 在 log step 75 承认最初把目标理解为取下并悬持盖子；后续修复命令结束后实时服务仍未成功（log step 72），最终 live_success=0。因此断点为唯一开盖步骤的操作中；log step 36 仅锚定错误动作开始，无视频可定位物理失败时刻。" + }, + "unmet": { + "blender_lid_opened": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "任务理解", + "t": null, + "log_step": 75, + "source_zh": "agent 自述", + "evidence_zh": "推断：agent 在 log step 75 自述“I wrongly read the goal as lift the lid off and hold it in the air”，并称后来才意识到盖子有铰链；log step 36 的闭爪后直接上提命令、log step 37–38 按自由盖体规划翻转的代码与该自述一致。结合 DAG 要求机身保持目标位姿、盖子绕铰链打开，支持其初始操作追求了错误的目标变化；不以其掉落叙述确认物理接触现象。" + } + ], + "gap_zh": "本次 inputs/video.json 标记 kind=none，原因是远端录像404且无本地录像；inputs/ 中没有本次 replay.mp4 或 states.jsonl。日志中的图片仅保留引用，未提供像素，不能核实 agent 在 log step 75 自述的夹持、带起整机、掉落及盖子脱离，也不能确定实际接触、瞬时开度、机身误差、稳定窗口或物理失败时刻，因此现象层留空、contact_actual 为未知，所有视频时间与区间为 null。三项原生误差指标均未由评分器报告。成功参考录像仅用于理解开盖外观，不作为本次轨迹证据。" + }, + "summary_zh": "本次单回合执行了开盖及后续修复命令，但最终 live_success=0，唯一包含开度、机身位姿和稳定验收的开盖节点终态为假（0/1）。断点为打开搅拌机盖的操作中；agent 在 log step 75 承认把铰接盖误读为可取下并悬持的盖子，早期动作代码支持任务理解偏差。无本次视频或状态日志，无法核实其自述的物理失败经过，实际接触未知，现象层和视频时间区间留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志；标签只用评分器字段（live_success=0）和 log 中服务反馈（step 72 done=False、剩余496）作最终判定，log step 36/37/38/72/75 均与 run.json 对得上。唯一节点 final=false、contact 未知、现象层留空并写明 gap_zh，断点与任务理解偏差的推断标注为推断，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": "2026-10-30T22:25:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--qmrxta6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "442b54a147124320024e0e39134bf893075680609ae2c1573eb32c2b2b82b034", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt.json new file mode 100644 index 0000000000000000000000000000000000000000..6347a24e981f436aa6dbea6a3dce73f7a101f057 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 2382, + "sim_steps": 2382, + "max_steps": 2382, + "steps": 228, + "elapsed_s": 2275.2, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 247, + "text_zh": "观察：机器人服务在 log step 247 返回 done=True、control_steps=2382，结束原因是控制步耗尽；log step 249 再次查询得到相同终局。评分器 reward 中 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0，且 resumes=0、infra_error=0。" + }, + { + "t": null, + "log_step": 249, + "text_zh": "推断：DAG 只有“打开搅拌机盖”一个目标节点，其验收包含目标开度、机身位姿与连续45个控制步的原生稳定检查；本次实时服务结束而未触发成功，故该完整验收节点终态为 false。该判断不等同于证明盖完全没动，也不能确定具体哪个子判据未通过。无本次视频或状态日志，intervals 保持 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 217、239、247 的机器人控制脚本执行左夹爪接近、闭合与抬升尝试，并调整底盘位置；输入没有本次视频或状态日志，不能核实左夹爪与搅拌机杯盖实际接触的方式。脚本打印的 CONTACT 来自末端高度偏差判断，不是接触传感器读数，夹爪闭合也不证明抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 247, + "where": "操作中", + "evidence_zh": "观察：log step 247 中 agent 的脚本驱动左夹爪到估计杯盖上方，下降后闭爪，再命令抬升并保持；机器人服务随后返回控制步耗尽、done=True，log step 249 确认终局，评分器 live_success=0。推断：本次尝试已进入开盖操作，唯一开盖节点始终未通过完整原生验收，断点归于该步骤；没有本次视频，无法给出视频时间或定位首次物理偏差。" + }, + "unmet": { + "blender_lid_opened": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 247, + "source_zh": "日志", + "evidence_zh": "推断：末端定位控制未可靠落实到最后的抓取动作。log step 247 的脚本将下降目标设为 (0.059, 0.225, 1.322) m，调用逆解并发送关节位置后，脚本从服务本体感知打印的末端位置为 (0.035, 0.194, 1.351) m，随后未校正此偏差便闭爪、抬升；log step 235 也多次出现命令接近位置与回读末端位置明显不符。上述命令与回读差异支持一般控制问题；缺少本次物体与接触观测，不能进一步断定是跟踪、碰撞、接触几何或躯干负载问题。", + "note_zh": "使用脚本与本体感知回读作为根因的会话证据，不将它们用于判定物体节点或实际接触；agent 在 log step 251 将问题归于躯干下沉，此具体解释尚未独立核实。" + } + ], + "gap_zh": "本次 inputs/video.json 明确为 kind=none（远端录像404且无本地视频），输入也没有状态日志；日志中相机查看步骤仅保留图片路径及元数据，未提供图像内容。无法核实杯盖的实际开度、机身位姿、稳定窗口、是否曾抓住或发生碰撞，故接触为未知、视频时间及区间均为 null、现象层留空。agent 在 log step 251 自述“抬升空抓、杯盖仍扣在杯口”，不能替代本次画面。已查看参考成功录像的参考视频 0、8、16、27、28 s，其开盖及撤离画面仅用于理解节点，不作为本次运行证据；评分器没有报告 DAG 所列三项原生误差数值，故 native_metrics.value 均为 null。" + }, + "summary_zh": "本次单次实时执行在左夹爪多次接近、闭合与抬升尝试后，唯一“打开搅拌机盖”节点未通过完整原生验收，终态为0/1；服务在 log step 247 报告2382个控制步耗尽，评分器 live_success=0。日志的目标位置与末端回读偏差支持一般控制问题，不能将耗尽控制步本身作为根因。本次无视频及状态日志，无法确定实际接触、具体物理失败现象或各验收子条件，节点区间保持未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志；标签只依据服务终局字段（log step 247/249：done、控制步耗尽、live_success=0）判 false，接触为未知，现象层留空并写了gap_zh，根因仅取一般“控制”并明确了证据限度，均与可用证据一致。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": "2026-10-30T22:26:23Z", + "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--r5ejdzt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c0ec13ca260d72d2b0cdd1e1a76fe3e84b079b6c24fd60b3ac9af269aa8641ee", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3.json new file mode 100644 index 0000000000000000000000000000000000000000..d2863262c8a17db989ddbaebd222da93fa7158a5 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3", + "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale", + "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7", + "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": 2382, + "sim_steps": 2382, + "max_steps": 2382, + "steps": 834, + "elapsed_s": 2174.7, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.389, + "peak_processes": 9, + "peak_disk_gb": 0.279, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "blender_lid_opened": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 265, + "text_zh": "观察：log step 265 的机器人服务说明规定单次实时 episode、不能重置，目标匹配成功即结束；reward 记录 graded_by_live=1、resumes=0、replays=0，故日志中的实际执行属于受评局。" + }, + { + "t": null, + "log_step": 340, + "text_zh": "观察：log step 339 的 agent 脚本命令左臂扫过盖缘、撤至等待位姿并保持45个控制步；log step 340 的机器人服务返回 executed_rows=60、control_steps=2382、done=True，reason 为“failed: the episode's control steps ran out”。reward 的 success=0、live_success=0。" + }, + { + "t": null, + "log_step": 340, + "text_zh": "推断：DAG 仅有“打开搅拌机盖”一个目标节点，包含目标开度、机身位姿及连续45步原生验收；服务未触发成功即结束，故该联合节点 final=false。reward 虽有 symbolic_success=1、success_step=0，但没有分项几何或稳定诊断，不能将该字段等同于联合节点验收通过，也不能据此断言盖从未掀起。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 143、176、196、339 的脚本先后命令左夹爪抓取、翻盖和扫动，但本次没有受评视频或状态接触记录；无法核实左夹爪是否夹住、勾住或推到盖缘，实际接触方式未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "blender_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blender_lid_joint_error", + "unit": "rad", + "threshold": 0.4305347800398469, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blender_lid_opened", + "t": null, + "log_step": 340, + "where": "操作中", + "evidence_zh": "观察：log step 143 起 agent 提交抓盖开盖动作，之后多次改换左臂抓取与扫动路径；log step 339—340 最后一次扫盖及保持指令执行完，机器人服务仍返回失败。推断：始终在处理同一开盖步骤，且联合验收未完成，断点归于该步骤的操作中；缺少本次视频，无法定位最早物理失误时刻。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 标为 kind=none（HF replay.mp4 为404且无本地视频），inputs/ 没有状态日志；日志中的相机查看只保留文字占位，不能检查实际画面。缺少盖关节、机身位姿、接触对及原生45步稳定窗口诊断，三个原生误差指标均未在评分器字段报告，无法区分未接触、滑脱、开度不足、机身偏移或稳定未通过，故现象与根因均留空，所有视频时刻及区间为null。log step 202 的躯干偏差随后由 log step 203 回位，不能证明它导致末次开盖失败；log step 336 的自算IK误差与 log step 342 的执行总结也不能替代物体观测。已检查参考成功录像的视频0、8、14、18、27 s帧，只用于辨认开盖外观，不作为本次结果或接触的证据。", + "unmet": { + "blender_lid_opened": false + } + }, + "summary_zh": "受评局为一次无重置的实时开盖尝试；agent 多次命令左夹爪抓盖、翻盖与扫盖，唯一目标节点的联合验收最终未通过（log step 340，live_success=0）。机器人服务在2382个控制步用尽后结束，断点为“打开搅拌机盖”的操作中；预算用尽仅说明结束方式，不能确定物理失败原因。本次没有轨迹视频及状态日志，实际接触、具体失败现象和根因无法核实，原生误差指标也未报告。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无受评视频、无状态日志：节点 final=false 来自服务端 live_success=0 与 log step 340 的 done=True/控制步用尽，区间与时间均为 null，contact_actual 为未知，现象与根因留空并写明 gap_zh，符合 N9 与证据规则；未发现时钟转换或无证据的现象/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": "2026-10-30T22:23:23Z", + "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-standard--u4ksdd3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e82cc5b7836cc5eb42b2cadc144cc44754d4813c6301f5574ab74f69bb73df51", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc.json new file mode 100644 index 0000000000000000000000000000000000000000..31ac04e443a059068ae75e36d32ef96e2460fea9 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 3543, + "sim_steps": 3543, + "max_steps": 8298, + "steps": 1181, + "elapsed_s": 2951.3, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.599, + "peak_processes": 11, + "peak_disk_gb": 1.036, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 210, + "text_zh": "观察：log step 97、113、138、146、205、208记录了机器人夹取、倾转、放回与再次恢复托盘的控制命令；log step 201中agent自述托盘仍在地面。输入没有视频或状态日志，服务及最终reward未报告托盘支撑关系或目标区域判据，不能把这些命令、agent自述或其图像拟合结果当作本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 97、138、146、205、208记录左夹爪及后续右夹爪对托盘的恢复命令，log step 132、144还有底盘移动命令；没有视频、状态接触对或物体抓持服务结果，无法确认实际接触，标为未知。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 162, + "text_zh": "观察：log step 54、61记录首块积木的夹取及入盘命令，log step 73—97、151—175、193—210记录后续恢复；服务在log step 162只返回done=False和机器人末端位姿，没有报告有效积木槽位数。无视频或状态日志，不能由agent自述抓稳、入盘或落地确定本节点是否曾达成或最终成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 54、61、151、169、193记录左夹爪夹取、搬运或恢复首块积木的命令；没有视频、状态接触对或物体抓持服务结果，不能由夹爪开度或agent自述认定实际抓握，标为未知。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：完整日志记录首块积木及托盘的反复操作，log step 208中agent自述未完成四块摆放，log step 211承认目标未达成；最终reward仅有整体success=0、symbolic_success=0，没有至少2块积木符合槽位的结果。无视频或状态日志，无法判定本节点终值。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：最终reward未报告有效槽位数或逐块布局误差，只有整体success=0、symbolic_success=0；log step 211是agent对未完成布局的自述。没有视频或状态日志，不能从整体零分推断至少3块匹配的判据为假，终值保留未知。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：最终reward的success=0及symbolic_success=0只说明完整任务未通过，没有单独报告四块积木的布局、托盘关系、组位姿或静止窗口。无视频或状态日志，不能排除其他联合条件导致失败，因此本节点终值保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_in_layout_1", + "t": null, + "log_step": 67, + "where": "操作中", + "evidence_zh": "推断：log step 54、61中agent脚本开始首块积木的夹取与入盘；log step 67中agent自述首块卡在盘沿且倾斜，随后持续重抓、倒空托盘并恢复同一块积木，直到log step 208放弃完成剩余摆放、log step 211承认布局失败。完整控制记录没有后续积木入盘的执行记录，故将最早未有完成证据的首块入盘作为断点；缺少视频和逐节点服务结果，不能直接核实首次偏差或排除短暂修复，视频锚点留空。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 54的path脚本先批量求逆解并插值，再一次性提交；log step 141的placebox在固定等待后无条件松爪，没有根据执行反馈确认释放位姿。log step 157、159各目标逆解通过，但log step 162服务返回placeAfinal末端位置约(0.431,0.408,1.169)，与该脚本最终指令约(0.604,0.407,1.032)相差约0.22米；log step 164还显示躯干关节指令与实测相差约0.23。该执行偏差及未验证到位即松爪的控制流程支持控制层归因；实际阻挡物与物体落点未获直接观测，不细分控制子类。" + } + ], + "gap_zh": "无视频、无状态日志，也无成功参考视频；inputs/video.json为kind=none，虽然reward记有video_rendered=1、video_live=1，但本次输入未提供可检查的图像或视频文件。日志中的图片路径、pics索引、agent自述及agent自己的PnP/三角测量均不能替代实际画面；服务只报告机器人本体反馈与整体状态，没有托盘关系、有效积木槽位数或四项原生误差，因此全部节点的intervals与final保留null，实际接触未知。无法核实首块是否短暂修复、是否撞盘沿、是否滑落或何时离盘，故断点仅作日志推断，失败现象层留空；控制归因有命令与本体反馈证据，但不能进一步确定接触几何或碰撞原因。", + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + } + }, + "summary_zh": "评分器记录单次在线回合已终结、success=0、symbolic_success=0，执行3543个控制步且无仿真或基础设施错误；无逐节点服务结果，五个节点终值均未知。推断断点为第1块积木入盘：日志持续记录其摆放和恢复，执行反馈支持控制偏差及未到位检查即松爪的问题。输入无视频或状态日志，无法确认物体结果、实际接触及具体物理失败现象，也不生成视频时间区间。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，所有节点保持 unknown/null 合理；断点标为推断、视频锚点留空，控制类根因依据 log step 162 的服务末端位姿读数与 step 141/175 的无条件松爪脚本，证据可核对。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": "2026-10-30T22:25:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--3cwkkwc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7e5206a5a15f2c6fb399016320db6fcbc0f15d4474f421e0d3df84c6930a0888", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--btcur97.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--btcur97.json new file mode 100644 index 0000000000000000000000000000000000000000..59026bd745287936c5d8d3376a6051c9fa5e1d98 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--btcur97.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--btcur97", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 2255, + "sim_steps": 2255, + "max_steps": 8298, + "steps": 2255, + "elapsed_s": 1693.6, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.323, + "peak_processes": 9, + "peak_disk_gb": 0.272, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 87, + "text_zh": "观察：log step 87 的机器人服务状态仅报告 control_steps=2255、done=False、reason=None；inputs/run.json 的 reward 未报告托盘支撑关系或托盘位姿。无视频与状态日志，不能据任务起态说明或 agent 对场景的描述判定托盘的最终状态。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 86, + "text_zh": "观察：log step 82 的 agent 脚本依次尝试将 c4、c3、c2、c1 移到四个预设格位；log step 84–86 的 placed/ALLDONE 为该脚本自行打印，机器人服务在 log step 86 仍报告 done=False、control_steps=2255。评分器仅给整体 success=0、symbolic_success=0，未给合格格位数量；没有视频或状态日志，无法判定至少1块积木的位置及朝向是否达标，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82、84–86 记录 agent 脚本用左臂依次执行四块积木的接近、闭爪、搬运、开爪指令，意图形成至少1块入盘的布局；实际左夹爪是否夹住或推碰积木、是否接触托盘均无画面或接触日志可核实。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 86, + "text_zh": "观察：log step 82 的 agent 脚本依次尝试将 c4、c3、c2、c1 移到四个预设格位；log step 84–86 的 placed/ALLDONE 为该脚本自行打印，机器人服务在 log step 86 仍报告 done=False、control_steps=2255。评分器仅给整体 success=0、symbolic_success=0，未给合格格位数量；没有视频或状态日志，无法判定至少2块积木的位置及朝向是否达标，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82、84–86 记录 agent 脚本用左臂依次执行四块积木的接近、闭爪、搬运、开爪指令，意图形成至少2块入盘的布局；实际左夹爪是否夹住或推碰积木、是否接触托盘均无画面或接触日志可核实。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 86, + "text_zh": "观察：log step 82 的 agent 脚本依次尝试将 c4、c3、c2、c1 移到四个预设格位；log step 84–86 的 placed/ALLDONE 为该脚本自行打印，机器人服务在 log step 86 仍报告 done=False、control_steps=2255。评分器仅给整体 success=0、symbolic_success=0，未给合格格位数量；没有视频或状态日志，无法判定至少3块积木的位置及朝向是否达标，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82、84–86 记录 agent 脚本用左臂依次执行四块积木的接近、闭爪、搬运、开爪指令，意图形成至少3块入盘的布局；实际左夹爪是否夹住或推碰积木、是否接触托盘均无画面或接触日志可核实。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 86, + "text_zh": "观察：log step 82 的 agent 脚本依次尝试将 c4、c3、c2、c1 移到四个预设格位；log step 84–86 的 placed/ALLDONE 为该脚本自行打印，机器人服务在 log step 86 仍报告 done=False、control_steps=2255。评分器仅给整体 success=0、symbolic_success=0，未给合格格位数量；没有视频或状态日志，无法判定至少4块积木的位置及朝向是否达标，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82、84–86 记录 agent 脚本用左臂依次执行四块积木的接近、闭爪、搬运、开爪指令，意图形成至少4块入盘的布局；实际左夹爪是否夹住或推碰积木、是否接触托盘均无画面或接触日志可核实。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_in_layout_1", + "t": null, + "log_step": 89, + "where": "操作中", + "evidence_zh": "推断：log step 43、59、82 的 agent 脚本均实际启动积木入盘的控制序列，log step 84–86 记录最后一轮四块搬运指令执行完毕；log step 89 中 agent 自述最终托盘为空、积木在桌上，并把剩余问题归于释放。结合评分器 graded_by_live=1、trajectory=1、resumes=0、success=0，暂将最早未修复的目标步骤定位为第1块积木入盘的操作过程；此定位依赖动作日志和最终自述，不能核实首次失败时刻或排除其他目标状态丢失。" + }, + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无可用视频：inputs/video.json 为 kind=none（远端视频404且无本地副本），本作业也无状态日志或成功示范。inputs/run.json 的图片条目只有占位文字和偏移索引，没有可查看的图片数据；reward 的 video_rendered=1 并不表示本作业可访问视频。服务只报告整局未成功，没有托盘关系、逐块有效格位、物体位姿或接触对，故全部节点终值和实际接触不能确定，所有视频时间与区间保持 null。agent 在 log step 89 自述积木反弹或滚出、释放有约3厘米落差和托盘定位误差，这些物理过程及尺寸均待核实；不能区分空抓、目标外释放与入盘后失稳，现象层留空，也不能确认释放设计、感知误差或其他因素导致断点，根因层留空。log step 68 的关节映射修补及 log step 84 的脚本异常修补已实施，不把它们直接作为最终未修复失败的原因。agent 在 log step 89 自述“时间用完”，但 run.wall_s=2318、time_limit_s=3600，服务控制步数2255也未达8298，不能据此认定预算耗尽或外部截断。" + }, + "summary_zh": "本次为单次实时评分局，机器人执行了2255个控制步并多轮尝试将四块积木放入托盘，评分器最终 success=0、symbolic_success=0。依据动作日志及 agent 在 log step 89 关于最终托盘为空的自述，断点暂定位为“第1块积木入盘”的操作过程。因无视频、状态日志及逐节点服务结果，五个节点的终值均未知，现象与根因证据不足而留空，不能将其解释为已证实完成0步。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，标注把所有节点保持 unknown、时间为 null，现象与根因留空并写明 gap_zh，且未把 agent 自述当作观察，符合证据纪律；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": "2026-10-30T22:21:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--btcur97/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--btcur97/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "66f30a987f2a2775ac32e9d9e997ea5e5f271fd7708377c1c134e85253845077", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--cgraus9.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--cgraus9.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7a1fb4cf64544d56aab772cd334784b7332f76 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--cgraus9.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--cgraus9", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 330, + "sim_steps": 330, + "max_steps": 8298, + "steps": 110, + "elapsed_s": 2942.9, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.294, + "peak_processes": 9, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 117, + "text_zh": "观察：inputs/video.json 标记 kind=none，且无状态日志；log step 117 仅有 agent 脚本计算的托盘格位坐标，评分器未报告托盘在桌上的独立判据。不能据任务初态描述或该脚本坐标确定本次终态。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的 agent 脚本通过机器人服务提交左夹爪抓取 Block B、搬至后左格并张爪的动作；log step 111 随后提交将该块从后右格搬回桌面的修正动作。无可用视频或状态日志，动作指令不能证明抓取、转移或入格实际成立。" + }, + { + "t": null, + "log_step": 115, + "text_zh": "观察：log step 115 仅有 agent 自行计算的积木坐标和夹爪关节诊断；reward.live_success=0、symbolic_success=0 只报告整体未成功，没有至少1块积木达标的服务结果，故本节点终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 92、111 提交了左二指夹爪操作 Block B 的动作，但无视频、状态接触对或服务抓持判据；无法确认是否形成对向夹持、推压或其他接触。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 117, + "text_zh": "观察：日志中的三次动作提交为观察位姿（log step 76）、Block B 入盘尝试（log step 92）及该块搬回桌面的修正（log step 111）；结束前 log step 117 仍在计算格位。没有至少2块积木达标的评分器或服务结果，也无可用视频、状态日志；不能将 agent 的坐标估计或整体零分当成本节点的终态值。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 117, + "text_zh": "观察：日志中的三次动作提交为观察位姿（log step 76）、Block B 入盘尝试（log step 92）及该块搬回桌面的修正（log step 111）；结束前 log step 117 仍在计算格位。没有至少3块积木达标的评分器或服务结果，也无可用视频、状态日志；不能将 agent 的坐标估计或整体零分当成本节点的终态值。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 117, + "text_zh": "观察：日志中的三次动作提交为观察位姿（log step 76）、Block B 入盘尝试（log step 92）及该块搬回桌面的修正（log step 111）；结束前 log step 117 仍在计算格位。没有至少4块积木达标的评分器或服务结果，也无可用视频、状态日志；不能将 agent 的坐标估计或整体零分当成本节点的终态值。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_in_layout_1", + "t": null, + "log_step": 92, + "where": "操作中", + "evidence_zh": "推断：本次为单次实时服务局（reward.graded_by_live=1、resumes=0；sim_total.submit=3、reset=0）。log step 92 的 agent 脚本向机器人服务提交首块 Block B 的后左格摆放；agent 随后自述该块需从后右格取出重放（log step 112），log step 111 已提交搬回桌面的修正，最后 log step 117 仍在计算格位而无后续入盘动作记录；因此断点定位于首块入盘的操作中。评分器 live_success=0 确认整体未成功，但不据此断言各节点为假；无视频，无法定位物理出错时刻。" + }, + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.json 说明远端视频返回404且无本地视频，也无状态日志或成功示范。日志中的图片/视频查看调用只保留文本占位，未提供可检查图像；评分器仅有整体 success/live_success/symbolic_success=0，没有托盘、逐格匹配、完整朝向、静止窗口或四项原生误差值。log step 96、109 的 agent 诊断打印末端位姿与不对称夹爪关节值，log step 110、115 打印其自行估计的积木坐标；这些可说明其排查过程，但无法独立验证实际接触、抓持偏移、滑落、碰撞或目标估计错误，故现象和根因均留空，所有节点 final 保留未知且所有视频时刻为 null。" + }, + "summary_zh": "评分器确认本次实时尝试未成功，共记录三次动作提交且无重置；agent 脚本先移动至观察位姿，再尝试将 Block B 放入后左格，随后提交搬回桌面的修正，断点据日志定位于第1块积木入盘的操作中。五个节点均缺少可确认终态的服务判据，因此已确认达标数为0、未知数为5，不能解读为五个节点均未达成。无可用视频及状态日志，实际接触、失败现象和根因无法可靠核实，四项原生误差也未报告。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，所有节点按 N9 保持 unknown，现象与根因留空并附 gap_zh，断点以日志步骤定位；validator 通过，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": "2026-10-30T22:27:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--cgraus9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--cgraus9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "00fb9c4c7aad130f1fffdf4e3127d75c15365b0dc20875e77d4c661da599f6cf", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4.json new file mode 100644 index 0000000000000000000000000000000000000000..39db219b2a07eb0b5e18e4bcdff4a0c415fe6abf --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 267, + "sim_steps": 267, + "max_steps": 8298, + "steps": 89, + "elapsed_s": 2998.3, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/video.json 标记 kind=none，且无状态日志；inputs/run.json 的 reward 仅报告整体 success=0、symbolic_success=0，没有托盘支撑关系或末态位姿字段。DAG描述托盘初始在桌上，但不能据此确定本次终态，故本节点未知。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：本次没有可用视频或状态日志，评分器未报告匹配格位数量或第1块积木的节点结果；reward.success=0、symbolic_success=0 仅说明整体未成功，不能决定本计数节点的终值。log step 48–53 记录搬运脚本在感知、序列化及语法检查处报错，log step 54 没有返回执行结果，不能用脚本自身检测值认定入盘。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录为首块积木入盘而接近操作区、尝试探测桌面及调整观察姿态（log step 23、43–44、51）；没有视频或接触状态，无法确认夹爪实际接触了积木、桌面还是未接触目标，也无法确认最后一次启动后的接触。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：本次没有可用视频或状态日志，评分器未报告匹配格位数量或第2块积木的节点结果；reward.success=0、symbolic_success=0 仅说明整体未成功，不能决定本计数节点的终值。log step 48–53 记录搬运脚本在感知、序列化及语法检查处报错，log step 54 没有返回执行结果，不能用脚本自身检测值认定入盘。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：本次没有可用视频或状态日志，评分器未报告匹配格位数量或第3块积木的节点结果；reward.success=0、symbolic_success=0 仅说明整体未成功，不能决定本计数节点的终值。log step 48–53 记录搬运脚本在感知、序列化及语法检查处报错，log step 54 没有返回执行结果，不能用脚本自身检测值认定入盘。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：本次没有可用视频或状态日志，评分器未报告匹配格位数量或第4块积木的节点结果；reward.success=0、symbolic_success=0 仅说明整体未成功，不能决定本计数节点的终值。log step 48–53 记录搬运脚本在感知、序列化及语法检查处报错，log step 54 没有返回执行结果，不能用脚本自身检测值认定入盘。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_in_layout_1", + "t": null, + "log_step": 51, + "where": "探索", + "evidence_zh": "推断：log step 23 的机器人服务状态已达 control_steps=132，log step 43–44 记录机器人为拾取积木而接近操作区并执行桌面高度探测，log step 51 又先提交躯干调整动作再运行感知；这些均为同一标准模式单局中的准备动作。随后首块搬运之前的数据序列化再次抛出 TypeError，log step 53 的搬运脚本又有 IndentationError，log step 54 无返回结果；结合评分器 live_success=0，将未修复的工作定位到首块积木入盘的探索阶段。没有视频，不能定位物理失误时刻或证实最终是否进入抓取。" + }, + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 51, + "note_zh": "候选：控制脚本异常；依D38保留在控制大类。", + "source_zh": "日志", + "evidence_zh": "观察：agent 编写的搬运控制脚本在 log step 48 抛出 KeyError（yaw），log step 49 抛出 TypeError（字符串被当作字典索引），log step 50–51 在抓取循环前的 json.dump 因字典含元组键抛出 TypeError；log step 53 的语法检查与脚本启动均报告 IndentationError。这些异常直接中断了相应版本的搬运程序；log step 54 虽尝试修复重启，却没有执行结果可确认修复生效。评分器报告 trajectory=1、n_actions=267、sim_error=0、infra_error=0，支持这是已运行单局中agent自身脚本的执行问题，而非无交付或已证实的服务崩溃。" + } + ], + "gap_zh": "本次 inputs/ 仅有 run.json、video.json、meta.json、MANIFEST.json；video.json 说明远端视频404且无本地视频，亦无状态日志或成功示范。评分器没有逐节点结果、格位匹配数或四项原生误差值，因此所有节点 final 和 intervals 均为null；不能把整体零分、agent自述或脚本自己的检测值当作节点真假。无画面或接触传感记录可判定夹爪与积木的真实接触及物理失败现象，故现象层为空。log step 54 的末次修复重启没有返回输出，断点所在步骤与探索阶段系依据先前单局动作及脚本执行位置推断，不能排除末次启动后的未记录动作。" + }, + "summary_zh": "评分器确认本次单局轨迹已执行267个控制步且整体未成功，但未报告逐节点结果；托盘与四个积木计数节点的终值均无法确定。日志支持将断点推断为第1块积木入盘的探索阶段，搬运脚本在进入抓取前多次因数据结构、序列化和缩进错误中断。无视频、状态日志及末次重启反馈，无法确认真实接触、物理失败现象和最终布局。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，各节点保持 unknown 合理；断点（首块入盘·探索）、控制类根因（agent 自身脚本异常，D38）与日志 id 48–54 的报错一致，现象层为空并有 gap_zh。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": "2026-10-30T22:26:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--fvqn3m4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "76a8069697a83a0b0a465da11a7a8914c6b750ef300d7077943d4f989a756861", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx.json new file mode 100644 index 0000000000000000000000000000000000000000..ab7da6ac3716d1ae88fe0bb73cb6ce883c7590b9 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx.json @@ -0,0 +1,270 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 4500, + "sim_steps": 4500, + "max_steps": 8298, + "steps": 720, + "elapsed_s": 1931.1, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.204, + "peak_processes": 9, + "peak_disk_gb": 0.453, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 84, + "text_zh": "观察：评分器仅报告整体success=0、symbolic_success=0；log step 84服务返回done=False、reason=None、control_steps_left=3798，未报告托盘支撑或区域状态。无视频和状态日志，不能确认托盘终态；任务DAG所述初态不能替代本次终态观测。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 29、31、34中agent脚本执行首次抓取、转移和放置命令，log step 36自述红顶积木已在后左格。无视频、状态日志或服务逐槽位结果，夹爪开度与agent自述不能证明积木的位置及完整朝向达标，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录agent脚本控制左夹爪尝试抓取、转移并向托盘格位放置彩色积木；缺少视频和状态接触对，不能确认夹爪与积木实际形成何种接触。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 40, + "text_zh": "观察：log step 38、40中agent脚本向后右格执行第二次抓取及放置；log step 49自述该积木看起来为黄顶，log step 87承认此前把顶面误认为蓝色。评分器未报告符合位置与完整朝向的槽位数量，无视频或状态日志，无法判定至少2块达标的终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录agent脚本控制左夹爪尝试抓取、转移并向托盘格位放置彩色积木；缺少视频和状态接触对，不能确认夹爪与积木实际形成何种接触。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 43、46、48中agent脚本执行翻转、抓取及向前左格放置；log step 55又将另一块积木放向同一格，并自述不再调整全部面朝向。log step 87称盘内有3块，但这不是原生槽位有效性结果；无视频或状态日志，不能据此确定至少3块位置和朝向达标。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录agent脚本控制左夹爪尝试抓取、转移并向托盘格位放置彩色积木；缺少视频和状态接触对，不能确认夹爪与积木实际形成何种接触。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 58, + "text_zh": "观察：log step 58中agent脚本执行抓取盘旁积木并向前右格放置，log step 59自述空夹，随后log step 70至83继续尝试从地面取回；log step 87称前右格仍空。评分器只给整体失败，没有逐槽位或匹配数量字段；无视频或状态日志，不能仅用agent报告确定此节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录agent脚本控制左夹爪尝试抓取、转移并向托盘格位放置彩色积木；缺少视频和状态接触对，不能确认夹爪与积木实际形成何种接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_in_layout_2", + "t": null, + "log_step": 40, + "where": "操作中", + "evidence_zh": "推断：log step 36中agent自述首块红顶积木已正确入后左格，log step 38、40随后向后右格执行第二次抓取和放置；log step 49开始怀疑后右积木为黄顶，log step 87明确承认将其顶面误判为蓝色。后续命令主要处理前左、前右格及地面取回，未见重调后右积木的命令，因此按日志将第二块布局操作定位为最早未修复的偏差。此为日志推断，缺少视频和逐槽位结果，不能确认首块完整朝向及实际达标计数；无视频时间可给。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": null, + "log_step": 87, + "source_zh": "agent 自述", + "evidence_zh": "观察：log step 36中agent将待放后右格的积木称为蓝顶，log step 38、40据此执行抓取与放置；log step 49自述后右积木看起来为黄顶，log step 87明确自述“我从倾斜的腕部相机误判了哪一面朝上”，并称放置时以为它是蓝顶。该前后判断与自述支持顶面辨识错误影响了摆放选择；实物颜色及完整姿态缺少画面或状态日志独立核实。" + } + ], + "gap_zh": "无视频：inputs/video.json记为kind=none（远端404且无本地视频）；inputs/中没有状态日志，也没有可读取的日志图片实体，run.json的pics仅为引用。评分器success=0和symbolic_success=0只决定整体失败，不报告托盘状态或有效槽位数量，因此五个节点终值及全部时间区间均未知；不能把agent自述的三块入盘当作三块朝向达标。缺少失败动作的可视或状态证据，现象层留空；断点与感知根因仅依据命令顺序、agent前后判断及其承认误判作有限推断，不能证实碰撞、滑落等物理机制。早期服务启动等待和深度请求报错后仍继续了单次实时操作，评分器infra_error=0、sim_error=0，不据此将本次失败归为外因。", + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + } + }, + "summary_zh": "评分器记录本次单一实时尝试整体失败（success=0、symbolic_success=0），共执行4500个控制步；日志显示agent多次向托盘摆放积木并尝试地面取回，但五个节点均缺少可采信的逐节点终态结果。依据第二次摆放后的颜色疑问及最终承认误判顶面的记录，暂将最早未修复偏差定位为第2块积木入盘，根因标为感知，物理现象不作断言。无视频、状态日志和原生槽位有效性结果，无法确认任何积木完整位置与朝向是否达标，也无法提供视频时间。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；标注者将五个节点终值、区间、现象均保持 unknown/空并在 gap_zh 说明，断点取第2块（最早未达标的计数节点）与评分器 success=0 及 agent 自述（3块入盘但两块顶面错、前右格空）一致，未发现需要修改的内容。感知根因仅基于 agent 自述，已在 evidence 中标明为自述并限定，置信度 4 诚实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:24:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--h9e9gdx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a02070739dccecd19f9200fa23eb335e5f04841508f1e168bfb6d27e605d4b71", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--nheumvx.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--nheumvx.json new file mode 100644 index 0000000000000000000000000000000000000000..0d9320f411667f4a42b39946b64cc6c62ed963f6 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--nheumvx.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--nheumvx", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 1617, + "sim_steps": 1617, + "max_steps": 8298, + "steps": 539, + "elapsed_s": 2808.9, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.789, + "peak_processes": 9, + "peak_disk_gb": 0.379, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tray_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 346, + "text_zh": "观察：inputs/video.json记为kind=none，无状态日志；log step 346仅为agent脚本自行估算的托盘中心与位移，不是服务对托盘支撑关系的判定。评分器未报告tray_on_table终值，故无法确认托盘最终是否仍满足本节点。" + } + ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：log step 178的agent脚本命令左夹爪抓取红顶积木并放往TL格，log step 190打印“Done Block 2”；log step 318–338又记录取回该积木并移到桌面的命令及脚本输出。无可查看的视频、图片或状态日志，也无服务槽位匹配结果；脚本执行完毕不能证明至少1块位置及朝向达标，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 178–190记录左二指夹爪的抓放命令及脚本完成输出；无视频或状态接触对，无法核实夹爪与积木实际是否接触、夹持或推碰，实际接触未知。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 472, + "text_zh": "观察：log step 194–223记录agent对另一块蓝顶积木向TR格的两次抓放命令，log step 455–472再次执行TR格抓放，脚本打印“GRASP SUCCESSFUL!”及“Done Slot TR”。这些是agent脚本自检，服务未报告至少2块占据不同有效槽位，且无视频或状态日志核实；终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 194–223记录向另一格补放积木的左夹爪命令，log step 455–472又执行TR格抓放；这些不证明已有1块有效匹配，也不证明实际夹持。无视频或状态接触对，实际接触未知。" + } + ] + }, + "blocks_in_layout_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 477, + "text_zh": "观察：完整日志截至log step 477，仅有agent的操作、自行图像测量和机器人本体读数，没有服务报告至少3块积木格位及朝向匹配；评分器reward.symbolic_success=0只报告整体符号目标失败。无视频或状态日志，不能由整体失败断定本计数节点为假，终值未知。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 477, + "text_zh": "观察：inputs/run.json评分器记录success=0、live_success=0、symbolic_success=0，未给出4块积木的有效槽位数、布局误差或共同静止窗口结果；log step 477仅打印左TCP位姿。整体失败不能区分布局、托盘或联合验收条件，无视频或状态日志，故本节点终值未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "group_layout_position_error", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "group_layout_orientation_error", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "group_pose_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 472, + "where": "操作中", + "evidence_zh": "观察：评分器记录graded_by_live=1、trajectory=1、resumes=0、n_actions=1617及success=0；log step 472是agent最后一次向TR格抓放的脚本完成输出，之后至log step 477只记录看图、裁图及本体查询。推断：该单次服务尝试已开展积木操作，但没有节点级验收及视频，无法判断早先哪次摆放未修复、当时已有几块真正匹配；因此不能把最后操作直接指定为第几块节点，断点ref保留unknown。" + }, + "unmet": { + "tray_on_table": null, + "blocks_in_layout_1": null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频：inputs/video.json为kind=none（远端404且无本地视频）；本目录无状态日志，inputs/run.json的图片输出pics均为空。评分器仅报告整体失败，未提供逐节点结果、有效槽位数、原生误差或静止窗口结果；不能从success=0推出任一单节点为假。agent脚本的“GRASP SUCCESSFUL!”及“Done Slot TR”（log step 464、472）、自行估算的物体位置均不能替代正式结果，故五节点终值与实际接触不能核实；取回重摆使首次未修复节点也无法定位，现象与根因均缺乏充分证据。日志最早的服务连接问题后来已恢复，log step 245报告服务仍在运行，评分器infra_error=0、sim_error=0；不能据此前连接问题认定外部中断或失败根因。" + }, + "summary_zh": "评分器判定该单次实时尝试失败（success=0、symbolic_success=0），日志记录agent多次指挥左夹爪抓放积木、取回重摆并调整朝向，最后一次抓放脚本在log step 472结束。五个节点均缺乏可核实的正式终值，无法确定已完成节点数及第一个未修复的失败步骤，断点保留unknown。无视频、状态日志或可查看的日志图片，实际接触、失败现象与根因无法可靠判断，四项原生误差亦未报告。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器仅给整体失败；标签将五节点终值、断点ref均保留unknown，现象与根因留空并在gap_zh说明缺口，符合N9与证据纪律，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": "2026-10-30T22:27:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--nheumvx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--nheumvx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eccf24e9ed21f599093a7884ff749fbad39277467f8a2578f8819ee4b1adb08b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--pczazr9.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--pczazr9.json new file mode 100644 index 0000000000000000000000000000000000000000..d45f71bb46e17e54b116eae355675702c295d028 --- /dev/null +++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--pczazr9.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-configuration-matching-block-design-i00-standard--pczazr9", + "taskKey": "ispatialgym/configuration_matching_block_design", + "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f", + "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": 1292, + "sim_steps": 1292, + "max_steps": 8298, + "steps": 232, + "elapsed_s": 925.9, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + 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+ ] + }, + "blocks_in_layout_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 94, + "text_zh": "观察：log step 89 运行积木 D 到格位 c1 的脚本，log step 94 继续运行 C、B、A 到其余三格的脚本；后者输出服务实测闭爪开度接近零（log step 38、84 确认字段及读取方式），并打印 MISSED、重试及 placed；开度支持抓握未成立的推断，但不报告格位与朝向。placed 是 agent 脚本在执行动作流程后无条件打印的文字（log step 84），不是服务的槽位验收结果；reward 只给出整体 live_success=0、symbolic_success=0，未报告至少1块积木符合目标格位和朝向，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 84、89、94 的脚本由左夹爪依次尝试四块积木的抓取与入盘；log step 38 的服务规格说明 proprio[68:70] 是左右夹爪实测开度（米），log step 94 左爪闭合后及重试后的开度均小于0.001米。推断：这些抓取未夹住积木；无视频、物体运动或接触对记录，仍不能确认第1块入盘尝试中是否发生过碰擦及其接触方式，故保留未知，不标成功抓握。" + } + ] + }, + "blocks_in_layout_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 94, + "text_zh": "观察：log step 89 运行积木 D 到格位 c1 的脚本，log step 94 继续运行 C、B、A 到其余三格的脚本；后者输出服务实测闭爪开度接近零（log step 38、84 确认字段及读取方式），并打印 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84、89、94 的脚本由左夹爪依次尝试四块积木的抓取与入盘；log step 38 的服务规格说明 proprio[68:70] 是左右夹爪实测开度（米），log step 94 左爪闭合后及重试后的开度均小于0.001米。推断：这些抓取未夹住积木；无视频、物体运动或接触对记录，仍不能确认第3块入盘尝试中是否发生过碰擦及其接触方式，故保留未知，不标成功抓握。" + } + ] + }, + "blocks_in_layout_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 94, + "text_zh": "观察：log step 89 运行积木 D 到格位 c1 的脚本，log step 94 继续运行 C、B、A 到其余三格的脚本；后者输出服务实测闭爪开度接近零（log step 38、84 确认字段及读取方式），并打印 MISSED、重试及 placed；开度支持抓握未成立的推断，但不报告格位与朝向。placed 是 agent 脚本在执行动作流程后无条件打印的文字（log step 84），不是服务的槽位验收结果；reward 只给出整体 live_success=0、symbolic_success=0，未报告至少4块积木符合目标格位和朝向，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 84、89、94 的脚本由左夹爪依次尝试四块积木的抓取与入盘；log step 38 的服务规格说明 proprio[68:70] 是左右夹爪实测开度（米），log step 94 左爪闭合后及重试后的开度均小于0.001米。推断：这些抓取未夹住积木；无视频、物体运动或接触对记录，仍不能确认第4块入盘尝试中是否发生过碰擦及其接触方式，故保留未知，不标成功抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": 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null, + "blocks_in_layout_2": null, + "blocks_in_layout_3": null, + "blocks_in_layout_4": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": null, + "log_step": 89, + "evidence_zh": "观察：run.reward 的 graded_by_live=1、replays=0、sim_startups=1、resumes=0 及 sim_total.reset=0 表明这是被评分的单次实时局；log step 38 服务规格将 proprio[68:70] 定义为左右夹爪实测开度（米），log step 84 脚本在闭爪后直接读取 out.proprio[-1][68:70]。log step 89 首先执行 D 入格流程，截断输出保留闭爪记录末尾的约0.0003；log step 94 完整输出 C、B、A 的左爪闭合开度分别约0.000272、0.00000130、0.0000403米，重试后分别约0.000000293、0.0000173、0.0000000877米。推断：左爪近乎完全闭合，未在两指之间夹住积木，支持第1块入盘步骤所需抓握没建立；MISSED 是脚本判断、placed 是无条件流程提示，均不作为服务验收。没有视频，t 保留 null。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 kind=none（视频获取返回404），当前输入没有状态日志或可查看的运行图像；reward 虽记录 video_rendered=1，但未提供可用视频。所有节点缺少服务或评分器逐项终值，四项原生误差也未报告，故节点终值及所有视频区间均为 null。log step 38、84、94 确认闭爪开度为服务本体感知读数，按 DECISIONS.md N5 的 Now 文本作为单次实时评分局的观察；近零开度支持没建立接触，但不能还原物体运动、最终格位与朝向或短暂碰擦。log step 89 输出被 tail 截断，只保留闭爪记录末尾约0.0003，不能据此逐项核实 D 的全部重试开度。agent 在 log step 100 猜测抓取高度、TCP朝向及单目定位误差，但缺少独立真值、实际夹爪轨迹和接触证据，无法区分感知误差与抓取设计，故根因留空。agent 自述“时间用完”（log step 100），但 run.wall_s=1559、time_limit_s=3600，log step 97 服务仍返回 done=False、剩余7006控制步；不能将其自述作为超时归因，也不将已纠正的接口参数错误作为最终断点。" + }, + "summary_zh": "实时评分最终失败（reward.live_success=0、symbolic_success=0），日志记录了四块积木的抓放流程，但没有节点的可核验终值，五个节点均保留未知。闭爪后的服务实测开度接近零（log step 38、84、89、94），支持所需抓握没建立，断点仍推断为第1块积木入盘的操作阶段。无视频和状态日志，最终格位、朝向及根因仍不可判，置信度保留5；整体零分不用于反推各节点失败。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频、各节点 unknown、断点 blocks_in_layout_1 基本合理；但标注把服务本体感知读数（闭爪后开度≈0）当成 agent 叙述而弃用，导致“没建立接触”现象缺失。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；各节点 unknown、断点 blocks_in_layout_1、现象“没建立接触”（依据服务夹爪开度读数，标为推断）及根因留空均有证据支持，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": "2026-10-30T22:30:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--pczazr9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": 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b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--c8gjhqd.json new file mode 100644 index 0000000000000000000000000000000000000000..55046129a954b82a1b0a7d100b7a4a72214ba458 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--c8gjhqd.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--c8gjhqd", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + 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"none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pencil_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：log step 54、56、58 的脚本向机器人右夹爪发送彩铅抓取及搬运动作；log step 59、61 改为沿台面推移和调整。日志仅保留夹爪读数及 agent 自行投影的坐标，没有本次视频或物体状态日志，不能确认彩铅是否离开或恢复目标容差。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "观察：agent 在 log step 62 自述彩铅偏航约0.16 rad且在容差内；这是 agent 的估计。评分器未单独报告彩铅的位置、等价姿态误差或本节点真值，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 54–61 记录右侧二指夹爪对黄色彩铅的夹取、推移指令；无本次视频或接触对记录，不能确定实际接触方式，不能把指令当成已发生的抓握或推移。" + } + ] + }, + "marker_nextto_pencil": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 40, + "text_zh": "观察：log step 31–39 的脚本向机器人右夹爪发送记号笔夹取、平移、下降、张爪及撤离指令；log step 40 服务返回 control_steps=659、done=False、reason=None，尚未通过联合成功验收。这些返回值未单独报告记号笔相邻关系与目标位姿是否同时合格。" + }, + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 63 再次执行记号笔抓放脚本，log step 64 服务仍返回 done=False；log step 65 最后微调后服务返回 done=True、reason=\"failed: the episode's control steps ran out\"、control_steps_left=0。评分器字段 success=0、live_success=0、symbolic_success=1，但没有记号笔位姿误差或逐节点结果；不能把整体失败直接等同于本节点为假，也不能用符号成功替代位姿与静置验收。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 31–39、48–53、63、65 记录右侧二指夹爪对红帽黑身记号笔的夹取、搬运、释放和推移指令。无本次视频或接触对记录，夹爪开度不足以确认包夹物体，实际接触保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "marker_nextto_pencil", + "t": null, + "log_step": 40, + "where": "操作中", + "evidence_zh": "推断：log step 31–40 的机器人指令针对记号笔搬到彩铅旁，首次抓放及等待后服务仍未验收成功；其后脚本又调整两物，并在 log step 63–65 返回记号笔抓放与推移，最终服务报告控制步耗尽。按反复工作且未确认修复的步骤，将断点定位为记号笔邻彩铅；无本次视频或逐节点结果，无法定位首次实际偏差，也无法排除彩铅位姿或联合静置未达标。" + }, + "unmet": { + "pencil_at_goal": null, + "marker_nextto_pencil": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 kind=none（回放获取失败），inputs/ 没有本次 replay.mp4 或 states.jsonl，也没有状态路径；本次日志中的图片只有占位标记，无法检查实际物体运动、接触和终态。评分器只有整体失败及 symbolic_success=1，未给出逐物位姿、NextTo 或45控制步联合静置窗口结果；两个节点终值与全部视频时刻均保留未知。agent 在 log step 67 自述目标相机存在两种解释、记号笔滚转约90°、彩铅抓取失败，但缺乏独立证据确认这些解释造成了最终失败，故现象及根因留空；控制步耗尽只记录为服务终止原因。已查看成功参考视频在参考视频0、4、8、12、17.5 s的画面，它仅显示另一回合的目标外观，不能填补本次证据。" + }, + "summary_zh": "本次为单个现场评分回合，服务在 log step 65 报告2076个控制步耗尽，整体成功为0；两个节点均缺少可决定终值的服务字段，最终进度未知。根据 log step 31–40、63–65 的动作记录，断点推定为记号笔邻彩铅的操作中，但无法确认实际接触及具体失败现象。无本次视频和状态日志，symbolic_success=1不能证明位姿或联合静置达标，agent 的滚转和相机歧义解释未作为已证实根因。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无回放视频、无状态日志，标签对两个节点保持 unknown、断点按反复作业的记号笔邻彩铅给出并明说是推断，现象与根因留空且有 gap_zh；这与可得证据（整体失败、symbolic_success=1、控制步耗尽、agent 自述不能算证据）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": "2026-10-30T22:26:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--c8gjhqd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--c8gjhqd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3e3ecd98d7cf1634959e90ab0d668d502b81d6d087b733a7922406db73a2f78", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--d78dfwx.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--d78dfwx.json new file mode 100644 index 0000000000000000000000000000000000000000..f59c0fd53df13d2ee65af842854103eebb82b88c --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--d78dfwx.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--d78dfwx", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8", + "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": 2076, + "sim_steps": 2076, + "max_steps": 2076, + "steps": 669, + "elapsed_s": 2941.5, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pencil_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 59, + "text_zh": "观察：log step 54 的代理脚本对黄色彩铅安排右夹爪接近、闭合、抬升、搬运和张开；log step 59、60、66、67 返回相应命令执行记录。当前输入无本次视频和状态日志，不能据这些命令确认彩铅被夹起或最终仍满足目标位姿。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 的代理视觉脚本输出彩铅相对其自算目标的位置误差为 0.3736 m；这是代理自行估计，并非服务或评分器报告的节点验收值。评分字段只给整体 success=0、symbolic_success=0，没有彩铅节点结果，故 final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 59、60、66、67 记录右夹爪对黄色彩铅执行抓放命令；无本次视频或接触状态日志，无法确定夹爪是否接触、夹住或推移彩铅。" + } + ] + }, + "marker_nextto_pencil": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 59、60、66、67 中代理脚本先后提交记号笔的接近、闭合、抬升、旋转、搬运、张开和撤回命令；log step 67 的服务 status 返回 control_steps=2076、done=True、reason=\"failed: the episode's control steps ran out\"。这些字段只确认 episode 已失败结束，未单独报告记号笔相邻关系或位姿验收。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 的代理视觉脚本输出记号笔相对其自算目标的位置误差为 0.3027 m，代理还自述此前抓取未成功；两者均不能替代本次视频或服务逐节点结果。无可用视频和状态日志，final 保留未知，不由整体零分推出本节点为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 59、60、66、67 记录右夹爪对红帽黑身记号笔执行抓放命令；无本次视频或接触状态日志，无法确认实际接触对象及接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 67, + "where": "未知", + "evidence_zh": "观察：log step 59、60、66、67 中代理脚本依次尝试调整彩铅和摆放记号笔，最后服务在 log step 67 报告 control_steps=2076、done=True，因控制步耗尽而结束；reward 的 live_success=0、symbolic_success=0、infra_error=0。推断：由于没有本次视频、状态日志或逐节点验收结果，无法区分最早未修复的是彩铅位姿、记号笔摆放，还是关系达成后的联合静置验收，故不能唯一指定断点节点或失败阶段。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次视频不可用：inputs/video.json 记录 HF 视频返回 404 且无本地视频；未提供本次状态日志。日志图片仅保留占位符，评分器只报告整体失败，没有两个节点的独立结果，也没有 DAG 所列位姿误差及静置指标，故两个节点的 intervals/final 均为 null，实际接触未知，断点及阶段无法唯一定位。log step 67 中 agent 自述“此前抓取未成功，指尖相对 TCP 的几何使指垫够不到细杆”，但无画面或接触读数核实；log step 63—65 的脚本异常随后在 log step 66 修复，不能直接作为最终失败根因。现象与根因均留空，控制步耗尽只描述结束方式。成功 oracle 仅供参照，不能证明本次彩铅、记号笔的状态。", + "unmet": { + "pencil_at_goal": null, + "marker_nextto_pencil": null + } + }, + "summary_zh": "观察：本次现场 episode 的代理脚本多次提交彩铅和记号笔的抓放命令，服务最终在 log step 67 报告 2076 个控制步耗尽，评分器判定失败。两个节点均无可独立确认的终值，不能确定最早未修复的失败步骤；代理的抓取失败自述不足以确认实际接触现象或具体根因。本次无可用视频和状态日志，全部时间区间留空，10 项原生指标均未由评分器报告。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志（video.json: HF 404），评分器仅给整体失败，两节点 unknown、断点 unknown、现象/根因留空且有 gap_zh，均符合证据与 03 规则；控制步耗尽未被当作现象或根因，代理自述的抓取失败未被当作事实。", + "n_issues": 0, + 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"review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd51ff0b29aec908227c5dc2ada4b75f92e52c8089a71aeb47cbc28e0b746e2e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--m64beuw.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--m64beuw.json new file mode 100644 index 0000000000000000000000000000000000000000..29a5481269c14bcd717860623158470f595cdae2 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--m64beuw.json @@ -0,0 +1,238 @@ +{ + "schema": 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"limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.272, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "pencil_at_goal": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 112, + "text_zh": "观察：log step 112 中机器人仿真服务的 r.status() 返回 done=True、reason=success、control_steps=437、resumes=0；inputs/run.json 的评分器字段 live_success=1、symbolic_success=1、graded_by_live=1。" + }, + { + "t": null, + "log_step": 112, + "text_zh": "推断：该现场评分成功要求彩铅目标位姿合格，故彩铅留在原位节点终态为真；无本次视频或状态日志，不能确定过程中是否曾超出容差或恢复，intervals=null。log step 104 的执行脚本只安排操作记号笔，没有针对彩铅的操作步骤，不另列彩铅的接触尝试。" + } + ] + }, + "marker_nextto_pencil": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 104, + "text_zh": "观察：agent 在 log step 104 编写右夹爪接近、闭合、抬升、平移、下降、张开、撤离和静置的记号笔操作脚本，log step 106 调用该脚本；这些指令记录说明尝试对象与操作意图，不能证明实际抓握或搬运接触。" + }, + { + "t": null, + "log_step": 112, + "text_zh": "推断：log step 112 的仿真服务返回 done=True、reason=success、control_steps=437，与 inputs/run.json 的 success=1、live_success=1、symbolic_success=1、success_step=437 一致，说明现场评分已接受记号笔邻彩铅及联合静置要求，节点终态为真；无本次视频或状态日志，首次达成时间和实际接触无法核实。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 104、106 记录 agent 让机器人右侧二指夹爪尝试操作记号笔；本次无可用视频、状态日志或接触对读数，无法核实夹爪与记号笔实际如何接触，也不依据脚本的闭合命令认定抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "推断：根据现场评分器 success=1、symbolic_success=1 及 log step 112 仿真服务的 reason=success，彩铅目标位姿和记号笔邻彩铅两个节点终态均已合格，最终为2/2，无失败断点。观察：agent 在 log step 104、106 安排并启动右夹爪抓放记号笔、撤手静置的脚本，服务在控制步437报告成功；实际抓放过程不能由脚本意图代替观测。观察：inputs/video.json 为 kind=none，本次无视频或状态日志，所有 intervals 与视频时间均为 null，记号笔接触未知，10项原生指标未报告数值；已查看的 oracle 视频终帧（参考视频17.5 s）仅用于理解目标外观，不作为本次轨迹证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；终态2/2由评分器 success=1 和 log step 112 的服务读数 reason=success 支持，接触标为未知，intervals 为 null，均符合证据规则；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": "2026-10-30T22:27:30Z", + "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--m64beuw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--m64beuw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e32a6586ff0aadf151c9d3d628968049d88cd9687a1d2c164f1618e6176d6593", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--rwhduvy.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--rwhduvy.json new file mode 100644 index 0000000000000000000000000000000000000000..e6975f0fdf2f96b20c51d0376bec8b0e1a1d5aea --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--rwhduvy.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--rwhduvy", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8", + "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": 2071, + "sim_steps": 2071, + "max_steps": 2076, + "steps": 1848, + "elapsed_s": 1449.6, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pencil_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 55 的彩铅位置来自 agent 自编的双视图三角化脚本；log step 60 的摆放脚本将彩铅假定为固定参考点，没有服务逐节点验收结果。本次无视频、无状态日志，不能用这些估计确认彩铅仍在目标位姿容差内。" + }, + { + "t": null, + "log_step": 71, + "text_zh": "观察：log step 71 的服务终次状态为 control_steps=2071、done=False；run.json 评分字段 success=0、symbolic_success=0，均未单独报告彩铅位姿。本节点终值未知，不能从整体失败推出彩铅失位。" + } + ] + }, + "marker_nextto_pencil": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：log step 46、48、60 的 agent 脚本向右臂发送靠近、下降、闭爪、抬升、平移和释放指令；log step 60 输出 fingers=0.005/0.005、carried、released，但这些是夹爪本体读数和脚本阶段打印，没有服务报告记号笔被持有或到达目标。无视频可核对物体原位与夹爪，因此不据此计入实际抓取、搬运或相邻关系。" + }, + { + "t": null, + "log_step": 71, + "text_zh": "观察：log step 60 后服务报告 control_steps=1592、done=False；log step 71 又执行300行与179行静止指令，服务最终报告 control_steps=2071、done=False。评分器 success=0、symbolic_success=0，未给出本节点的关系和位姿分项；不能确定失败来自本节点、彩铅位姿还是联合静置条件，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "log step 46、48、60 显示机器人右侧二指夹爪执行针对记号笔的抓放尝试，log step 46 还命令底盘前移；缺少本次画面与接触状态，不能确认右爪是否夹住、推到记号笔或发生何种实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "marker_nextto_pencil", + "t": null, + "log_step": 46, + "where": "操作中", + "evidence_zh": "推断：log step 46 开始针对记号笔的抓放，log step 48、60 继续修正同一步；log step 60 之后不再操纵目标物，log step 71 静止指令执行至 control_steps=2071，服务仍 done=False，评分器最终 success=0。本次工作集中在记号笔摆放，故以 marker_nextto_pencil 为工作步骤断点；无视频不能定位首次出错瞬间，也不能证明彩铅先前是否已失位。" + }, + "unmet": { + "pencil_at_goal": null, + "marker_nextto_pencil": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 明确为 kind=none（回放下载404且无本地视频），inputs/ 中也没有状态日志；run.json 的图片条目仅有索引，未提供可查看的本次图像文件。两节点的时间区间与终值均未知，评分器只报告整体失败，不能据此逐项判假。contact_actual 无法确认实际接触，亦无法区分空夹、搬运中失物或目标位姿偏差，故现象留空。log step 47、48 记录 agent 对坐标系混用的诊断及修正，log step 48、60 的抓取判断仅以两指开口和小于0.03为条件，不能独立证明物体被抓住；log step 73 关于目标绝对位置误差的解释也只是 agent 自述。缺少最终物体位姿或接触反馈，不能确认哪个问题导致最终失败，故根因留空。已查看成功参照视频约0、3、6、9、12、15及16至17 s，参照终态两笔紧邻，但参照不是本次轨迹证据。" + }, + "summary_zh": "评分器判本次失败；日志显示机器人多次执行针对记号笔的抓放指令，但彩铅保位与记号笔相邻两个节点的终值均无法独立确认，没有可确认达成的节点。断点定位在记号笔摆放操作：log step 60 后停止操纵目标物，log step 71 执行静止指令至2071个控制步，服务仍未判成功。缺少本次视频、状态日志和逐节点验收字段，无法核实实际接触、物体搬运及最终失败机制，故现象与根因均留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，两节点 final 均为 unknown（符合 N9：评分器只给整体 success=0）；断点标为 marker_nextto_pencil 并注明为推断，现象与根因留空且有 gap_zh，均与证据一致。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": "2026-10-30T22:30:15Z", + "review_prompt": 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a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--spjapv5.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--spjapv5.json new file mode 100644 index 0000000000000000000000000000000000000000..eae9ad7d3bfdf3935d687a7d425c494ae58f5600 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--spjapv5.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--spjapv5", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 635, + "sim_steps": 635, + "max_steps": 2076, + "steps": 212, + "elapsed_s": 767.1, + "symbolic_success": 1, + "success_step": 635, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.341, + "peak_processes": 10, + "peak_disk_gb": 0.902, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "pencil_at_goal": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 111, + "text_zh": "观察：log step 111 中，agent 的脚本打印机器人服务元数据为“final_hold steps 635 done True reason success”；run.json 的评分器字段 live_success=1、symbolic_success=1、finalized=1，且 resumes=0。" + }, + { + "t": null, + "log_step": 111, + "text_zh": "推断：本次按单个现场 episode 评分；服务成功要求目标物体位姿与联合静置合格，因此彩铅目标位姿在终态成立。没有本次视频或状态日志，无法确定彩铅中途是否曾失去该状态，intervals 留空。" + } + ] + }, + "marker_nextto_pencil": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中 agent 的脚本向机器人服务提交右臂横移、下降和打开右夹爪的指令；log step 106 返回这些操作已执行，log step 108 继续提交撤手和静止指令。这些指令记录不单独证明记号笔被夹起或放置。" + }, + { + "t": null, + "log_step": 111, + "text_zh": "观察：log step 111 中脚本打印服务元数据“final_hold steps 635 done True reason success”；评分器同时记录 success=1、live_success=1、symbolic_success=1、success_step=635。" + }, + { + "t": null, + "log_step": 111, + "text_zh": "推断：现场成功判定要求记号笔与彩铅的目标关系、记号笔位姿及联合静置合格，因此该节点终态成立；没有本次视频和状态日志，不能定位首次达成或中途变化，不能将控制步数换成本次视频时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 87、96、100、103、105 记录 agent 命令右二指夹爪闭合、抬升、横移和张开，作用对象意图为红帽黑身记号笔；本次无视频或接触状态日志，无法确认实际夹持、推碰或其他接触，故不把指令及 agent 自述当作抓握证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": 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"direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "推断：根据现场服务成功结果及评分器 success=1、symbolic_success=1，彩铅目标位姿和记号笔邻彩铅两个目标节点终态均达成（2/2），无失败断点。观察：log step 111 返回“final_hold steps 635 done True reason success”；本次无视频、无状态日志，无法判断节点达成时间、过程中是否失去条件及实际接触，所有 intervals 为 null，记号笔操作接触标为未知，原生误差与静置指标未报告数值；另一次成功的 oracle 视频仅用于理解目标外观。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志（video.kind=none）。两个目标节点 final=true 由评分器 success/live_success/symbolic_success=1 及 log step 111 的服务结果支持，intervals 为 null、contact_actual 为未知，均符合 N9 规则；无失败标签。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", + 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local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--ykwqelw.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--ykwqelw.json new file mode 100644 index 0000000000000000000000000000000000000000..6423233ab80e114febd3cd00fc8bb45d601491f1 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--ykwqelw.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--ykwqelw", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8", + "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": 677, + "sim_steps": 677, + "max_steps": 2076, + "steps": 507, + "elapsed_s": 2936.5, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.246, + "peak_processes": 9, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pencil_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 中 agent 的脚本调用机器人服务，先安排右夹爪接近、闭合、抬起并平移黄色彩铅，再安排记号笔搬运；该调用仅返回后台运行通知，没有完成回执。现有记录不含彩铅最终位姿的服务判定，本次无视频和状态日志，无法核实初始合格状态是否保持或恢复。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 为 live_success=0、symbolic_success=1，但未报告彩铅位置误差或姿态误差。推断：符号目标成立不能单独证明本节点要求的位置与姿态容差成立，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 92 的脚本为右夹爪安排彩铅抓放动作，但无本次视频、状态接触对或调用完成回执，不能确认右夹爪是否实际夹住或以其他方式碰到彩铅。" + } + ] + }, + "marker_nextto_pencil": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 79 的脚本向机器人服务提交记号笔抓取和抬升动作，log step 83 再提交向彩铅旁搬运、开爪、撤手及保持关节目标的动作；这些脚本说明尝试内容，不能证明记号笔实际到达。" + }, + { + "t": null, + "log_step": 91, + "text_zh": "观察：log step 91 的机器人服务观测返回 Done=False、Reason=None、Steps left=1675；log step 92 随后启动两物重新抓放的脚本，未记录完成回执。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 报告 success=0、live_success=0、symbolic_success=1、n_actions=677、resumes=0、infra_error=0，未给出记号笔最终位置或姿态误差及联合静置窗口状态。推断：只能确认总体未通过且报告过符号成功，不能将其等同于本节点的完整关系与位姿验收；final 未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 79、83、92 的脚本为右夹爪安排记号笔抓放；本次无视频、持物或接触状态日志，无法确认真实抓握、推碰或空夹，不按动作命令填写抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 92, + "where": "未知", + "evidence_zh": "观察：log step 91 的现场服务仍返回 Done=False；log step 92 启动先移动彩铅、再移动记号笔并保持关节目标的脚本，记录结束于后台运行通知；评分器最终报告 live_success=0、symbolic_success=1。推断：已发生实际动作提交，不能标首步前或没尝试；缺少两物最终位姿及静置验收结果，无法确定最早未修复的是彩铅位姿、记号笔摆放，还是仅联合静置验收，断点及失败位置保留未知。" + }, + "unmet": { + "pencil_at_goal": null, + "marker_nextto_pencil": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，注明 HF replay.mp4 返回404且无本地视频；inputs/ 也没有本次 states.jsonl，日志图片调用没有提供可检查的图片数据。已检查成功参照视频中参照视频 0.0、4.0、8.0、12.0、16.0、17.5 s 画面，只用于理解相邻外观，不能作为本次进展或接触证据。本次评分仅给出总体失败及 symbolic_success=1，未分项报告两物位姿、相邻关系或45控制步联合静置窗口；log step 92 无完成回执。推断：无法定位物理失败现象，也无法建立感知、控制或规划错误导致本次失败的证据链，因此现象与根因均留空；不将预算结束或诊断脚本的异常当作物理失败原因。" + }, + "summary_zh": 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a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--zzymznc.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--zzymznc.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a320631cc4a26793eb1f6152abeeb6be85306d --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--zzymznc.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-standard--zzymznc", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale", + "dag_sha256": 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"resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pencil_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 162, + "text_zh": "观察：log step 162 的彩铅坐标来自 agent 自写的颜色分割和台面反投影程序，未附评分器的彩铅位姿合格字段；log step 173 的“彩铅被碰动”也是 agent 自述。输入无本次视频与状态日志，按 N9 不能据这些估计确定彩铅终态是否仍在目标容差内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 173 的 agent 自述机器人曾碰动黄色彩铅，但没有本次画面或接触对记录可核实；机器人哪个作用端是否碰到彩铅、如何接触均未知。" + } + ] + }, + "marker_nextto_pencil": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 160, + "text_zh": "观察：log step 160 的现场服务状态为 control_steps=2072、done=False，log step 172 仍为同一计数；run.json 的 reward 为 live_success=0、symbolic_success=0、graded_by_live=1，但没有单独报告 NextTo 或记号笔目标位姿。总体失败不能区分记号笔关系、两物位姿或联合静置哪项不合格，故该节点终值未知。" + }, + { + "t": null, + "log_step": 148, + "text_zh": "观察：log step 148 打印的两笔间距是 agent 自写图像测量程序的输出，并非服务的关系判定；本次视频不可用，不能以该测量或 log step 173 的“记号笔没移动”自述确认节点真值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 110、119、123、142、146、154、156、160 中 agent 脚本指令右夹爪接近或扫向记号笔；缺少本次画面及接触读数，无法确认右夹爪是否碰到记号笔以及实际接触方式，不把闭爪指令当作抓握事实。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：log step 101 的服务本体感觉读数显示底盘前移至 base_x=0.204 m，agent 用此移动获取记号笔定位的第二视角；log step 160 又执行借底盘侧移的扫推动作。底盘在该步的移动中支撑机器人；这不证明夹爪接触记号笔。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pencil_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "pencil_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "marker_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_max_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": 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154, + "source_zh": "日志", + "evidence_zh": "观察：log step 154 的纠偏代码每次使用 err=cmd-tcp、cmd=cmd+err，在移动后的参考 cmd 上继续叠加误差；运行输出的目标高度从0.860 m降到0.582、0.216、-0.487 m，最后为-1.856 m，随后报 IK 失败且实际推移只生成1行。log step 156 的静态 FK 目标残差为0.0032 m，提交后的服务 TCP 却与目标相差约0.43 m。推断：agent 的执行与反馈纠偏没有使末端收敛到推移起点，纠偏反而将目标推离工作区，妨碍了记号笔摆放；未据此归咎仿真器或假定位姿误差的动力学成因。" + } + ], + "gap_zh": "观察：inputs/video.json 记载本次视频 kind=none，原因是 HF replay.mp4 返回404且无本地视频；inputs/ 未提供 states.jsonl，也没有状态进度文件。run.json 虽有 video_rendered=1 和 trajectory=1，但这些字段不提供可检查画面；日志的图片工具条目只有路径及尺寸，没有可看的图片内容。评分器仅报告总体失败，没有两个节点各自真值、位姿误差或静置指标，因此两节点 final 与所有 intervals 均为 null，原生指标值均为 null；接触、彩铅是否被扰动及记号笔最终关系无法核实。已查看成功参考视频的粗采样全程及参考视频17.5 s末帧，相邻时两笔紧靠且近乎平行，但参考视频属于另一局，不能证明本次进度；本次现象和控制根因仅使用单次现场服务的本体感觉及所执行代码，未采用 agent 自述作为物体接触事实。" + }, + "summary_zh": "观察：评分器记录现场失败（live_success=0、symbolic_success=0），最后服务状态停在2072/2076控制步且done=False；两个节点均缺逐项结果，已确认完成0/2，另2项终值未知。推断：持续操作的断点是记号笔邻彩铅，服务末端读数与指令目标显著偏离，后期反馈纠偏把目标高度推到负值并导致逆解失败，支持位姿不准及反馈控制问题。观察：本次无可用视频或状态日志，无法确定两笔最终位姿、接触和达成时刻，成功参考视频不作为本次进度证据。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频无状态日志，两节点终值与区间为 null/unknown 合理；断点、位姿不准（log step 156 服务 TCP 读数偏离约0.43 m）与反馈控制根因均有 run.json 服务读数及代码支撑，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": "2026-10-30T22:25:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r.json new file mode 100644 index 0000000000000000000000000000000000000000..443e7f764196368a91af1d62ffd47d1cb8be9e35 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": 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"resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 58, + "text_zh": "观察：inputs/video.json 标明无视频，亦无状态日志；log step 58 的机器人服务终态只报告 control_steps=1900、done=True 和控制步耗尽，未报告红盘位置或姿态误差。评分器 reward 仅给联合 success=0、symbolic_success=0，不能确定红盘终态是否仍在容差内；DAG 的初态说明不能证明终态。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：log step 53、57 中 agent 脚本调用右臂逆解并提交抓取、搬运和释放动作；log step 57 的像素中心与偏差是 agent 自行分割图像的计算结果，不能替代节点的服务判据。无视频或状态日志；评分器只给联合 success=0、symbolic_success=0，未单独报告包装盘上关系及位姿验收，因此本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 53、57 记录机器人右夹爪朝香肠包装执行闭合、抬升和放置指令；缺少可检查的图像与接触状态，无法确认夹爪是否实际夹住包装、是否仅推碰包装，以及实际接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + 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step 58 的服务确认控制步耗尽且 done=True，评分器 success=0。由最后进行的实物操作定位断点为香肠包装上盘；无法从现有证据确认具体抓取或放置失误，也无法排除红盘状态受影响。无视频，t 留空。" + }, + "unmet": { + "platter_at_target": null, + "package_on_platter": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 38, + "evidence_zh": "推断：任务文本明确机器人及相机视角不必与目标图一致；agent 在 log step 29、31—38 仍优先执行相机视角匹配，通过底盘和躯干反复探测图像雅可比并迭代对齐，log step 38 的服务计数已到1152个控制步。log step 41 承认剩余步数不足以继续匹配视角，随后 log step 50—51 又为匹配目标盘面尺度调整底盘和躯干，首次抓取前累计1326/1900个控制步；log step 57 首轮搬放结束时已到1863个控制步，重试仅余37步，log step 58 服务确认耗尽。前置视觉对齐占用大部分有限控制步、压缩实际抓放与修正空间，是有动作与计数证据的跨阶段策略失当；并非把步数耗尽本身作为根因。", + "source_zh": "日志" + } + ], + "gap_zh": "无视频、无状态日志，inputs/oracle/oracle.json 也仅有成功参考的元数据，不能核实本次实际接触、物体运动或各节点达标时间。reward 的联合 success=0 与 symbolic_success=0 未逐节点区分红盘位姿、包装关系及包装位姿；两个节点终值均未知，全部视频时间和区间留空。log step 55、60 的 agent 自述抓取失败、包装落在盘旁，以及 log step 57 的自制像素检查均不能直接确立物理失败现象，故现象层为空；控制或感知方面的具体原因亦无法独立核实。" + }, + "summary_zh": "本次单次实时尝试已提交香肠包装抓取和上盘动作，服务在1900个控制步耗尽时结束，评分器未判成功；红盘与包装两个节点的终值均无法从逐节点服务结果确认。断点定位为香肠包装上盘的操作中，日志支持相机视角匹配占用过多控制步、挤压抓放及重试空间的推理/规划问题。无视频和状态日志，实际接触与具体物理失败现象未知，节点区间及原生指标数值均留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，两节点 unknown 与空现象层均有依据；断点与推理/规划根因有 log step 38/41/51/57/58 的服务控制步计数与任务文本（机器人不必匹配目标图）支撑，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": "2026-10-30T22:28:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--aeelu2r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "acfa275ce6e2f204c075d19659f35fd35bfdb93488101f61db6ead245f9d8db5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp.json new file mode 100644 index 0000000000000000000000000000000000000000..f68d6d540e1c1e3728f05c57534a7d9de52ebdf3 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 333, + "sim_steps": 333, + "max_steps": 1900, + "steps": 111, + "elapsed_s": 2796.1, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 9, + "peak_disk_gb": 0.319, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 87, + "text_zh": "观察：log step 87 仅有agent自编图像分析程序输出的红盘像素包围框；inputs/video.json 标为kind=none，未提供状态日志。评分器reward只报告整体success=0、symbolic_success=1，没有红盘位置或全姿态验收字段，无法确定红盘最终是否仍在DAG容差内。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 78 服务执行提交后返回done=False；log step 83 的agent脚本提交向红盘搬运、下降、张爪和停住的动作，log step 96 又提交退爪并保持动作。上述指令与agent自述不能证明包装实际完成上盘及目标位姿验收；评分器reward.symbolic_success=1只能证明其符号目标检查成立，未报告包装位置和全姿态误差，故本节点完整判据的终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 78 记录右夹爪闭合及抬升指令，log step 83 记录搬运和张爪指令；无视频或状态接触对，无法核实右夹爪与香肠包装是否形成相向夹持及搬运过程的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_body_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_coordinate_drift", + "unit": "joint_coordinate", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 101, + "where": "未知", + "evidence_zh": "观察：log step 96 的agent脚本继续提交退爪和保持动作，log step 100 仍在比较当前图像与目标图，log step 101 最后消息为Gemini过滤器阻断提示；reward报告实时轨迹已记录333个控制步、success=0、symbolic_success=1。推断：未见中断前已固定判负或已结束实时任务的证据，也无法据此区分红盘位姿、包装位姿或联合静止验收哪项未达，故不能定位物理失败节点；过滤器中断属外因。" + }, + "unmet": { + "platter_at_target": null, + "package_on_platter": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/中没有视频、状态日志或逐节点原生验收结果；oracle也只有元信息，无参考视频或状态。log step 101 的模型过滤器阻断出现在继续检查场景的过程中，未见此前实时任务已结束的服务结果；应按外因中断处理，不能由目录success=0归责机器人。reward.symbolic_success=1不包含两物体的定量位姿及45控制步联合静止结果，agent自己的图像匹配、三角测量和完成自述均不能替代这些字段；无法判定节点终值、实际接触、物理断点、失败现象及根因，故两层均留空。" + }, + "summary_zh": "观察：本次实时运行记录333个控制步；日志包含右夹爪抓取、搬运上盘、释放及退爪保持的动作提交，评分器报告symbolic_success=1而整体success=0。两个节点均缺少完整验收结果，终值未知；log step 101 出现模型过滤器阻断，未见此前任务已结束或发生不可逆物理失败，按外因中断处理，现象和根因留空。没有视频或状态日志，无法核实实际接触、位姿误差、联合静止窗口和事件时刻。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；标注者将两节点留为unknown、层留空并写gap_zh，符合证据。log step 101 的模型过滤器阻断发生在agent仍在比对图像时，未见交付已保存并验证的证据，按外因中断处理合理；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:28:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--csbgexp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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"ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--fgpybpp", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1900, + "sim_steps": 1900, + "max_steps": 1900, + "steps": 1510, + "elapsed_s": 1801.8, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.52, + "peak_processes": 9, + "peak_disk_gb": 0.355, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：task/task_dag.json记载红盘初态位姿达标，但inputs/run.json的reward未报告红盘最终位置或姿态误差；inputs/video.json为kind=none，也无状态日志，无法确认操作后仍在容差内。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 142, + "text_zh": "观察：agent在log step 142启动包装重新抓取、旋转和放回红盘的脚本；log step 146的角度与log step 161的中心偏移均由agent自己的图像分析程序计算，不能替代节点验收结果。" + }, + { + "t": null, + "log_step": 237, + "text_zh": "观察：log step 237的机器人服务终态为done=True、control_steps=1900，reason为控制步耗尽；评分器reward给出symbolic_success=1、live_success=0，但没有包装目标位姿误差或逐项判据。推断：符号关系满足不等于本节点的关系与位置、全姿态均达标，故最终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 92、113、132、140的agent脚本对右夹爪提交闭合、抬升、移动和张开命令，意图操作香肠包装；无视频、物体持有状态或接触对日志，不能确认实际夹持、滑动或推碰方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_body_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_coordinate_drift", + "unit": "joint_coordinate", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "package_on_platter", + "t": null, + "log_step": 162, + "where": "操作中", + "evidence_zh": "观察：log step 94、114、133、142中agent依次启动包装抓放和朝向修正脚本；log step 162在最近一次修正后提交60个保持控制步，机器人服务仍返回done=False，log step 183再观察90个控制步仍未成功，log step 237最终以控制步耗尽结束。推断：按持续尝试的对象，将断点定位到包装上盘步骤；缺少逐物体验收字段，不能确定该步骤的具体缺陷或排除红盘位姿、联合静止条件的影响。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无可读取的视频（inputs/video.json注明HF视频404且无本地视频），无状态日志；oracle也仅有元信息，无视频或状态日志。评分器仅报告symbolic_success=1及总体success=0，未报告两物体的位姿误差、逐项关系或45控制步静止窗口结果，不能由失败总分判断任一完整节点为假，也不能由符号成功判断其全部位姿达标。日志中的图像角度、中心偏移及“已放置”等表述是agent自测或自述；既无法核实实际接触和失败现象，也无法在感知、控制及静止条件等可能解释间确定根因，因此两层留空。断点依据持续尝试的包装步骤推定，不声称找到最早不可修复的物理事件；所有视频时间与区间均为null。", + "unmet": { + "platter_at_target": null, + "package_on_platter": null + } + }, + "summary_zh": "本次单局实时运行中，agent多次启动香肠包装抓放与朝向修正，评分器记录symbolic_success=1，但总体success=0；log step 237的机器人服务确认1900个控制步耗尽后失败。断点按持续尝试的操作定位到包装上盘，两个节点的完整最终判据均缺少服务结果，最终达标节点为0个已确认、2个未知。无视频、状态日志及逐物体位姿和静止窗口反馈，实际接触、具体失败现象与根因均无法核实。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，标注把两个节点均置 unknown、现象与根因留空并写 gap_zh，断点定位到持续尝试的包装上盘步骤，与可用证据（评分器仅给 symbolic_success=1、success=0、1900控制步耗尽）一致；引用的 log step 均存在，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": "2026-10-30T22:27:52Z", + "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--fgpybpp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--fgpybpp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f0af7d780bf4b4b43bd9c0dfc3662f89e1e32fe31645954fa5d6337420b451c5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d.json new file mode 100644 index 0000000000000000000000000000000000000000..26b1585063847222963633182a7aa0ce43216f7d --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1899, + "sim_steps": 1899, + "max_steps": 1900, + "steps": 83, + "elapsed_s": 793.3, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.194, + "peak_processes": 9, + "peak_disk_gb": 0.306, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：inputs/video.json 标记 kind=none，且无状态日志；评分器只报告整体 success=0、symbolic_success=1，未报告红盘的位置或姿态误差。agent 在 log step 57 自述红盘未移动，但这不是服务的节点验收结果，无法据此确定红盘最终位姿。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "观察：agent 的脚本在 log step 30 提交右夹爪闭合和抬升命令，在 log step 33 提交向估计盘心搬运、下降、张爪及撤回命令；服务返回 done=False。无可检查画面或物体状态字段，命令和夹爪开度不能证明包装实际搬运到位。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 54 提交最终张爪和抬手命令后服务仍返回 done=False，log step 55 的服务状态为 control_steps=1899、done=False；最终评分字段 success=0、symbolic_success=1。符号成功不含本节点要求的完整位置和姿态误差，整体失败也可能来自联合静止验收，因此本节点终值仍未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 30、33、38、48、54 中 agent 的脚本对香肠包装实施右夹爪抓放尝试；没有视频、接触对或持物状态，不能确认右夹爪与包装实际接触的方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_body_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_coordinate_drift", + "unit": "joint_coordinate", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "package_on_platter", + "t": null, + "log_step": 54, + "where": "操作中", + "evidence_zh": "推断：log step 30、33、38 至 54 的脚本持续围绕香肠包装抓放及静止调整；log step 54 最后一次张爪撤手、log step 55 等待后，服务仍未宣布成功，最终评分 success=0。将断点定位为正在尝试的包装上盘步骤；这不等于已证实包装节点最终为假，具体失效判据和发生时刻无法定位。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频（inputs/video.json: kind=none），无状态日志；日志中的图片仅有引用，inputs/ 没有对应可查看图像，oracle 也无视频或状态日志。评分器未逐项报告红盘及包装的目标位姿、盘上谓词或45控制步联合静止窗口，symbolic_success=1 不足以判定两个完整节点；全部视频时间区间为 null，节点终值均未知。log step 41 至 53 的本体感觉读数显示中途关节速度超限，但 log step 54 后段采样速度已降低，无法证明该问题一直未修复或导致最终失败；agent 在 log step 57 提出的滚转误差、持物要求等均为其猜测。因此不标具体物理现象或根因，不将控制步接近上限本身当成原因。", + "unmet": { + "platter_at_target": null, + "package_on_platter": null + } + }, + "summary_zh": "该单次实时尝试执行了针对香肠包装上盘的抓放、重夹和最终释放命令，但评分器最终 success=0、symbolic_success=1，两个节点的完整终态均无法确认。断点按持续操作对象定位于 package_on_platter；缺少视频、状态日志及逐物体位姿和联合静止验收结果，无法确定具体物理失败现象或根因。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，标注按 N9 将节点 final 置为 unknown、区间为 null，并在 gap_zh 说明缺证据，未臆造现象或根因；断点按持续操作对象定位，推断已标明。未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:21:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--hhmge9d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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"ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--qvkw4sf", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1900, + "sim_steps": 1900, + "max_steps": 1900, + "steps": 690, + "elapsed_s": 1209.5, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.425, + "peak_processes": 8, + "peak_disk_gb": 0.982, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：log step 35 中 agent 自述红盘似已在目标处，后续脚本以移动香肠包装为目标；现有输入无视频或状态日志，不能将这一自述当作红盘位姿的验收结果。" + }, + { + "t": null, + "log_step": 115, + "text_zh": "观察：log step 115 的机器人服务终态仅报告 done=true、控制步1900及步数耗尽，没有红盘位置或姿态是否达标的字段；inputs/run.json 的 reward 也未单列红盘位姿结果，故终态未知。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 59, + "text_zh": "观察：log step 59 的 agent 脚本命令右夹爪闭合并向其估计的红盘中心搬运、下放；log step 60 的服务反馈记录末端位姿和控制步，但未报告包装的盘上关系及目标位姿验收。" + }, + { + "t": null, + "log_step": 103, + "text_zh": "观察：agent 在 log step 103 自述斜抓时包装滑落桌下，并在 log step 109–112 执行低位抓取与抬升；log step 114、116 自述恢复失败。这些自述和夹爪开度不能替代包装运动、支撑关系及位姿的直接观测。" + }, + { + "t": null, + "log_step": 115, + "text_zh": "观察：log step 115 服务报告控制步耗尽；inputs/run.json 的 reward 为 success=0、symbolic_success=1、success_step=0，未给包装位姿结果或 symbolic_success 对应的控制步。推断：符号关系字段不能单独确定本节点要求的盘上关系与位置、全姿态容差同时成立，故终态未知，不能由总失败分数判假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 55、59、80、87、97、109 的脚本用右二指夹爪尝试抓取、搬运和调姿香肠包装，期间也提交底盘移动；无视频及接触状态日志，无法核实夹爪与包装实际建立了何种接触，亦无法确认具体承载过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_body_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_coordinate_drift", + "unit": "joint_coordinate", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "package_on_platter", + "t": null, + "log_step": 103, + "where": "操作中", + "evidence_zh": "推断：log step 59–65、80–99 的脚本持续针对香肠包装执行上盘、重新抓取和转动，log step 103 自述包装滑落后，log step 109–112 又尝试恢复抓取；log step 115 的机器人服务最终报告1900控制步耗尽。由实际提交的操作及恢复目标，将断点定位为“香肠包装上盘”的操作中；缺少视频和物体状态，不能定位物理失误时刻，也不能确认此前是否曾完整达标。" + }, + "unmet": { + "platter_at_target": null, + "package_on_platter": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频（inputs/video.json 的 kind=none，记录为远端404且无本地视频），无 states.jsonl 或状态路径；日志中的图片仅有引用，输入未包含可查看的图像。两节点均没有直接报告其完整判据的服务终态字段，reward 的 symbolic_success=1 未附对象位姿或有效时刻，不能据此判定两节点终态，也不能构建视频时间区间。包装上盘、释放后回滚、抓取滑落和恢复失败均有 agent 自述，但缺乏可核验的物体姿态、接触对和运动观测，故不据自述填写接触现象，也不足以区分感知误差、接触设计或控制跟踪等根因，两层留空。log step 15–31 的启动连接等待已在 log step 33 恢复，随后完成单次实时评分局，最终服务明确以控制步耗尽结束，非外部中断。" + }, + "summary_zh": "本次实时评分局失败，服务在 log step 115 报告1900控制步耗尽；日志记录了右夹爪搬运香肠包装、反复调姿及低位恢复尝试，断点定位为“香肠包装上盘”的操作中。agent 在 log step 103、114 自述滑落及恢复失败，但无视频、物体状态或节点完整验收结果，红盘位姿与包装上盘的终态均未知，现象和根因留空；reward 的 symbolic_success=1 不足以确认两物体目标位姿及联合静止验收。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；标注者将两节点终态保持为 unknown，断点以日志推断给出，现象与根因留空并写明 gap_zh，符合 03 的证据纪律，未发现需改动的错误。validate 通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:26:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--qvkw4sf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--qvkw4sf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "754abe95e8cc8315269888fe32334af8d759614aebdec8356c44761b7a4a4607", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--w5gqkuc.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--w5gqkuc.json new file mode 100644 index 0000000000000000000000000000000000000000..cf06d4375b5d3da0aa513fbb4c6d574931c510e5 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--w5gqkuc.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--w5gqkuc", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale", + "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1900, + "sim_steps": 1900, + "max_steps": 1900, + "steps": 1600, + "elapsed_s": 1583.8, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.579, + "peak_processes": 9, + "peak_disk_gb": 0.743, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "platter_at_target": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 84, + "text_zh": "观察：输入 video.kind=none，且没有状态日志；log step 84 的红盘坐标来自 agent 自编的像素反投影脚本，并非服务的目标位姿验收结果。评分器未报告红盘位置或姿态误差，不能确认其终态是否仍满足 DAG 容差。" + } + ] + }, + "package_on_platter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 91, + "text_zh": "观察：log step 91 的服务反馈 control_steps=1900、done=True，reason 为控制步耗尽；评分字段 success=0、symbolic_success=0。服务未分项报告包装盘上关系和包装位姿；无视频及状态日志，不能由总体失败反推本节点终态。" + }, + { + "t": null, + "log_step": 95, + "text_zh": "观察：agent 在 log step 95 自述包装最终在盘旁台面上，与 log step 91 的“夹爪持有包装、位于盘中央上方”说法不同。两者均无可读取画面佐证，不能据此确认抓取、释放、落点或节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 65、71、73、75、84、88、90、91 的脚本反复指令右夹爪抓取、搬运、推移或释放香肠包装；没有视频、接触对或物体持有状态，无法确认右夹爪实际接触包装的方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "platter_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "platter_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "package_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "package_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "settle_window", + "unit": "control_steps", + "threshold": 45, + "direction": "higher_better", + "value": null + }, + { + "name": "max_body_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_body_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_body_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_coordinate_drift", + "unit": "joint_coordinate", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "package_on_platter", + "t": null, + "log_step": 91, + "where": "操作中", + "evidence_zh": "推断：log step 65 至 91 的操作脚本持续围绕香肠包装抓放；log step 90 提交向红盘方向推移的动作，log step 91 随后提交抬升、转向、降低和释放序列，服务在该次提交中返回 control_steps=1900、done=True、控制步耗尽。结合 graded_by_live=1、resumes=0、live_success=0，将断点定位为包装上盘操作中；这只确定所尝试的步骤，不证明包装实际被抓起或某种具体接触失败。无视频，导航时间为 null。" + }, + "unmet": { + "platter_at_target": null, + "package_on_platter": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有运行日志、视频元数据和 oracle 元数据等文件，没有可读取视频或状态日志；oracle 同样没有视频与状态日志。评分器没有逐对象的关系、位姿、静止窗口或接触结果，symbolic_success=0 也未分解到具体谓词，不能独立决定两个 DAG 节点的终态，所有区间和视频时间均为 null。log step 95 的盘旁落点、先前抓取失败及控制问题均为 agent 自述；夹爪开度不证明持有包装。缺少实际物体运动和接触证据，故不选择位姿不准、没建立接触、没保持住等现象；也无法确认早期已修复的脚本问题或感知估计与最后失败的因果关系，根因留空。控制步耗尽仅记录为服务结束条件，不作为现象或根因。" + }, + "summary_zh": "单次实时评分失败，服务在 log step 91 的包装转向、降低及释放动作提交期间报告已用尽1900个控制步；断点定位为香肠包装上盘的操作中。红盘位姿与包装上盘均缺少分项验收，两个节点的终态和全部时间区间保留未知，不能将总体失败计作两节点均未完成。没有视频、状态日志或可用 oracle 画面，实际接触、物体落点及失败机制无法核实，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志：两个节点 method=unknown、intervals/final 均为 null，符合 N9（评分字段 success=0 不分项）；断点定为 package_on_platter/操作中，并明说是推断；现象与根因留空且 gap_zh 说明缺证据，控制步耗尽未当作现象。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": "2026-10-30T22:31:02Z", + "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--w5gqkuc/03_label" + }, + { + "stage": 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success=1、live_success=1、symbolic_success=1 且 graded_by_live=1、finalized=1，结合 log step 168、171 的机器人实时服务状态 done=True、reason=success，判定作为联合成功条件的纸巾盒目标位姿最终成立；无本次视频或状态日志，不能确定初态、达成时刻或中间是否失去。" + }, + { + "t": null, + "log_step": 171, + "text_zh": "观察：机器人实时服务再次返回 done=True、reason=success、control_steps=1169、resumes=0；评分器记录 replays=0，本次按实时单局结果评分。control_steps 是服务控制步计数，因没有本次视频，不将其换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 134、142、151、160 的 agent 脚本规划用机器人左夹爪推动蓝色纸巾盒，log step 135、143、152、161 启动这些脚本以调整纸巾盒并实现与卫生巾盒相贴；本次无视频、无状态接触记录，无法确认左夹爪与两盒实际发生的接触及作用方式。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 168, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、live_success=1、symbolic_success=1 且 graded_by_live=1、finalized=1，结合 log step 168、171 的机器人实时服务状态 done=True、reason=success，判定两盒桌面相贴及卫生巾盒目标位姿最终通过本次联合验收；无本次视频或状态日志，不能确定相贴达成时刻或中间变化。" + }, + { + "t": null, + "log_step": 171, + "text_zh": "观察：机器人实时服务再次返回 done=True、reason=success、control_steps=1169、resumes=0；评分器记录 replays=0，本次按实时单局结果评分。control_steps 是服务控制步计数，因没有本次视频，不将其换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 134、142、151、160 的 agent 脚本规划用机器人左夹爪推动蓝色纸巾盒，log step 135、143、152、161 启动这些脚本以调整纸巾盒并实现与卫生巾盒相贴；本次无视频、无状态接触记录，无法确认左夹爪与两盒实际发生的接触及作用方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次实时评分成功，纸巾盒就位与两盒相贴两个目标节点最终均成立；log step 168、171 的机器人服务均返回 done=True、reason=success，与评分器 live_success=1、symbolic_success=1 一致。日志记录 agent 连续启动四段左夹爪推盒脚本，随后在 log step 168 请求静止观察并获得成功终态。没有本次录像或状态日志，全部时间区间保持 null，实际接触标为未知，八项原生指标未报告数值；成功参考录像仅用于理解目标外观，不作为本次动作证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": 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100644 index 0000000000000000000000000000000000000000..314577aff2887dc645824d4bb31996b5aca7c1b7 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--esykf4f.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--esykf4f", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale", + "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 363, + "sim_steps": 363, + "max_steps": 3142, + "steps": 120, + "elapsed_s": 2740.2, + "symbolic_success": 1, + "success_step": 363, + 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"t": null, + "log_step": 107, + "text_zh": "观察：log step 107 中机器人服务 r.status() 返回 done=True、reason=success、control_steps=363、resumes=0；inputs/run.json 的评分器字段 success=1、live_success=1、symbolic_success=1、graded_by_live=1，与服务终态一致。" + }, + { + "t": null, + "log_step": 107, + "text_zh": "推断：纸巾盒目标位姿属于本任务成功验收所需的目标条件，因此由服务和评分器的成功终态判定本节点 final=true。没有本次视频或状态日志，无法判定其初始值、是否中途失去、何时恢复或是否受到意外接触；log step 82 的位姿估计是 agent 自行计算，未用于赋予节点值或时间区间。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 106, + "text_zh": "观察：log step 106 中 agent 调用机器人服务 r.get_obs(seconds=2.5) 等待静止，返回 done=True、reason=success、control_steps_left=2779；log step 107 的服务终态进一步确认为 control_steps=363，评分器同时报告 live_success=1、symbolic_success=1、success_step=363。" + }, + { + "t": null, + "log_step": 102, + "text_zh": "观察：log step 102 的 agent 脚本向机器人服务提交右臂轨迹，意图以右夹爪对齐并推动橙白色卫生巾盒，随后退手并保持静止；完整日志只显示两次运动提交，inputs/run.json 的 sim_total.reset=0、reward.resumes=0，评分采用这次实时会话。该命令记录不能证明实际接触方式。" + }, + { + "t": null, + "log_step": 107, + "text_zh": "推断：两盒相贴及相应目标位姿属于服务成功验收的目标条件，故本节点 final=true；不从 agent 自述的推移过程推定接触或达成时刻。缺少本次视频与状态日志，intervals=null，控制步数不转换成视频时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 102 的脚本试图让右夹爪推动橙白色卫生巾盒，但本次无视频、无状态接触记录，不能核实右夹爪与盒子的实际接触方式；成功参考录像只说明参考执行，不能替代本次证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, 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"sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tissue_box_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 63, + "text_zh": "观察：log step 63 中 agent 的推盒脚本先处理 purple（蓝色纸巾盒），自行计算的平面目标误差由6.9 cm变为19.3 cm；log step 65 又提交两次抓取搬运序列，log step 72 仍在尝试推同一盒。以上为脚本估计和动作记录，不是服务的节点验收值。" + }, + { + "t": null, + "log_step": 72, + "text_zh": "观察：本运行 inputs/video.json 的 kind 为 none，且没有状态日志；评分器仅给出整体 live_success=0、symbolic_success=1，未报告蓝色纸巾盒的完整目标位姿或桌面支撑判定。依N9，不能由 agent 自算的14.0 cm误差判本节点终态为假，也不能由参考运行的初态判本运行终态为真，故终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 63、65、69—72 的脚本控制左臂，依次尝试推蓝色纸巾盒、合爪搬运和再推；没有本运行画面或接触状态，不能确认夹爪实际碰盒、夹住或仅空行程。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 72, + "text_zh": "观察：log step 72 中 agent 的脚本执行 push2.py orange 3，服务最后状态为 control_steps=2874、done=False、resumes=0；脚本自行计算的误差为21.5、19.3、21.6 cm。这些估计没有服务的相贴、完整位姿和桌面支撑验收字段，不能据此确定本节点终态。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器字段 success=0、live_success=0、symbolic_success=1、success_step=0；这些整体字段未分别报告本节点所需的相贴关系及卫生巾盒完整目标位姿，且共同静止验收也可能影响整体成功。没有本运行视频或状态日志，依N9保留终态未知，全部区间为null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 63、72 的脚本尝试使用左臂推动橙白色卫生巾盒；没有本运行画面或接触状态，实际作用端与接触方式未知，不能把脚本中的推盒指令当成已发生的推/扫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "tissue_box_at_goal", + "t": null, + "log_step": 63, + "where": "操作中", + "evidence_zh": "推断：按日志定位，最早持续未解决的操作是纸巾盒就位：log step 47—59 的脚本先尝试移动 purple（蓝色纸巾盒），log step 63 的连续推盒中自算误差由6.9 cm增至19.3 cm，log step 65 的抓取搬运后自算误差仍约18 cm，直到 log step 72 仍在修正该盒，随后才操作 orange；未记录该步通过独立验收。故以该步操作中为断点，log step 63 作导航锚点；此为操作日志推断，不据此赋予节点真值，也无法定位实际失去目标状态的时刻。" + }, + "unmet": { + "tissue_box_at_goal": null, + "napkin_box_touching_tissues": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 71, + "source_zh": "日志", + "evidence_zh": "推断：控制实现存在可核对的问题：log step 23 的服务说明四元数顺序为XYZW，而 log step 62、64、68 的自写逆解把服务 FK 返回的四元数按 w,x,y,z 解包；log step 68 的迭代以 qa=qa+dq 更新关节且未投影到关节限位。log step 71 的服务提交反馈逐行裁剪 arm_left_2 与 arm_left_6 指令，说明实际执行受限，与脚本规划不一致；结合 log step 47、48、55 的 trans ik fail 和 log step 69—72 的反复修正，支持控制实现问题妨碍纸巾盒就位。具体接触和最终物体偏差缺乏直接观测，根因停留在控制大类。" + } + ], + "gap_zh": "观察：inputs/ 中只有本运行 run.json 等记录及另一次成功运行的参考录像；本运行 video.kind=none，没有状态日志，日志图片仅保留占位和元数据。无法直接核验两盒的实际接触、抓取是否成立、位姿变化和共同45控制步静止窗口；因此两节点 final 均为null、contact_actual 为未知，失败现象层留空。评分器 symbolic_success=1 不等于完整位姿及静止验收成功，不能据整体失败反推某节点为假；断点仅依据持续操作对象及脚本自算误差推断，控制根因不能确定各实现问题的独立贡献。参考录像只用于理解达标外观，不作本运行证据。" + }, + "summary_zh": "评分器记录本次单一实时尝试失败（live_success=0、symbolic_success=1、2874个控制步、无重置），两个节点均缺少独立服务验收值，最终可确认达标0/2，另2项未知。按操作日志推断，断点为先持续处理而未记录完成的纸巾盒就位，控制代码中的四元数顺序错误及服务反馈的关节限位裁剪支持控制实现问题。没有本运行视频或状态日志，不能确认节点区间、实际接触或可见失败现象，也不能将 agent 自算误差当作节点真值。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本运行无视频、无状态日志，两节点 final=null、contact_actual=未知符合 N9；断点为纸巾盒就位（操作中）、现象层留空并写 gap_zh、根因控制均有 run.json 记录支持（q2rot 按 w,x,y,z 解包而 rot2quat 返回 XYZW；log step 71 服务 clipped 反馈为服务读数）。未发现需改内容的错误；根因归类只是推断，已在文中标明。", + "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": "2026-10-30T22:26:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--fas5wpn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--fas5wpn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "02e82f52156bf716daa401aa454a4463ab27060a7fa86929608804ff0b5894c3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--ifrkkfn.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--ifrkkfn.json new file mode 100644 index 0000000000000000000000000000000000000000..0f4b5ad8f71060a53b502c697e7d152de0d34f56 --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--ifrkkfn.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--ifrkkfn", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale", + "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2632, + "sim_steps": 2632, + "max_steps": 3142, + "steps": 811, + "elapsed_s": 1548.9, + "symbolic_success": 1, + "success_step": 2632, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 10, + "peak_disk_gb": 0.336, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "tissue_box_at_goal": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 中，机器人实时服务的 get_obs 返回 done=true、reason=\"success\"、control_steps=2632、control_steps_left=510；status 同时报告 reason=\"success\"、resumes=0。inputs/run.json 的评分器字段 live_success=1、symbolic_success=1、graded_by_live=1 与之相符。" + }, + { + "t": null, + "log_step": 92, + "text_zh": "推断：本次任务的成功检查包含蓝色纸巾盒目标位姿及共同45控制步静止验收，服务的成功终值支持本节点 final=true；没有本次视频或状态日志，不能确定初态及中途离位、恢复区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 81、85、86、90 记录机器人左夹爪接近纸巾盒并执行推移方向的动作命令，agent 在 log step 94 自述推回了纸巾盒；本次视频和接触状态日志均未提供，无法核实左夹爪是否及如何实际接触蓝色纸巾盒。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 中，机器人实时服务的 get_obs 返回 done=true、reason=\"success\"、control_steps=2632、control_steps_left=510；status 同时报告 reason=\"success\"、resumes=0。inputs/run.json 的评分器字段 live_success=1、symbolic_success=1、graded_by_live=1 与之相符。" + }, + { + "t": null, + "log_step": 92, + "text_zh": "推断：本次任务的成功检查包含两盒相贴、卫生巾盒目标位姿及共同45控制步静止验收，服务的成功终值支持本节点 final=true；没有本次视频或状态日志，不能确定首次达标及中途失去、恢复区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 31、34、37、41 记录机器人右夹爪接近及推移命令，log step 51、53、54、73至77 记录闭爪、抬升、转向和释放命令；这些命令与 agent 在 log step 94 的抓取恢复自述不能替代实际接触证据。本次无视频及接触状态日志，无法确认右夹爪实际推、夹持卫生巾盒的接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次为单次实时受评回合，log step 92 中服务返回成功，评分器 live_success=1、symbolic_success=1，故纸巾盒就位、两盒相贴两个目标节点终值均为真（2/2），failure=null。成功判定包含两盒目标关系、位姿和连续45控制步的共同静止验收。没有本次视频或状态日志，全部区间和视频时间保留为null，实际接触方式为未知，八项原生误差、速度及漂移指标均未报告数值；参考成功录像只用于理解目标外观，不作为本次轨迹证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志；两节点 final=true 由 log step 92 服务 done/success 及评分器 live_success=1 支持，接触均标未知，时间均为 null，未转换 agent 时间，无失败层。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": "2026-10-30T22:21:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--ifrkkfn/03_label" + }, + { + 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b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--uyedipy.json @@ -0,0 +1,246 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--uyedipy", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale", + "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3142, + "sim_steps": 3142, + "max_steps": 3142, + "steps": 3142, + "elapsed_s": 2048.3, + "symbolic_success": 1, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tissue_box_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 156, + "text_zh": "观察：log step 88、97、125、139、156 中，agent 的脚本向机器人左夹爪提交了按压或推平蓝色纸巾盒的目标，log step 163 又提交横移该盒的动作；这些命令和末端位置反馈没有报告纸巾盒的实际目标位姿误差。" + }, + { + "t": null, + "log_step": 188, + "text_zh": "观察：log step 188 的服务终态为 done=true、control_steps=3142、reason=\"failed: the episode's control steps ran out\"；inputs/run.json 的 reward 只有整体 success=0、symbolic_success=1，没有蓝色纸巾盒的独立位姿验收字段。本次没有视频或状态日志，无法据整体失败或 agent 自行估算的位置判定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 88、139、156、163 的脚本试图用机器人左夹爪按压或推动蓝色纸巾盒；无本次画面及物体接触对，无法确认夹爪是否接触纸巾盒以及实际接触方式。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 143, + "text_zh": "观察：log step 143 的脚本向机器人右夹爪提交朝橙白色卫生巾盒的侧推动作，随后发送60控制步保持；服务返回 done=false，未报告该盒的实际位置、朝向或两盒接触读数。log step 163 又以左夹爪尝试移动该盒。" + }, + { + "t": null, + "log_step": 189, + "text_zh": "观察：reward.symbolic_success=1，而 reward.success=0、live_success=0；agent 在 log step 189 自述两盒已经相贴，并猜测目标位置误差仍超过0.09 m。该自述不是服务的逐节点验收，符号成功字段也未报告该节点所需的完整目标位姿；没有本次视频或状态日志，终值保持未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 143 的脚本试图用机器人右夹爪推橙白色卫生巾盒，log step 163 又尝试用左夹爪移动它；日志没有物体接触对，本次画面不可用，实际接触方式未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 188, + "where": "未知", + "evidence_zh": "观察：log step 143、156、163 记录 agent 分别向两盒提交推动或按压动作，log step 169、171、173、179 反复保持后服务仍未成功，log step 183 又提交一次侧推，log step 188 服务在3142控制步判失败；reward.symbolic_success=1，但未分解两盒位姿及共同静止条件。推断：无法唯一确定最早未修复的失败属于纸巾盒就位还是两盒相贴，也无法定位其发生在操作还是静止验收阶段；log step 188 仅锚定服务终态，不作为物理失败发生时刻。" + }, + "unmet": { + "tissue_box_at_goal": null, + "napkin_box_touching_tissues": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地视频），inputs/ 中无状态日志；日志中的图片项只有原会话路径和文字占位，没有可查看的本次帧。服务只给整体失败与 symbolic_success=1，未提供各盒的目标位姿、物体接触或45控制步静止窗口读数，故两节点终值、区间、实际接触和具体断点均不能确认。agent 在 log step 189 对相机视角、目标位置和误差的解释是其自述，无法独立验证它是否导致失败，因此现象与根因均留空。成功参考录像已查看，但属于另一运行，不能补作本次轨迹证据；控制步用尽只说明终止条件，不作为失败现象或根因。" + }, + "summary_zh": "本次为单次实时评分，agent 的脚本先后尝试按压、推动蓝色纸巾盒及橙白色卫生巾盒，并多次发送静止保持命令；服务最终在3142控制步判失败，评分器同时记录 symbolic_success=1。两节点均包含目标位姿条件，现有结果不能确定任一节点的终值，也不能唯一定位未修复的失败步骤。没有本次视频、状态日志或逐对象验收字段，故实际接触、失败现象及根因保留未知或空值，不采信 agent 自述作为物理完成证据。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频(kind=none)也无状态日志;标注把两节点 method/final/intervals 全部置为 unknown/null,断点 ref=unknown,现象与根因留空并写 gap_zh,符合 N9 与 03 无视频规则。symbolic_success=1 与 success=0 并存,不能据此判定任一节点终值(终值还含45步静止与位姿条件),agent 自述未被当作物理证据。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": 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"ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--wuswhg2", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale", + "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3142, + "sim_steps": 3142, + "max_steps": 3142, + "steps": 954, + "elapsed_s": 1623.7, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.302, + "peak_processes": 9, + "peak_disk_gb": 0.957, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tissue_box_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 52, + "text_zh": "观察：log step 52 的 agent 自述蓝色纸巾盒已接近目标，随后脚本主要操作较小盒子；这不是服务对蓝盒目标位姿和桌面支撑的判定。本次没有可用视频或状态日志，无法核实蓝盒是否一直就位。" + }, + { + "t": null, + "log_step": 145, + "text_zh": "观察：log step 145 的实时仿真服务返回 done=true、control_steps=3142，原因为控制步耗尽；run.json 的 reward 仅报告整体 live_success=0、symbolic_success=0，没有蓝盒节点的独立结果，故其终值未知。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 135, + "text_zh": "观察：log step 135 的 agent 脚本提交右臂转动、向目标位置下降、张开夹爪和退手，并安排静止观察；log steps 136–137 的服务反馈继续为 done=false。日志未提供两盒相贴、桌面支撑及完整目标位姿的独立判定，命令执行不等于放置成功。" + }, + { + "t": null, + "log_step": 145, + "text_zh": "观察：agent 在 log step 140 自述较小盒子的印刷面仍相对目标转了半圈，在 log step 145 又自述“最后一次抓取没有成功”；这些描述缺少本次画面核实。该步服务只报告控制步耗尽，reward 的整体 symbolic_success=0 不能区分本节点未达标、蓝盒偏离或共同静止验收失败，故本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log steps 56、59、92、130、135、140 的脚本围绕卫生巾盒发出右夹爪靠近、闭合、推移、搬运和释放命令；无本次视频或接触状态日志，无法确认实际接触方式及是否形成对向夹持，不能据命令标成抓握或推/扫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "napkin_box_touching_tissues", + "t": null, + "log_step": 140, + "where": "操作中", + "evidence_zh": "推断：log step 52 的 agent 明确选择移动较小盒子至蓝盒旁，log step 135 的脚本执行该盒的旋转与放置，log step 140 又提交右夹爪闭合、抬起动作以尝试修正其朝向；log step 145 的 agent 自述“最后一次抓取没有成功”，随后服务报告控制步耗尽，run.json 的 live_success=0。末段仍在处理“两盒相贴”这一步，故以它作为日志可定位的断点；没有画面，无法确定最早未修复的物理偏差及视频时刻，也不能把预算耗尽作为失败现象。" + }, + "unmet": { + "tissue_box_at_goal": null, + "napkin_box_touching_tissues": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确记录 kind=none（HF录像404且无本地录像），本次也没有 states.jsonl 或状态路径；run.json 的图片信息仅是未随输入提供的 steps.bin 偏移，不能查看本次接触和物体运动。服务及评分器没有逐节点终态、相贴关系、物体完整位姿或45控制步静止窗口的细项结果，因此所有区间和节点终值均未知（N9）；整体失败不推出任一特定节点为假。agent 在 log steps 73、93、98、127、140、145 关于倾倒、滑脱、落地、回桌及末次空抓的叙述不能作为已观察到的现象；log steps 65、125 的逆解报错后仍继续控制，不能证明它们导致最终失败，故现象层与根因层均留空。已查看成功参考录像的全程粗采样及参考视频9.1 s末帧：可见蓝盒左、较小盒右且侧面相邻；它只说明目标外观，不能补成本次证据。" + }, + "summary_zh": "本次实时服务记录了3142个控制步，agent持续尝试移动并摆正较小的卫生巾盒至蓝色纸巾盒旁，服务最终以控制步耗尽结束且评分未成功。日志可将断点定位到“两盒相贴”的操作中，但缺少本次视频、状态日志和逐节点服务结果，两个节点的终值及全部时间区间均未知，不能确认蓝盒保留或较小盒放置是否达标。具体接触、物理失败现象及根因证据不足，均不作推定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，标注按N9将两节点终值与区间全部置unknown，现象与根因留空并写明gap_zh，断点按日志定位到“两盒相贴”，均有依据；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": "2026-10-30T22:29:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--wuswhg2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--wuswhg2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "86c6d09d89ea74f05a2b17799055ebb25aa1e86a2a7dbee66d720a8e8c7085fd", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec.json new file mode 100644 index 0000000000000000000000000000000000000000..7b396097db67e3493d8b09fcea5da77228d803dd --- /dev/null +++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec", + "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale", + "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2943, + "sim_steps": 2943, + "max_steps": 3142, + "steps": 2613, + "elapsed_s": 2044.4, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "tissue_box_at_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 135, + "text_zh": "观察：本次无可用视频、无状态日志；log step 135 的机器人服务状态仅报告 control_steps=2943、done=false，reward 仅给整体 live_success=0、symbolic_success=0，均未报告蓝色纸巾盒的目标位姿或桌面支撑判据。依 N9，不能从任务 DAG 的初态说明、agent 的图像分析或整体失败推定本节点终值，保留未知。" + } + ] + }, + "napkin_box_touching_tissues": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 136, + "text_zh": "观察：log step 136 中 agent 自述两盒相邻、图像误差在容差内，但 log step 135 的服务状态仍为 done=false；reward 的 symbolic_success=0 未拆分相贴、两盒位姿和共同静止条件。本次无视频或状态日志，依 N9 不把 agent 的像素统计或自述作为节点值，也不能由整体失败单独推出相贴节点为假，故终值未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_target_position_error", + "unit": "m", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "max_target_orientation_error", + "unit": "rad", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_linear_speed", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "max_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "max_robot_joint_speed", + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_position_drift", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_orientation_drift", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "max_window_joint_drift", + "unit": "joint_unit", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "napkin_box_touching_tissues", + "t": null, + "log_step": 119, + "where": "首步前", + "evidence_zh": "推断：断点为未启动物理操作的“两盒相贴”。本次是单个实时评分回合，reward 记录 graded_by_live=1、resumes=0；log step 35、44、45、52、65、67、74、105、117、128 的动作脚本用于改变底盘、躯干与相机视点，机械臂回零或回预设姿态，未记录以两盒为目标的推移或搬运指令。log step 119 中 agent 因两盒投影位置接近目标而转入静止等待，log step 133 仅再张开夹爪，log step 136 结束工作；该节点的物理相贴操作始终未被启动。没有本次视频，无法给出视频时刻或确定实际盒间缝隙。" + }, + "unmet": { + "tissue_box_at_goal": null, + "napkin_box_touching_tissues": null + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 119, + "evidence_zh": "推断：log step 63 中 agent 将策略改成直接匹配相机画面，log step 105、117、128 的执行代码只调整底盘和躯干取景；log step 119、130 随后改为保持机器人静止，log step 133 仅打开夹爪，直到 log step 136 停止仍无针对两盒的物理操作指令。因此记录相贴步骤未尝试，而不从零分推断抓取失败或位姿偏差。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "任务理解", + "source_zh": "日志", + "log_step": 133, + "t": null, + "evidence_zh": "推断：run.json 的 task_text 明确要求目标物体关系、位姿成立且机器人本身无需匹配目标图；agent 却在 log step 63 宣布改为直接匹配相机视图，log step 105、117、128 执行底盘和躯干取景调整，并在 log step 133 明说目标图中夹爪张开，所以夹爪张开也是受评关系并执行开爪。上述自述和动作代码表明其将取景及机器人外观当作目标，取代了调整盒间关系的工作。" + }, + { + "cat": "认知", + "item": "误以为完成", + "source_zh": "日志", + "log_step": 136, + "t": null, + "evidence_zh": "推断：log step 119 因盒子像素投影接近目标而开始最终保持，log step 130 自述“Match is good”；log step 135 的服务状态仍为 control_steps=2943、done=false，log step 136 却以“Done”结束，声称图像误差已满足位姿容差并认为继续静止即可。该停止发生于 agent 工作约2624秒，run.json 给定预算3600秒、总 wall_s=2632；错误的完成判断直接支持了停止，未继续处理服务尚未接受的物体目标。" + } + ], + "gap_zh": "本次 inputs/video.json 标明 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl，日志图片仅有偏移引用，无法查看本次实际物体运动、相贴缝隙及接触，也无法核验两盒位姿和45控制步共同静止窗口。服务与评分字段只给整体失败，未报告任何节点或 DAG 所列八项原生指标，故两节点 final 和全部指标值均为 null，所有视频时间与区间也为 null（N9）。未记录以两盒为目标的物理操作，因此不为这些未启动的操作虚构 contact_actual；实际是否发生意外接触无法核实。已查看成功参考视频的全程粗采样及末段，仅用于理解相贴外观，不作为本次节点或接触的证据。" + }, + "summary_zh": "实时评分整体失败；无本次视频、状态日志或逐节点服务结果，两节点的终值均未知，无法确认纸巾盒是否一直就位或两盒是否相贴。日志显示 agent 持续调整相机取景并静止等待，未启动两盒相贴的物理操作，且在服务仍报告 done=false 时认为画面已达标并结束，支持任务理解与误以为完成两项根因。八项原生指标均未报告，实际接触和节点时序不可核验。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志，两节点按 N9 保持 unknown 合理；日志中未见任何以两盒为目标的机械臂推/抓动作（只有底盘、躯干取景与回零臂姿、开爪），没尝试与任务理解、误以为完成的依据均能在 log step 63、119、133、135、136 找到。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": "2026-10-30T22:22:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--yfkg6ec/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f08196a2ad4774571350c691987b62205fbc6f9dd475a7def2ef4e69b5623ead", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--7h75fqu.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--7h75fqu.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa4cca416fd8ff0434567d493a9f438f8975baa --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--7h75fqu.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--7h75fqu", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 208, + "sim_steps": 208, + "max_steps": 300, + "steps": 208, + "elapsed_s": 301.0, + "symbolic_success": 1, + "success_step": 208, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 0.349, + "peak_processes": 9, + "peak_disk_gb": 0.838, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 52, + "text_zh": "观察：在线仿真服务（实际执行并判定本次单回合的机器人 API）在 log step 52 返回 control_steps=208、done=true、reason=\"success\"、ok=true；此次保持指令实际执行 28 个控制步后因成功结束。inputs/run.json 的评分字段同时报告 live_success=1、symbolic_success=1、success_step=208、finalized=1，且 graded_by_live=1、resumes=0。" + }, + { + "t": null, + "log_step": 52, + "text_zh": "推断：本 DAG 只有刀具朝向匹配一个目标节点；在线服务及评分器确认本回合成功，故该节点最终为 true，包含目标握持关系、朝向容差及完整 45 控制步静止验收。inputs/video.json 明确 kind=\"none\"，且无状态日志，因此不填写视频时刻或达成区间，也不以 agent 自算的逆解误差替代刀具实际旋转误差。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：agent 在 log step 32 自述右夹爪已持刀，并在 log step 35、48 的控制脚本中提交右臂调姿及右夹爪指令；但本次没有视频或状态接触记录，无法核实右夹爪与刀柄的实际接触方式及全过程，不将指令或 DAG 的典型抓握方案当作已观测接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次在线单回合由服务在第 208 个控制步判定成功（log step 52），评分器确认 live_success=1、symbolic_success=1，唯一节点“刀具朝向匹配”最终达成。日志记录 agent 先提交右臂调姿，再细调并保持，最后由服务确认通过；没有失败断点。缺少本次视频和状态日志，无法给出视频时间区间、独立核验实际接触与逐步稳定性，原生刀具旋转误差也未报告；已查看成功参照视频全段（参照视频 0.0–2.3 s），仅用于理解判据，不作为本次达成或接触证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；唯一目标节点 final=true 由服务在 log step 52 的 done=true/reason=success（control_steps=208）及评分字段支持，来源与推断标注正确，未转换 agent 时间，contact_actual 记为未知合理，failure=null 正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:19:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--7h75fqu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--7h75fqu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6e793ebab1dab2cbccf16d22528ac66d53946fd0f1653ac996c4ed163df99f8d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--dnf77gu.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--dnf77gu.json new file mode 100644 index 0000000000000000000000000000000000000000..e2ddbe7e3639faa34fc4b2f2f6a8f780635a839e --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--dnf77gu.json @@ -0,0 +1,163 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--dnf77gu", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 173, + "sim_steps": 173, + "max_steps": 300, + "steps": 58, + "elapsed_s": 2528.8, + "symbolic_success": 1, + "success_step": 173, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=1、live_success=1、graded_by_live=1、symbolic_success=1、finalized=1、success_step=173，且 resumes=0、sim_error=0；本次成绩来自同一在线回合。" + }, + { + "t": null, + "log_step": 91, + "text_zh": "观察：log step 91 中 agent 的脚本向机器人服务提交右臂关节插值与随后保持目标关节值的控制序列，同时命令右夹爪闭合；log step 95 中 agent 自述 done=True、reason=\"success\"。节点最终值依据评分器结果，而非该自述或脚本自己的图像计算。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：本任务仅有一个绑定成功验收的目标节点，在线评分成功支持刀具朝向、目标握持关系及静止验收最终通过，因此 knife_reoriented.final=true；本次无视频或状态日志，无法确定其成立区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 55、91 的脚本命令右夹爪闭合并转动右臂；输入未提供本次视频、图像附件或接触状态日志，无法直接核实右夹爪与刀柄的实际接触方式，故标未知，不照抄 DAG 的典型抓握方案。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分器记录在线回合在第 173 个控制步成功，支持唯一节点“刀具朝向匹配”最终达成（1/1），failure=null。log step 55、91 记录了两次右臂调姿与保持指令；本次无视频及状态日志，无法独立复核实际接触、达成时刻与静止窗口细节，故接触标未知、时间区间为 null，评分器未报告的旋转误差数值也为 null。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；唯一目标节点 final=true 由评分器 success/live_success/success_step=173 支持，时间与区间为 null、接触为未知均合理，failure=null 正确。log step 55、91、95 存在且内容与引用相符。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:23:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--dnf77gu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--dnf77gu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bb780a32939234feb63b1a7df28a04264a3b0b46a3fc6a0b2ef88114bebbc6ed", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--f8fq8yi.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--f8fq8yi.json new file mode 100644 index 0000000000000000000000000000000000000000..d9b5679827724b7dc932fff8318ee99558b20b5d --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--f8fq8yi.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--f8fq8yi", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "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": 300, + "sim_steps": 300, + "max_steps": 300, + "steps": 26, + "elapsed_s": 419.9, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 20, + "text_zh": "观察：agent 的 move.py 向机器人在线服务提交右臂关节位置轨迹，右夹爪命令为 -1、底盘命令为零；服务返回 done=False、control_steps_left=255。log step 23 再次调姿后剩余 225 个控制步，说明本步已启动。" + }, + { + "t": null, + "log_step": 24, + "text_zh": "观察：agent 调用在线服务 get_obs(seconds=2.5) 保持上一命令，服务返回 control_steps=150、done=False；此次等待消耗了 75 个控制步，未触发成功。" + }, + { + "t": null, + "log_step": 26, + "text_zh": "观察：在线服务返回的 proprio（机器人本体关节位置和速度读数）中，右臂第六关节四个采样速度为 0.3560、0.2967、0.2972、0.3079 rad/s，高于验收上限 0.02 rad/s；相应位置仅在约 0.4193—0.4194 rad 间变化。此时服务仍返回 done=False、control_steps_left=135，不能仅凭这些采样认定刀具三维朝向已达标。" + }, + { + "t": null, + "log_step": 34, + "text_zh": "观察：同一在线回合的最终服务状态为 control_steps=300、done=True、resumes=0，reason 为“failed: the episode's control steps ran out”；run.json 的评分字段 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0，且 sim_error=0、infra_error=0。" + }, + { + "t": null, + "log_step": 34, + "text_zh": "推断：本任务唯一节点包含目标握持、朝向容差和完整 45 控制步静止窗口；服务在最后控制步仍未触发该联合成功条件，故节点 final=False。这不意味着机器人没有尝试调姿，也不能由此判定究竟是哪一个子条件阻止验收。无本次视频，intervals 保持 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 20、23、27、30、33 记录右臂调姿与右夹爪保持或放松命令，但本次没有可用视频和接触状态日志，不能核实右夹爪与刀柄的实际接触、握持是否持续，故接触类型未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "value": null, + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knife_reoriented", + "t": null, + "log_step": 26, + "where": "操作中", + "evidence_zh": "观察：log step 20、23 的在线服务已执行调姿命令，log step 24 等待 75 个控制步后仍未成功；log step 26 的右臂第六关节采样速度为 0.2967—0.3560 rad/s，高于静止验收上限。log step 27、30、33 继续改变臂姿或夹爪命令，log step 34 又保持到 control_steps=300，服务以控制步用尽终止，始终未完成本步；断点属于调姿操作及其保持阶段。本次无视频，无法定位视频时刻。" + }, + "unmet": { + "knife_reoriented": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（远端录像返回 404，且无本地录像），无状态日志；run.json 中的图片仅为占位记录，未提供可检查的本次图像。所有视频时间及节点 intervals 均为 null，实际接触未知。log step 26、30、33 的本体速度读数能证明若干采样不满足静止阈值，但无法重建整个验收窗口；关节位置变化很小，也不能据此确定可见抖动、持续漂移或接触阻挡。评分未报告刀具世界系朝向误差、目标握持谓词或逐步静止判据，不能确认完整失败现象及根因，因此两层留空。agent 在 log step 36 自述画面匹配并怀疑关节抖动，同时承认朝向或关系仍可能有误，这些自述不替代本次画面或评分诊断；成功参照录像仅供理解目标，不能补足本次证据。" + }, + "summary_zh": "在线回合执行了右臂调姿、保持及后续调整，但服务在 300 个控制步用尽时仍未触发完整验收，唯一的“刀具朝向匹配”节点最终为假（0/1）。保持期间的部分关节速度读数超出静止阈值；本次没有可用视频、状态日志和刀具朝向误差，无法核实实际接触及完整失败过程，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志；节点 final=false、接触未知、断点 knife_reoriented 与两层留空并附 gap_zh，均与 run.json 的评分字段和服务读数一致，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": "2026-10-30T22:25:10Z", + "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/ispatialgym-mental-rotation-i00-standard--f8fq8yi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--f8fq8yi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2bf0e47d7e7afd69748c455cfe4d8dc4bc26f72db73d14e36345e1a8a6653852", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--ocwcrkg.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--ocwcrkg.json new file mode 100644 index 0000000000000000000000000000000000000000..d456322f01b0d625bc5500e1866015d6f70ec59d --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--ocwcrkg.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--ocwcrkg", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "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": 300, + "sim_steps": 300, + "max_steps": 300, + "steps": 300, + "elapsed_s": 1711.5, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": 8, + "peak_disk_gb": 1.03, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 261, + "text_zh": "观察：log step 261 的在线机器人服务状态为 control_steps=300、done=true、reason=\"failed: the episode's control steps ran out\"；inputs/run.json 的 reward 同时报告 graded_by_live=1、symbolic_success=0、success_step=0、finalized=1，且无仿真或基础设施错误。" + }, + { + "t": null, + "log_step": 231, + "text_zh": "观察：log step 131 服务确认已执行首次转腕的 36 个控制步；log step 187 保持命令后服务计数为 132、done=false；log step 231 再次保持后计数为 195、done=false。推断：本任务仅有一个含目标握持关系、完整朝向及 45 控制步静止窗口的受评节点，结合最终 symbolic_success=0，其完整验收最终为 false；这不证明刀具从未转动，也不能单独确定是哪项合取条件未满足。无本次视频，intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 131、146、180、227、255 记录机器人调节右臂的命令及服务执行反馈；本次没有可用视频和状态接触记录。推断：该节点已尝试，但无法确认右夹爪与刀柄实际接触方式或刀具是否持续被夹持，故不从任务典型方案复制抓握标签。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "knife_reoriented", + "t": null, + "log_step": 187, + "where": "操作中", + "evidence_zh": "观察：log step 131、146、180 显示机器人服务执行右臂调姿命令；log step 187 的 70 控制步保持后，服务仍报告 done=false。log step 231 再次保持后仍为 done=false；log step 255 后续翻转命令被服务报告存在 arm_right_6 限位裁剪，log step 261 在线回合以失败终结。推断：机器人持续在唯一的刀具调姿步骤上操作，该步骤的完整验收始终未获服务确认，断点归 knife_reoriented；无本次视频，无法定位物理偏差首次发生的时刻，t=null。" + }, + "unmet": { + "knife_reoriented": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（远端视频返回 404，且无本地视频），inputs/ 也没有状态日志；成功参照录像已查看，但不能作为本次尝试的证据。缺少刀具完整世界系旋转误差、实际握持关系及评分器静止窗口逐步结果，native_metrics 的旋转误差未报告，故无法区分朝向不准、握持关系异常或静止条件未满足，现象层留空。log step 189、193、233 的速度分析和 log step 263 的图像差异为 agent 自己的计算；log step 264 关于视角歧义及速度读数为伪影的解释只是 agent 自述。log step 255 的服务限位裁剪可确认末段命令受限，但不足以解释此前两次保持为何未通过，根因层留空；控制步耗尽只记录为结束原因，不充当现象或根因。" + }, + "summary_zh": "机器人在唯一的刀具调姿节点上执行转腕、逆解调姿及保持命令，两次较长保持后服务均未确认成功；最终服务在 300 个控制步后判失败，完整验收节点终值为 false（0/1）。断点为刀具调姿操作中；本次无可用视频和状态日志，无法核实实际接触、完整三维朝向及静止窗口失败项，因此不指定物理现象或根因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频（kind=none）、无状态日志；节点 knife_reoriented 仅凭服务终局读数（log step 261 done=true、symbolic_success=0）定为 false，intervals=null，contact_actual 为未知，断点、t=null、现象/根因留空并附 gap_zh，均符合 03 的无视频规则。log step 131/187/231/255/261 的控制步计数与限位裁剪读数经核对属实，未把控制步耗尽当作现象或根因。", + "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": "2026-10-30T22:26:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--ocwcrkg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--ocwcrkg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35084daa2e07fb4513e0465455bcefa8fd806aebaa67962dad35098c530fed61", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--qlmgajw.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--qlmgajw.json new file mode 100644 index 0000000000000000000000000000000000000000..fcbef210ff06a28bec54c5dfdf4275acdb1f17ff --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--qlmgajw.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--qlmgajw", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "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": 300, + "sim_steps": 300, + "max_steps": 300, + "steps": 300, + "elapsed_s": 1233.6, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 129, + "text_zh": "观察：本次是单次在线评分回合；log step 129 中机器人服务返回 done=True、control_steps=300、resumes=0，终止原因为控制步耗尽；run.json 的评分器字段 graded_by_live=1、live_success=0、finalized=1。" + }, + { + "t": null, + "log_step": 129, + "text_zh": "推断：knife_reoriented 是本任务唯一目标节点，其判据包含朝向、握持及完整静止窗口；在线服务逐控制步检查这一联合目标且达成即成功终止，最终仍判负，因此该联合节点 final=false。该结论不表示刀具没有转动，也不能区分朝向与握持是否另有不满足。" + }, + { + "t": null, + "log_step": 128, + "text_zh": "观察：log step 128 中 agent 脚本提交 60 行相同关节位置保持指令后，直接打印机器人服务返回的本体感知 res.meta[proprio][now]；在线控制步为 299，右臂第六关节速度为 0.3883 rad/s，第四关节为 0.0203 rad/s，高于任务文本公布的各关节速度 <0.02 rad/s 静止阈值；此时 done=False。无本次录像及状态日志，无法标出过程区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 46、123、124 的脚本向右夹爪发出闭合及右臂调姿指令，服务返回夹爪开口约 0.024 m；本次无可用录像和物体接触状态，不能据此核实右夹爪与刀柄的实际接触方式或是否始终夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "value": null, + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knife_reoriented", + "t": null, + "log_step": 128, + "where": "操作中", + "evidence_zh": "观察：log step 123、124 中 agent 脚本向机器人提交两段右臂旋转；log step 128 提交保持后，机器人服务在控制步 299 返回右臂第六关节速度 0.3883 rad/s，仍未达到 <0.02 rad/s 的静止要求；log step 129 再提交一行后，服务在控制步 300 判负。推断：未修复的失败步骤是刀具朝向匹配及其静止验收，保持控制仍属于该步操作；没有证据证明全部关系和朝向已先成立，故不标终态验收。无本次视频时钟，t=null。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 128, + "source_zh": "日志", + "evidence_zh": "观察：log step 128 的脚本将 log step 124 保存的实测关节位置构造成固定目标，底盘命令置零，连续提交 60 行；机器人服务在 control_steps=299 返回的右臂第六关节速度仍为 0.3883 rad/s，高于各关节速度 <0.02 rad/s 的要求，随后 log step 129 在控制步 300 耗尽时判负。推断（低置信）：末段保持控制未实现该采样时刻的静止要求，可能阻止了最终完整静止窗口的通过，故保留控制层解释；未排除刀具朝向或握持同时未达标，不能认定控制是唯一失败原因。缺少逐步速度、跟踪误差及动力学数据，不能断言整个保持段持续运动，也无法确定具体控制子类。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl；日志图片仅有占位与索引，无法查看本次刀具。故所有视频时间及节点 intervals 均为 null，实际接触为未知，无法核验完整三维旋转误差、目标握持关系或逐步稳定窗口，原生旋转误差指标未报告。已检查成功参照录像的全部 24 帧（参照视频 0.0–2.3 s），仅用于理解刀具调姿的外观，不作为本次进展证据。log step 126 的刀尖朝上和 log step 130 的刀尖已匹配、全程未掉落及反作用力导致先前躯干偏转均为 agent 自述，未据此确认。log step 127、128 的服务速度读数支持相应采样时刻未静止，但不能证明保持段持续运动，不能排除朝向或握持另有不满足。按 docs/03_trajectory.md Step 3.1 与 DECISIONS.md N10，不将静止验收指标的复述另造为运动现象；缺少可识别的刀具或机器人运动现象证据，phenomena 留空，控制根因仅作低置信推断。", + "unmet": { + "knife_reoriented": false + } + }, + "summary_zh": "本次在线回合尝试了刀具调姿，并在最终保持后由机器人服务于控制步 300 判负，唯一目标节点最终未完成（log step 123–129）。保持后服务在控制步 299 返回右臂第六关节速度 0.3883 rad/s，超过 0.02 rad/s 静止阈值，支持该时刻未静止，控制仅作低置信根因推断（log step 128）。本次无录像和状态日志，刀具最终三维朝向、握持及具体运动现象无法核实，所有视频时间留空，phenomena 留空；因关键原因及过程不可直接核验，conf 从 7 降至 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无本次录像，节点 final=false、接触未知、t=null 均有评分器/服务读数支持，无需改。问题在现象：运动·其他是自造条目，且只靠单个速度采样；conf 偏高。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无录像和状态日志；final=false、接触未知、t=null、phenomena 留空、控制根因低置信均有评分器与服务读数支持，上轮问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:31:11Z", + "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/ispatialgym-mental-rotation-i00-standard--qlmgajw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--qlmgajw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--qlmgajw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--qlmgajw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5ad753c99dbfcb25997245e75768a5deebdb19bb4c5ded40ba14a7efa44f6894", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--zmhkqrw.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--zmhkqrw.json new file mode 100644 index 0000000000000000000000000000000000000000..33750f1c08151c38d392fb1edec4c9112f9cd836 --- /dev/null +++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--zmhkqrw.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "ispatialgym-mental-rotation-i00-standard--zmhkqrw", + "taskKey": "ispatialgym/mental_rotation", + "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75", + "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": 300, + "sim_steps": 300, + "max_steps": 300, + "steps": 84, + "elapsed_s": 2064.6, + "symbolic_success": 0, + "success_step": 0, + "video_rendered": 1, + "video_live": 1, + "trajectory": 1, + "instance_ok": 1, + "sim_error": 0, + "sim_crashed_on_call": 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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "knife_reoriented": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 58, + "text_zh": "观察：log step 58 中机器人在线服务先返回 control_steps=252、done=False，随后在 agent 的静止观察请求后返回 control_steps=300、done=True、reason=\"failed: the episode's control steps ran out\"；评分记录为 graded_by_live=1、live_success=0、symbolic_success=0、success_step=0、finalized=1，且 infra_error=0。" + }, + { + "t": null, + "log_step": 58, + "text_zh": "推断：本 DAG 仅有刀具朝向、握持关系及连续 45 控制步静止的合取验收节点；任务在该合取首次满足时即成功结束，而本回合正常终结为失败，故 knife_reoriented 终值为 false。没有本次录像或状态日志，无法给出成立区间，也不能将 agent 脚本打印的 TCP 误差当作刀具朝向误差。" + }, + { + "t": null, + "log_step": 49, + "text_zh": "观察：log step 49、54、57、58 中 agent 向机器人服务提交右臂关节位置调姿指令并取得递增的在线 control_steps；log step 61 中 agent 自述其尝试保持右夹爪握刀并调整腕部。日志中的图片条目只保留占位符，无法检查本次实际夹持与物体运动。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 49、54、57、58 记录了右臂调姿提交；本次无录像、无接触状态日志，不能确认右侧二指夹爪与刀柄实际接触及其保持情况。agent 的闭爪命令和握刀自述不能代替实际接触证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "knife_orientation_error_rad", + "unit": "rad", + "threshold": 0.4376424908638001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "knife_reoriented", + "t": null, + "log_step": 58, + "where": "操作中", + "evidence_zh": "观察：log step 58 中 agent 继续向机器人服务提交右臂目标并请求静止观察，服务在 control_steps=300 时终结为失败；log step 49、54、57 的先前调姿也均未触发成功。推断：持续尝试而未修复的步骤是唯一的刀具朝向匹配节点；无本次录像，不能定位具体失误的视频时刻。" + }, + "unmet": { + "knife_reoriented": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 58, + "source_zh": "日志", + "evidence_zh": "推断：agent 的调姿控制未可靠实现其自定目标。log step 31 的脚本取包含躯干变化的逆解，却只执行固定躯干的右臂解；log step 34 的自检已报固定躯干后位置误差 0.4368 m、旋转误差 0.9899 rad。agent 后改用右臂数值逆解，但 log step 54、57、58 打印的执行后 TCP 仍分别为 [0.8705,-0.1015,1.2680]、[0.8835,-0.1504,1.2324]、[0.8860,-0.1632,1.2284] m，持续偏离其自定目标 [0.6958,0.0343,1.1977] m；在线服务最终未通过验收。这些脚本与本体反馈记录支持控制层面的困难；位置偏差并非本任务评分指标，也不能据此断定刀具朝向、PD 参数或碰撞原因。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none（远端录像 404，且无本地录像），也无状态日志；run.json 的图片条目只有占位符和索引，无法观察刀具、夹爪及完整静止窗口。故全部视频时间和区间为 null，实际接触为未知；无法判定具体失败现象属于朝向偏差、握持丢失还是未静止，现象层留空。控制根因仅据脚本、逆解自检和本体反馈保守推断，不能细分为碰撞、关节限位或反馈控制。评分器未报告 knife_orientation_error_rad，原生指标值为 null。已检查成功参照 inputs/oracle/replay.mp4 的全部 24 帧（参照视频 0.0–2.3 s），其夹持刀具可随手臂移至画面右下方；参照仅说明目标外观，不能证明本次动作或接触。" + }, + "summary_zh": "本次在线单回合持续提交右臂调姿，服务在 log step 58 的 control_steps=300 时正常终结为失败；唯一节点“刀具朝向匹配”终值为 false，完成 0/1。脚本记录显示逆解与执行反馈多次不一致，保守归因为控制，但没有本次录像或状态日志，无法判断具体失败现象、实际接触或视频区间；成功参照不作为本次进度证据。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无录像、无状态日志，标注保守：节点终值 false 由评分字段（live_success=0、服务 control_steps=300 终结为失败）支持，时间全为 null，接触为未知，现象层留空并有 gap_zh，控制根因仅依据服务返回的执行后 TCP 反馈。未发现需要修改内容的错误。", + "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": "2026-10-30T22:24:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--zmhkqrw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/ispatialgym-mental-rotation-i00-standard--zmhkqrw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "911e24fbdbc9a39cf95ec70807896555c72024b9f6c5bd80a271383f2ff395ca", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +}