diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk.json new file mode 100644 index 0000000000000000000000000000000000000000..21e8e58098021f2d16433ae1ea6b263cbf74a5ef --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2500, + "executed_rows": 2500, + "sim_steps": 2500, + "physics_steps": 25000, + "sim_time_s": 25.0, + "phases_done": 1, + "valid": 1, + "replay_wall_s": 81.1, + "replay_timeout_s": 550.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 57, + "agent_resets": 0, + "agent_sim_steps": 24676, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.096, + "peak_memory_gb": 1.2, + "peak_processes": 16, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk/replay.mp4", + "duration_s": 25.04, + "fps": 25.0, + "frames": 626, + "sha256": "754cb726862587b23a6ac2ce3b6f92a16cbb1cebd2c81aeacf5d48d8e185646e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.8–1.1 s，左臂 panda-0 的蓝拍迎住向左滑来的橙色小方盘，随后盘改变方向向右滑行。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 1.28–1.84 s 逐帧可见盘离开左拍，经最靠画面前侧的第1、2根立柱之间滑到右臂侧，过线约在视频 1.6–1.7 s；评分器 reward.phases_done=1，与首阶段完成一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：左臂 panda-0 固定安装的蓝色拍板撞击橙色小方盘并将其送出；候选：击打，词表无对应接触方式，故填其他；不是夹爪抓握。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 1.7–3.4 s，右臂 panda-1 将拍板移向盘的来路；盘进入右腕附近，随后只在右臂侧短距离移动，未像成功参考视频 5.5–6.25 s 那样穿过长轨旁的第3、4柱间隙回到左侧。右腕遮挡了拍盘接触的瞬间。" + }, + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 3.4–5.2 s 及视频 6–25.0 s 的抽帧中，小方盘停留在右腕左上方可见的桌面位置；视频 24.0–25.0 s 密集检查仍未返隙，评分器 phases_done=1。" + }, + { + "t": null, + "log_step": 156, + "text_zh": "推断：log step 156 同一控制器版本的测试输出含 contact:puck:right_tool、strike_1，且盘随后停在右侧；该步骤同时启动交付生成，log step 160 确认保存2500行，log step 198、202、204 显示交付文件修改时间仍保持该次保存时间。结合视频中盘在右腕附近改变行进方向，实际发生过右拍击盘，但未完成规定返程。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：右臂 panda-1 固定蓝拍与橙色小方盘发生短暂击打；依据视频 1.7–3.4 s 的盘运动前后变化及 log step 156 同版控制器接触输出，瞬时接触被右腕遮挡。候选：击打，词表无对应接触方式，故填其他。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 3.4–25.0 s，盘始终留在右臂侧，左拍撤到柱列左侧后没有再将盘经中隙打向右侧；评分器 phases_done=1，右击返隙的前置阶段未完成。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 3.4–25.0 s 没有第三次过隙及其后的右臂终击，末帧盘仍在右腕附近，未朝短挡墙越过球门线；评分器 phases_done=1。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 2.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.7–3.4 s，机器人右臂接应并尝试返击，盘没有通过长轨旁的返程柱隙，而是逐渐停在右臂侧；视频 24.0–25.0 s 仍未补救，评分器 phases_done=1、valid=1。断点锚点约取视频 2.5 s，不把回合时限当作失败现象。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.5, + "log_step": null, + "evidence_zh": "观察：视频 2.2–5.2 s，盘从右腕附近移出少量距离后留在柱列的右臂侧，返击的实际去向和行程未将盘送到长轨旁的指定返隙；视频 24.0–25.0 s 仍在原处。成功参考视频 5.5–6.25 s 可清楚看到盘经该隙回到左侧，本次未出现该结果。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：返击的时序与接触效果未被控制器可靠实现。视频 1.7–5.2 s 显示右臂做了接应动作但盘只短距离移动并停在右侧，后续右腕小幅反复运动也未纠正；log step 156 同版控制器测试记录了右拍接触及 strike_1 后停盘，log step 162–164 又定位并修改了相对预测时间与绝对仿真时间混用的挥拍时序代码。log step 160 已保存的交付文件在 log step 198、202、204 仍未更新，故后期修正不能当作已进入交付；现有证据不足以在时序、跟踪及接触几何之间唯一细分根因。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志；右腕遮挡右拍与盘的瞬时接触，右拍接触依盘的前后运动及同版会话测试作上下文推断，不能由25 fps画面精确验证击打速度、间隔、接触高度或冲量。DAG所列五项原生连续指标未在评分器字段中报告，均填 null。log step 207 关于反复碰第3柱、接触高度和恢复系数的说法是 agent 对后续会话调试的自述，不能据此给本次交付添加碰柱现象或精确参数根因。", + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + } + }, + "summary_zh": "本次交付在视频约 1.7 s 完成左击过首隙，最终完成1/4步，与评分器 phases_done=1 一致。右臂返击后盘停留在右臂侧，未通过长轨旁的返隙，后续两步未启动；断点为右击过返隙，返击控制未可靠产生所需去向与行程。没有状态日志且右腕遮挡接触瞬间，无法进一步唯一判定时序、跟踪或接触几何的贡献；后期会话碰柱及调参不作为本次视频现象。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与评分器 phases_done=1 一致，第1步完成、第2步未完成；断点与现象/根因有限定且诚实，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": "2026-10-30T04:18:38Z", + "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/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--6pjutlk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7e7c3c840834e8450de8a3c8dce4745f77956a168bf1404741441edf6667731", + "video_sha256": "754cb726862587b23a6ac2ce3b6f92a16cbb1cebd2c81aeacf5d48d8e185646e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb.json new file mode 100644 index 0000000000000000000000000000000000000000..307fd41c8c34193934e251360f6161585c493bf7 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1196, + "executed_rows": 1196, + "sim_steps": 1196, + "physics_steps": 11960, + "sim_time_s": 11.96, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 42.9, + "replay_timeout_s": 419.6, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 23, + "agent_resets": 32, + "agent_sim_steps": 2392, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.816, + "peak_processes": 9, + "peak_disk_gb": 0.052, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb/replay.mp4", + "duration_s": 12.0, + "fps": 25.0, + "frames": 300, + "sha256": "0995e73c03327ff5c7410c957882e0357bc80b60551666d4e5ddb8f89f80fb8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.88, + "log_step": null, + "text_zh": "观察：视频 0.64–0.96 s，左臂 panda-0 的蓝色拍板迎向橙色小方盘，盘在靠近拍板后改变运动方向，随后与左拍分离。" + }, + { + "t": 1.12, + "log_step": null, + "text_zh": "观察：视频 1.04–1.28 s，小方盘经近镜头的第1、2根橙色立柱之间向右臂侧滑过，视频 1.36–1.60 s 已在柱列右侧继续滑行；首次过线取视频约 1.1 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：候选为“击打”；左臂 panda-0 的固定蓝色拍板短暂撞击橙色小方盘，盘离拍后滑过首隙。现有接触方式词表没有击打，故用其他。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [ + [ + 5.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.08, + "log_step": null, + "text_zh": "观察：视频 3.84–4.40 s，右臂 panda-1 在盘停留处降低并前挥，手部遮住盘和拍板的部分接触区域；视频 5.12–5.76 s，橙色盘从右臂侧经长轨旁第3、4根立柱间返回，视频 6.08–6.32 s 已在左臂侧。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "推断：结合视频 3.84–4.40 s 的右拍动作、视频 5.12–6.32 s 的独立滑行与评分器 reward.phases_done=4，右拍已击盘并完成返隙；过线约在视频 5.2 s，受立柱和右手遮挡影响，时间误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：候选为“击打”；右臂 panda-1 的固定蓝色拍板击盘后撤离；接触瞬间局部被右手遮挡，由前挥、盘随后独立返隙及评分器四阶段完成结果共同推断。现有接触方式词表没有击打，故用其他。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [ + [ + 8.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.04, + "log_step": null, + "text_zh": "观察：视频 7.68–8.16 s，左臂 panda-0 降低蓝色拍板并向橙色盘前挥，盘开始向柱列运动；视频 8.28–8.76 s 左拍撤回，盘继续独立滑行。" + }, + { + "t": 8.52, + "log_step": null, + "text_zh": "观察：视频 8.28–8.76 s，盘从第2、3根立柱之间滑到右臂侧，视频 9.12–9.48 s 已明显远离左拍；过线取视频约 8.5 s，视觉误差约 0.2 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：候选为“击打”；左臂 panda-0 的固定蓝色拍板再次短暂击盘，盘与拍分离并滑过中间柱隙。现有接触方式词表没有击打，故用其他。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [ + [ + 11.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.76, + "log_step": null, + "text_zh": "观察：视频 11.00–11.56 s，右臂 panda-1 降低并将蓝色拍板移到盘后方；视频 11.60–11.96 s，拍板前挥，橙色盘向短橙色挡墙前方滑动，盘的后续位置与拍板分开。" + }, + { + "t": 11.96, + "log_step": null, + "text_zh": "推断：视频 11.88–11.96 s 的末段滑行到达短挡墙前的门线区域；结合评分器 reward.success=1、phases_done=4、valid=1，最后一次右拍击盘越门线已完成，锚点取末帧视频 11.96 s；门线没有可见刻线，精确几何过线由成功判决确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：候选为“击打”；右臂 panda-1 的固定蓝色拍板短暂击盘，盘离拍向短挡墙前的门线滑行；局部接触遮挡由前后连续帧及成功判决补足。现有接触方式词表没有击打，故用其他。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：视频中两臂依左、右、左、右的顺序击盘，小方盘依次穿过首隙、返隙和中隙，最终滑到右侧短挡墙前，四个事件节点均完成。观察：inputs/run.json 的评分器字段为 success=1、phases_done=4、valid=1，且两次回放确定性一致；会话中的参数搜索与重置不计入本次视频进度。推断：无状态日志，部分右拍接触被手部遮挡，过线时间按连续视频帧估计，末次精确越门线由成功判决确认；评分器未报告五项原生指标的数值，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器 success=1、phases_done=4 已确定四个事件节点均完成；视频抽查与各节点时间（约1.1/5.2/8.5/11.96 s）基本一致，接触方式（其他+击打，手持工具）符合S16；无 failure，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": "2026-10-30T04:24:33Z", + "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/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--7wyukdb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dffeadb6eead82e0e7a66448a0a59644874c07eccb406a26ecf80d1da97c1882", + "video_sha256": "0995e73c03327ff5c7410c957882e0357bc80b60551666d4e5ddb8f89f80fb8e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2c31fc1dd2cdfc5ad9f5fb8fae0093cf4ea9a8 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2198, + "executed_rows": 2198, + "sim_steps": 2198, + "physics_steps": 21980, + "sim_time_s": 21.98, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 54.5, + "replay_timeout_s": 519.8, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 6, + "agent_resets": 10, + "agent_sim_steps": 12272, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg/replay.mp4", + "duration_s": 22.04, + "fps": 25.0, + "frames": 551, + "sha256": "150a56d887881b0b3d9d6f78ef5c5d213b6952e034329485e3685f1e874c38f1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.68, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 1.40–1.68 s，左臂 panda-0 的蓝色拍板向橙色方盘推进并击中；视频 1.68–1.84 s，方盘与左拍分离，从负 y 端第1、2根柱之间滑到右臂侧。过线时刻取视频约 1.68 s，精度约 0.1 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 1.52–1.68 s，左臂 panda-0 上固定安装的蓝色拍板撞击橙色方盘，随后方盘离拍滑行；候选：击打，现有接触方式词表无击打专项，故用其他。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [ + [ + 10.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.88, + "log_step": null, + "text_zh": "观察：视频 10.28–10.60 s，右臂 panda-1 的蓝色拍板从长侧轨旁朝左臂侧击出方盘；视频 10.76–10.96 s，方盘离开右拍，经靠长轨的第3、4根柱之间返回左臂侧，视频 11.08–11.24 s 已到左拍旁。过线时刻取视频约 10.88 s，柱和手腕造成局部遮挡，精度约 0.1 s。" + }, + { + "t": 5.6, + "log_step": null, + "text_zh": "推断：视频 5.00–5.80 s 右拍沿桌面向长轨方向移动，方盘在手腕下短暂被遮挡；结合视频 6.00–7.00 s 方盘已移至长轨旁、视频 10.28 s 从该位置击出，右拍在返隙击打前曾拨盘调整横向位置。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 10.36–10.60 s，右臂 panda-1 的固定蓝色拍板击打橙色方盘并让其离拍返回；候选：击打，词表无对应专项，故用其他。推断：该臂此前在视频约 5.40–5.80 s 用拍端拨移方盘进行对线，属于同一工具对方盘的先后接触，记入本说明。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [ + [ + 18.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.4, + "log_step": null, + "text_zh": "观察：视频 18.16–18.32 s，左臂 panda-0 的蓝色拍板击出此前位于左侧的方盘；视频 18.36–18.48 s，方盘与左拍分开，经第2、3根柱之间的中间隙进入右臂侧，视频 18.64–18.96 s 继续滑向右拍。过线时刻取视频约 18.40 s，精度约 0.1 s。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 15.40–16.00 s，左臂蓝色拍板的端部向中间隙方向拨动方盘，方盘在左臂侧沿柱列方向移动；视频 17.00–18.16 s 左拍再移到方盘后方准备向右击出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 18.20–18.32 s，左臂 panda-0 的固定蓝色拍板撞击橙色方盘使其向右滑行；候选：击打，词表无对应专项，故用其他。该臂此前在视频 15.40–16.00 s 先用拍端拨盘对线，顺序记在此处；未见夹爪夹住方盘。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [ + [ + 22.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.0, + "log_step": null, + "text_zh": "观察：视频 21.04–21.76 s，右臂 panda-1 将蓝色拍板降到方盘后方；视频 21.80–21.88 s 拍板击中方盘，视频 21.92–22.00 s 方盘离拍向右侧短挡墙滑动，末帧位于挡墙前的门线外侧。取视频约 22.00 s 为过线时刻，精度约 0.1 s。" + }, + { + "t": null, + "log_step": 58, + "text_zh": "观察：log step 58 是已保存交付文件的新进程回放结果，服务报告 success=true、phase=4、valid=true、failure_reason=null、executed_rows=2198；inputs/run.json 的评分器字段同样给出 success=1、phases_done=4、deterministic=1，支持视频末端已完成最后过线。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 21.80–21.88 s，右臂 panda-1 的固定蓝色拍板从方盘后方撞击橙色方盘；随后方盘离拍驶向短挡墙前门线。候选：击打，现有词表无对应专项，故用其他。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：评分视频中两臂按左、右、左、右顺序击盘，分别在视频约 1.68、10.88、18.40、22.00 s 完成首隙、返隙、中隙和门线四个节点，均锁存至结束；中间阶段先拨盘对线再击出。观察：评分器报告 success=1、phases_done=4，log step 58、61 的交付回放验证成功且末态一致，故无失败断点。观察：没有状态日志，画面有局部遮挡且帧率为25 fps，毫秒级击打速度、离拍间隔和精确横向误差不能逐项测得，五项原生指标未由评分器单独报告，均保留 null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器 success=1、phases_done=4，四个击打节点均为 true 并锁存，与抽帧所见的左、右、左、右击盘顺序一致；接触标 手持工具×其他（击打）符合 S16；无失败断点，failure=null 合理。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:23:26Z", + "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/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--mj5vrzg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f6b1124bd83b40392a9f199dcc0013e2017a8c1370652efe1d575f32537eaa95", + "video_sha256": "150a56d887881b0b3d9d6f78ef5c5d213b6952e034329485e3685f1e874c38f1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe5a0159d9395fe49bd2deebd43831252980d60 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 457, + "sim_steps": 2803, + "calls": 53, + "rows": 2803, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1303.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.321, + "peak_processes": 10, + "peak_disk_gb": 0.244, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh/replay.mp4", + "duration_s": 4.64, + "fps": 25.0, + "frames": 116, + "sha256": "2521cf36e2c7625fae5cf411cc77847ba3d7e2d039812c7666e3a6d60d891bc8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": 51, + "text_zh": "观察：视频 0.80–1.08 s，橙色方盘向左臂蓝拍滑来，在视频约 1.00 s 接触后反向朝柱隙滑行；视频 1.20–1.76 s，盘逐渐离开左拍。" + }, + { + "t": 1.9, + "log_step": 52, + "text_zh": "观察：视频 1.76–2.04 s，方盘穿过靠近镜头、负 y 端的第1、2柱间隙，进入右臂侧，左拍已停在另一侧；过线时刻按画面估为视频约 1.9 s。此后没有把盘送回左侧的动作。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 1.00 s，左臂 panda-0 上固定安装的蓝拍迎击橙色方盘，盘随即反向并离拍；候选：击打，词表没有对应接触方式，故用其他。右臂此时移向接球准备位置，未见两拍同时作用于盘。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.7, + "log_step": 54, + "text_zh": "观察：视频 3.32–3.80 s，右臂抬拍后露出方盘，盘仍在首隙的右臂侧、靠负 y 端；右臂随后重新向盘附近下降。" + }, + { + "t": 4.56, + "log_step": 57, + "text_zh": "观察：视频 4.24–4.60 s，右臂蓝拍下降至紧贴桌面的低位，方盘被右拍及手部部分遮住；没有方盘经长侧轨旁正 y 端间隙返回左臂侧的运动。log step 57 的服务状态为 episode=4、control_steps=457、done=true、reason=failed；这不是前三回合的返隙尝试。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.32–4.60 s，右臂 panda-1 抬起并重新降低蓝拍，准备以拍端推动首隙右侧的方盘；末段工具、手部与方盘重叠遮挡，无法判清右拍是否已接触盘、以何种方式接触，也不能确认拍与桌面的毫米级接触。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频约 1.60–4.60 s，左臂蓝拍保持在第一次击打后的低位，没有再次迎向方盘；没有方盘经中间第2、3柱间隙由左臂侧越向右臂侧的过程。推断：右击返隙尚未完成，本步的阶段前置也未满足。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 3.60–4.24 s 可见方盘仍在柱列旁，末段右臂仅向该处降拍；视频截至 4.60 s 没有方盘朝短挡墙前球门线滑去并越线的过程。推断：返隙和中隙阶段均未完成，也未进入最终右击阶段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 4.5, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频约 1.9 s 完成首隙后，右臂准备返隙，视频 3.32–4.60 s 先抬拍再向盘附近降拍；视频约 4.50 s 蓝拍下降到桌面附近后动作终止，始终未把方盘送过正 y 端返隙。log step 57–58 确认最后现场回合 episode=4 已失败，且无重置剩余。推断：失败步骤是正在准备击打的右击过返隙；此前三个回合的调试和返隙动作不计入本视频。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.5, + "log_step": 56, + "evidence_zh": "观察：视频 4.36–4.60 s，右臂蓝拍持续下沉，末帧拍下缘已贴近桌面，未完成把盘送向返隙的击打。log step 56 调用的目标拍心高度为 0.033 m，log step 57 在仿真 4.57 s 打印的实际工具姿态中拍心高度为 0.0259 m。推断：右拍下降时高度跟踪偏低，已丧失计划的离桌余量；这里只标位姿偏差，不把尚未证实的碰桌另记为碰撞。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 44 的 shot.py 按当前工具位置生成固定时长 minjerk 下降段，经 IK 转为整批关节位置命令；log step 50 修改推移方向，log step 56 在最后回合调用该脚本，下降目标高度为 0.033 m。log step 54 的上一抬拍命令尚未达到目标位置，随后的 log step 56 工具位置打印先继续升高再快速下降；log step 57 的最终工具姿态高度为 0.0259 m，与视频 4.36–4.60 s 拍板降至桌面附近一致。推断：连续批量位置轨迹衔接时未确保实际运动收敛，下降轨迹出现跟踪偏差，导致返隙击打准备失败；现有记录不足以进一步区分伺服跟踪与轨迹边界条件的贡献，故停在控制。" + } + ], + "gap_zh": "观察：inputs/ 没有 states.jsonl，最后回合的服务输出仅给 reason=failed，未记录具体 failure_reason 或逐步接触对；log step 60 中 agent 自述碰桌“最可能”，不能当作已确认的碰撞。视频末段右手、拍板遮住部分方盘，右拍实际接触方式未知；25 fps 总览也不能精确核实首击的速度与毫秒级登记时间条件，首隙按可见击打、离拍和过线判断。原生指标均未由评分器报告，因此 value=null。推断：log step 57 的最后回合 control_steps=457，按 log step 3 的 0.01 s 控制周期对应仿真 4.57 s，与视频 4.56–4.60 s 的终止姿态相符；未将 agent 工作时间换算为视频时间。" + }, + "summary_zh": "第4回合是本次评分尝试：左拍击中来盘并使其在视频约 1.9 s 通过负 y 端首隙，最终完成 1/4 个节点；前三回合的返隙进展不计入。右臂在准备返隙击打时降拍高度偏低，视频约 4.5 s 后回合失败，根因归为轨迹执行的控制偏差。没有状态日志和详细判负字段，碰桌只能作为可能解释，右拍与盘的实际接触方式及毫秒级验收条件仍有缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "第4回合为被评分的回合；首隙在视频约1.9 s（对应仿真1.8–1.9 s，log step 52 盘 x 越过0.12、y≈-0.11）完成，其余三步未达成，与日志和视频一致。断点右击过返隙、位姿不准+控制的归因有 log step 56/57 的数据支撑且标明了推断与缺口，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": "2026-10-30T04:29:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--eicr3dh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "405a96354ad7c5b440536d9caf259a46dac60afd7814ac070340f10916a46575", + "video_sha256": "2521cf36e2c7625fae5cf411cc77847ba3d7e2d039812c7666e3a6d60d891bc8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t.json new file mode 100644 index 0000000000000000000000000000000000000000..e74e0a6ec0b37131c06ac6dc492e2b8ca20842b1 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 645, + "sim_steps": 1261, + "calls": 43, + "rows": 1196, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1171.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.307, + "peak_processes": 10, + "peak_disk_gb": 1.114, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t/replay.mp4", + "duration_s": 6.52, + "fps": 25.0, + "frames": 163, + "sha256": "aa0dfb6fb8a4fd7a6af98ef16e6ffb8d38ea9df1025ca8acdab13c397910d09e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.96, + "log_step": 73, + "text_zh": "观察：视频 0.88–1.04 s，左臂 panda-0 的蓝拍向盘前挥，橙色小方盘在拍前改变运动方向；视频 1.32–1.48 s，盘离开左拍，从负 y 端第1、2根立柱间滑到右臂侧。首隙通过时间约为视频 1.4 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；左臂 panda-0 刚性安装的蓝色拍板击中橙色小方盘并使其离拍滑行。现有接触方式没有击打，不属于夹持或持续推扫。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 81, + "text_zh": "观察：视频 2.04–2.28 s，右臂 panda-1 的蓝拍迎向盘，盘随后向柱列返回；视频 2.36–3.44 s，盘停留、回弹于负 y 端柱隙附近，没有经靠长侧轨的第3、4根立柱间返回左侧。视频 3.8–5.8 s，盘仍在负 y 端附近；视频 6.0–6.48 s 的返击重试被右手与拍板遮挡，未见盘从正 y 端返隙穿出。" + }, + { + "t": 6.48, + "log_step": 97, + "text_zh": "观察：视频 6.24–6.48 s，右臂末端逼近负 y 端立柱并在柱边结束运动；log step 97 的机器人服务结果报告最后现场回合 episode 4 在 control_steps=645 时 done=True、reason=failed、why=forbidden_tool_fixture_contact（工具与固定障碍禁碰）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；视频 2.04–2.28 s，右臂 panda-1 的刚性蓝拍接触并返击橙色盘。末段同臂返击重试还发生拍板与固定立柱的碰撞（log step 97 的服务禁碰结果）；击打及意外碰撞没有合适的现有接触方式值。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": 87, + "text_zh": "观察：视频 2.76–3.44 s，左臂蓝拍在柱列正 y 一侧向前挥动，而橙色盘在负 y 端第1、2根立柱附近，两者没有相遇；盘没有由左拍送过中间隙。视频 5.44–6.48 s，左臂再次移向中间区域，但未见盘与左拍接触或经过中隙；前置返隙也未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打尝试（空挥）；左臂 panda-0 的蓝拍在视频 2.76–3.44 s 执行前挥，但没有碰到仍在负 y 端的盘。按实际尝试记录作用端，不表示已建立工具与盘的接触；现有方式没有击打或空挥值。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.48, + "log_step": 97, + "text_zh": "观察：视频 3.2–5.2 s，右臂虽向短挡墙附近移动，但未见它将盘朝球门线击出；视频 5.44–6.48 s，右臂返回负 y 端柱旁重试返击并终止。全片没有盘越过短挡墙前门线的过程，前两项后续过隙条件也未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 2.4, + "log_step": 81, + "where": "操作中", + "evidence_zh": "观察：视频 2.04–3.44 s，右臂返击后盘没有到达正 y 端指定返隙，而是在负 y 端立柱附近运动。视频 5.44–6.48 s，右臂重试返击仍未修复该步骤，最后在立柱边终止；log step 97 的服务结果为 forbidden_tool_fixture_contact。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.4, + "log_step": 81, + "evidence_zh": "观察：视频 2.04–2.28 s，右臂蓝拍与盘相遇并使盘返回柱列；视频 2.36–3.44 s，盘的返回路线落在负 y 端立柱附近，没有进入长侧轨旁的正 y 端返隙。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 6.4, + "log_step": 97, + "evidence_zh": "观察：视频 6.24–6.48 s，右臂拍板随手部进入负 y 端立柱旁并结束运动；log step 97 的机器人服务报告 forbidden_tool_fixture_contact，确认这次返击重试发生工具与固定障碍接触并判负。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 81 的脚本目标是右拍斜向左侧及正 y 方向返击，log step 96 又提交右臂返击重试；视频 2.36–3.44 s 的实际盘路未进入指定返隙，视频 6.24–6.48 s 的右拍还进入柱边，且 log step 97 服务确认工具禁碰。证据支持返击方向及避障控制失败，但不足以区分接触几何、轨迹生成与跟踪误差。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志，也没有逐步原生 phase、拍盘接触对、速度及击打间隔读数；节点时间以视频近似判定。末段右手遮挡拍板与立柱的具体接触面，服务仅确认工具与固定障碍禁碰；控制根因不能可靠细分。原生连续指标未由评分器报告，均留 null。" + }, + "summary_zh": "最后现场回合中，左臂在视频约 1.4 s 击盘通过首隙，完成 1/4 个节点。右臂返击未把盘送过正 y 端返隙，后续左拍空挥；右臂重试时碰到立柱，机器人服务在 log step 97 报告工具与固定障碍禁碰并终止。缺少状态日志及原生阶段和接触读数，过隙时刻为视觉近似，根因仅能判为控制问题。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "首隙约视频 1.4 s 通过（log step 82 的 control_steps=135 读数 x=0.10 恰在过线前，与视频吻合），右返隙未完成、其后节点未达，断点在 right_return_gap，末段服务报告 forbidden_tool_fixture_contact，均有视频与服务读数支持；未发现需改内容的错误。注：log 中 control_steps=255 的盘位读数（y=+0.077）与视频中盘留在负 y 端不一致，疑为相机检测误读，标签正确地没有采用它。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:24:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--ibskn6t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "91df8ff2a135a1ec22e7463d11502d230f493c1ddfc24f6f23955957042df859", + "video_sha256": "aa0dfb6fb8a4fd7a6af98ef16e6ffb8d38ea9df1025ca8acdab13c397910d09e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn.json new file mode 100644 index 0000000000000000000000000000000000000000..2349c7e4aed198ac9d0863e9705afab7587c21f2 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 850, + "sim_steps": 2517, + "calls": 81, + "rows": 2517, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3467.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.253, + "peak_processes": 7, + "peak_disk_gb": 0.325, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn/replay.mp4", + "duration_s": 8.56, + "fps": 25.0, + "frames": 214, + "sha256": "94c2dee02fff08f45fb1811f52ce03a6a69d28ad7a40a7a413614fc3008b2f54" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.84, + "log_step": 111, + "text_zh": "观察：视频 0.72–1.00 s，左臂 panda-0 的蓝色拍板迎向来盘并触盘，橙色小方盘随后反向朝右臂侧滑动，与左拍分离。log step 111 是最后一次重置后的现场回合控制代码，包含这次左拍击打；此前回合的测试不计入本轨迹。" + }, + { + "t": 1.44, + "log_step": null, + "text_zh": "观察：视频 1.20、1.36、1.44、1.52、1.60 s 的连续近裁帧显示，小方盘从负 y 端第1、2根橙色立柱之间滑过柱列，离开左臂侧后继续向右臂侧运动，视频 2.80 s 已停在右侧。推断：首隙按要求方向通过的时刻约为视频 1.4 s（视觉估计，约 ±0.2 s）；此事件锁存至结尾。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 0.8–1.0 s，左臂 panda-0 上固定安装的蓝色拍板撞击橙色小方盘，盘随后离拍滑行。候选：击打；接触方式词表无击打，瞬时撞击不宜归为持续推/扫；没有夹爪抓盘。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 111, + "text_zh": "观察：视频 4.64–5.20 s，右臂 panda-1 的蓝色拍板触盘并使盘离开原停留点；视频 5.20–6.32 s，盘向长侧轨方向滑行，但一直在柱列的右臂侧。log step 111 的代码将这段动作列为 Step 2A，击打方向为平面角80°；log step 114 另为 Step 2B 规划朝 (0.120,0.172) 的返隙击打。推断：视频此处的触盘是返隙前的定位轻敲，不是 Step 2B 返隙击打；未出现由右向左穿过正 y 端第3、4柱间隙的运动。" + }, + { + "t": 8.48, + "log_step": 114, + "text_zh": "观察：视频 6.40–8.52 s，右臂抬拍、转向并降低拍板准备 Step 2B 返隙击打，盘仍留在右臂侧，未穿过返隙；已密集检查视频 7.40–8.52 s。log step 114 的现场服务返回 episode=4、control_steps=850、done=true、why=limit_violation，预备移动仅执行71行，后续 Step 2B 击打提交被 EpisodeOver 拒绝。推断：返隙步骤已进入准备过程，但 Step 2B 返隙击打未执行，本节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 4.8–5.2 s，右臂 panda-1 的固定蓝色拍板轻敲橙色小方盘，使盘向长侧轨方向滑动；之后抬拍绕行并准备返隙击打。结合 log step 111 的 Step 2A 方向及 log step 114 的 Step 2B 代码，推断：此接触仅为返隙前的定位轻敲，不是 Step 2B 返隙击打；后者在预备移动因 limit_violation 终止后未执行，本节点所需的返隙击打接触未发生。按实际接触规则保留此次定位轻敲记录；候选：击打，词表无该接触方式，不能以抓握或持续推/扫代替。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.52, + "log_step": null, + "text_zh": "观察：已检查视频 0.00–8.52 s，左臂在首击后移开拍板，未再击中小方盘；视频 5.20–8.52 s 盘始终在右臂侧，没有先返左再由左拍击过中隙的过程。推断：前置返隙未完成，本节点未达到；左拍的预备移位不计为完成中隙击打。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.52, + "log_step": 114, + "text_zh": "观察：视频 0.00–8.52 s 未出现完成前三次过隙后的右拍朝短挡墙球门线击盘；最后一秒盘停留在柱列右侧、长侧轨附近，没有朝短挡墙越过门线。log step 114 显示服务已在返隙预备移动时终止回合。推断：本节点的前置步骤未达到，越门线步骤未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 8.5, + "log_step": 114, + "where": "操作中", + "evidence_zh": "观察：视频 4.8–5.2 s 右拍已作定位轻敲（log step 111 的 Step 2A），随后盘只沿柱列右侧滑向长侧轨；此接触不是 Step 2B 返隙击打，尚未返隙。视频 8.20–8.52 s 右拍仍在下降准备下一次击打，画面结束时盘没有过隙；log step 114 的现场服务在此预备移动中返回 episode=4、control_steps=850、sim_time_s=8.5、done=true、why=limit_violation，之后的 Step 2B 返隙击打命令被拒绝，未执行。推断：最后现场回合与视频相符，控制步850×代码dt 0.01 s=视频约8.5 s，已用视频末尾的降拍及8.52 s末帧核对；首个未修复失败步骤是右击过返隙。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 8.5, + "log_step": 114, + "evidence_zh": "观察：log step 114 的现场机器人服务明确返回 why=limit_violation、done=true、reason=failed，发生于右臂返隙击打的预备移动；视频 8.20–8.52 s 显示右拍仍在降向盘旁，随后回合结束，未完成返隙。推断：本次失败是机器人运动安全限值违规；未见可进一步定为碰撞、失衡或失握的证据，因此使用约束现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 114 中 agent 的控制脚本向现场机器人服务提交右臂返隙击打前的两段关节位置轨迹（dt=0.01 s，linear插值）；服务执行71行便报告 limit_violation，实际击打段尚未执行。视频 7.80–8.52 s 与该预备移动一致。推断：这次安全限值失败发生在 agent 生成并执行的运动控制轨迹中，支持粗粒度控制归因；日志没有给出触发项，不能进一步判为某一关节速度、加速度、力矩参数或反馈控制问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 内有本次完整视频和 run.json、成功参照视频，但没有逐物理步状态日志；log step 114 只给出 limit_violation，未给出具体触发的安全量与阈值。视频可判断过隙和实际触盘，不能精确核实1 ms级接触登记、拍速及击打间隔，首隙时间为视觉估计；控制根因保留粗粒度。原生指标的五项数值均未在 reward 中报告，故填 null。" + }, + "summary_zh": "观察：最后现场回合的左拍击盘后，小方盘约于视频 1.4 s 经负 y 端首隙到达右臂侧，最终完成1/4节点；右拍随后仅作 Step 2A 定位轻敲并将盘移向长侧轨；Step 2B 返隙击打尚未执行，返隙未完成，后两步也未发生。观察：视频约 8.5 s 右臂仍在准备返隙击打，log step 114 的现场服务以 limit_violation 终止回合；推断：断点为右击过返隙，根因可归到控制。观察：没有逐物理步状态日志或具体超限项，无法进一步区分安全量和控制子类；log step 118 只改写了脚本，没有再次执行，不计入评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（首隙达成约 1.4 s、其余三节点未达、断点 right_return_gap、约束/控制）与视频和 log step 111/114 基本一致；仅有一处把右拍的定位轻敲当作返隙击打的归因问题（minor）。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "首隙约视频 1.4 s 达成、其余三节点未达、断点 right_return_gap、约束/控制归因均与视频和 log 一致；第一轮的定位轻敲问题已修正，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:38:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--jbvhrgn/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9b9013a08ecbeedc9562b08514b2f06774f1b7aefa5d0f03230c5167de0c0dc8", + "video_sha256": "94c2dee02fff08f45fb1811f52ce03a6a69d28ad7a40a7a413614fc3008b2f54", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw.json new file mode 100644 index 0000000000000000000000000000000000000000..63e80e9c3bc852fb35d8e87da12892b868fcd286 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 4, + "sim_steps": 516, + "calls": 44, + "rows": 396, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1040.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.203, + "peak_processes": 9, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw/replay.mp4", + "duration_s": 0.08, + "fps": 25.0, + "frames": 2, + "sha256": "6d7c22d693939631a4d723156ef011a73feca515720c103ce401fa90b02d2dd7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.04, + "log_step": 74, + "text_zh": "观察：已逐帧检查本次完整视频的 0.00 s、0.04 s 两帧；橙色小方盘只在初始位置附近向左移动，始终与左臂蓝色拍板分离，没有左拍击盘、离拍后由左向右穿过首隙的过程。log step 74 的最后一局在首击接近段提交后返回 done、reason=failed；log step 78 确认 episode=4、control_steps=4。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 0.00 s、0.04 s 中，左臂 panda-0 的固定蓝色拍板与橙色小方盘明显分离；实际记录仅到首击接近的起始阶段，未见拍板触盘，也未见夹爪抓盘。log step 74 显示接近段提交后本局立即结束；这里记录该准备阶段尚无目标接触，不表示完成了击打。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.04, + "log_step": null, + "text_zh": "观察：视频 0.00 s、0.04 s 中右臂拍板保持在初始区域，与小方盘分离，没有右拍击盘后由右向左穿过长侧轨旁返隙的过程。推断：首隙节点未达成，且本次完整视频在首击前的接近阶段即结束，右击返隙未启动。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.04, + "log_step": null, + "text_zh": "观察：视频 0.00 s、0.04 s 中小方盘仍在初始区域，未见第二次左拍击盘或由左向右穿过中间柱隙。推断：首击尚未完成且前置右击返隙也未达成，第三阶段未启动。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.04, + "log_step": null, + "text_zh": "观察：视频 0.00 s、0.04 s 中小方盘与右侧短挡墙及门线区域相隔，未见末次右拍击盘或盘越过球门线。推断：本次完整视频仅含首击接近段，前三阶段均未达成，末次右击未启动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_first_gap", + "t": 0.04, + "log_step": 74, + "where": "操作中", + "evidence_zh": "观察：视频 0.00 s、0.04 s 中两拍仍在初始区域，小方盘尚未接触左拍。log step 74 中 agent 脚本在最后一次 reset 后调用首击 strike 的 move_tools 接近段，提交后服务返回 episode done、reason=failed、仿真 0.04 s；随后脚本出现数组真值异常。log step 78 的服务状态确认最后一局 episode=4 已结束，control_steps=4、resets_left=0。推断：断点属于已经提交接近运动的左击过首隙步骤；视频 0.04 s 仅作为末帧导航锚点，不将 agent 工作时间换算成视频时间。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 74, + "t": 0.04, + "note_zh": "候选：控制脚本异常；返回值接口与重置后的控制状态管理有误，现有证据不足以细分为某种物理跟踪或接触设计问题。", + "evidence_zh": "观察：log step 64 将 IK 回退返回值从 (q, err) 改为按误差排序的 results[0]，log step 75 修复时明确解包 e,q 并返回 q,e；log step 74 的调用端仍按 q2,err 接收，最终在 if err>2e-2 处抛出数组真值异常。该局脚本还在 reset 前构建 c，reset 后又把旧 c 赋给 d.c；同一 log step 的新控制器初始化读到仿真 0.00 s、盘位置约 (0.229,-0.126)，随后实际驱动却继续使用仿真 1.31 s、盘位置约 (-0.122,-0.126) 的旧数据，并打印首段关节差 5.0680 rad。推断：评分局的首击接近由有缺陷的控制脚本生成，重置前状态被沿用，IK 接口也不一致；这些是控制实现错误。服务在该段提交后已经判负，不能把后续 Python 异常本身断言为唯一终止触发器。" + } + ], + "gap_zh": "观察：inputs/ 提供了完整的两帧视频和运行日志，但没有状态日志；评分器只报告 failed，未报告具体碰撞、穿透或机器人安全限值事件。视频 0.00 s、0.04 s 间隔内的运动细节不可见，两帧没有呈现足以判定撞击、越限或跟踪失稳的物理失败过程，因此失败现象层留空；不能把尚未接触的接近段直接当作击打落空。推断：控制脚本缺陷有代码和日志支持，但具体哪一条物理判负规则被触发仍无法确定。", + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + } + }, + "summary_zh": "评分对象是最后一次重置后的第4局；本次完整视频只有视频 0.00 s、0.04 s 两帧，四个节点均未达成，先前各局的测试不计入进度。最后一局在左击过首隙的接近阶段即被服务判负，日志显示控制脚本沿用重置前状态并存在 IK 返回顺序错误；后续修复没有恢复已结束的评分局。缺少原生物理判负事件与状态日志，无法确定碰撞或安全限值等具体失败现象。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅两帧（0.00/0.04 s），四个节点均未达成，与帧和 log step 74/78 一致；断点 left_first_gap、根因“控制”（IK 返回顺序错、沿用重置前状态、首段 5.07 rad 关节差）有日志支持，现象层留空并有 gap_zh，合规。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": "2026-10-30T04:27:44Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--mimjtrw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d7672a79fccdc1b52f6b14e853ff908fa198457848cb823ffe9235c4ec7eee91", + "video_sha256": "6d7c22d693939631a4d723156ef011a73feca515720c103ce401fa90b02d2dd7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3156219c62602416f4550fab019a7fc368d0d3 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 180, + "sim_steps": 1306, + "calls": 100, + "rows": 1306, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1825.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.426, + "peak_processes": 12, + "peak_disk_gb": 1.106, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x/replay.mp4", + "duration_s": 1.84, + "fps": 25.0, + "frames": 46, + "sha256": "9c7954293e14e0c148545526657d635b36e232bee0f71013877d28d1cd863422" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.76, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.12, + "log_step": 120, + "text_zh": "观察：视频 0.00–0.96 s，橙色小方盘从右侧经负 y 端首隙向左臂滑来；视频约 1.08–1.12 s，左臂 panda-0 的蓝色拍板与盘接触，盘随后反向朝右侧移动。" + }, + { + "t": 1.76, + "log_step": 124, + "text_zh": "推断：逐帧检查视频 1.60–1.80 s，盘从首根、第二根立柱之间向右穿出，末段盘与左拍拉开，约视频 1.76 s 盘心越过柱列对应横线，首隙步骤据此记为达到（时间约有 0.08 s 误差）。log step 124 的 agent 图像反投影结果将末帧盘位置估为 (0.1338, -0.1377) m，与可见过线方向和间隙一致；这不是原生 phase 读数。" + }, + { + "t": 1.8, + "log_step": 122, + "text_zh": "观察：log step 122 记录最后回合仍在 p1push 时 ended/failed；log step 124 的服务状态为 episode=4、control_steps=180、done=true。控制周期在 log step 6 为 0.01 s，180 步对应仿真 1.80 s，与视频 1.80 s 的触柱终止画面核对一致；本标注时间取自视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；视频约 1.08–1.76 s，左臂 panda-0 刚性安装的蓝色拍板碰盘并沿 +x 送出橙色小方盘，随后盘离拍；未合指夹盘。接触方式词表没有击打项。视频约 1.80 s，该拍板还与负 y 端首根橙色立柱相接。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": 122, + "text_zh": "观察：视频 0.00–1.80 s，右臂 panda-1 只移动到预备姿态，蓝拍始终未碰到小方盘；盘在左拍作用下仅向右经过首隙，没有右拍击盘后经长轨旁正 y 端间隙向左返回的过程。log step 122 显示回合在 p1push 即结束。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": 122, + "text_zh": "观察：视频 0.00–1.80 s，左臂仅在负 y 端首隙附近作用于小方盘，没有在右拍返盘之后再次击盘通过第二、第三根立柱之间的中隙；末帧盘仍在首隙右侧附近。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": 122, + "text_zh": "观察：视频 0.00–1.80 s，右臂蓝拍未击盘，盘没有到达右侧短挡墙前的球门线；视频 1.80 s 结束时盘只到首隙右侧附近，未发生右臂最终击打越门线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 1.8, + "log_step": 122, + "where": "转场", + "evidence_zh": "观察：视频 1.60–1.80 s，小方盘穿过负 y 端首隙后与左拍分离并滑到柱列右侧，左臂蓝拍仍继续向前，末帧与负 y 端首根橙色立柱贴合；右臂蓝拍尚未击盘。log step 122 报告 ENDED at p1push failed，log step 124 的服务状态确认为最终评分的第 4 回合、180 个控制步。推断：首隙已按视频约 1.76 s 的视觉证据记达成，碰柱发生于该结果达成后的跟进动作，阻断了向右击过返隙的衔接，故断点归于下一未完成步骤 right_return_gap，位置为转场；不把 p1push 这一脚本段名等同于语义步骤仍未完成。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.8, + "log_step": 122, + "evidence_zh": "观察：视频 1.60–1.80 s，左臂蓝拍逐渐逼近负 y 端首柱，末帧拍板与柱侧边相接，盘则继续向柱列右侧滑出；log step 122 的 p1push 在此终止为 failed。推断：该可见工具与固定立柱的碰撞符合任务禁止拍板碰立柱的规则；服务未输出更细的原生判负字段。 首隙约视频 1.76 s 已记达成，此处碰撞位于其后的跟进动作、右拍开始击盘之前。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 119 的执行脚本中，settle 将 d.q 与同次返回 proprio 的关节位置做比较，二者是同一反馈的副本，未检查是否到达原定预备位；随后 push 从实际拍位生成 0.19 m 的整段推进，p1push 批量执行期间没有拍板位置或柱距纠偏。视频 1.60–1.80 s 可见拍板推进到首柱处；log step 124 的 agent 正运动学估计末端为 (0.0979, -0.1668, 0.0334) m，而预备目标 y 为 -0.1295 m。这支持到位验证及执行反馈不足，不能据此证实 agent 所称的反作用力机制。 该推进的反馈缺口使左拍在首隙已记达成后仍逼近首柱，阻断下一步右击过返隙的衔接。" + } + ], + "gap_zh": "没有状态日志，服务状态仅给出 failed，未报告原生 phase、接触对或具体违规名称。首隙完成依据视频末段的过线与离拍作视觉推断，无法逐项核验 1 ms 级有效击打速度、登记间隔与离拍条件；约视频 1.76 s 的达到时间有约 0.08 s 不确定性。agent 在 log step 152 将侧偏归因于盘的反作用力，但缺少力或跟踪序列来验证该机制；不把这一自述作为已证实根因。" + }, + "summary_zh": "最终评分的是第 4 回合：左臂将小方盘送回负 y 端首隙，约视频 1.76 s 视觉推断完成首步，后三步均未达到，终态为 1/4。首隙达成后，左臂在本次击打后续推进中于视频约 1.80 s 碰到首根立柱而结束，右拍尚未开始击盘，断点为右击过返隙的转场；执行脚本的到位验证与反馈纠偏不足支持控制归因。缺少原生阶段和接触事件记录，首步的毫秒级验收及确切判负通道不能独立核实；前几回合的进展和结束后修改的程序均未计入。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "视频、log 与标注基本一致：第 4 回合仅 1.84 s，盘末帧位于 x≈0.134、y≈-0.138（log step 124 blob），首隙越线成立，时间与接触无明显错误。但断点 ref 指向已标 final=true 的 left_first_gap，自相矛盾：断点应是未达成的第一步。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮复核：首隙视觉推断达成（log step 124 盘 blob x=0.1338>0.12、y=-0.1377 在隙内，视频约1.76 s 过线）与断点 right_return_gap/转场、被挡/碰撞、反馈控制均与视频和 log step 122/124 一致，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": "2026-10-30T04:37:55Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--nv4gg8x/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a35add1f9404f2e2d30255843f9fb581a0c244eccc90822998d70e1d8820ac7", + "video_sha256": "9c7954293e14e0c148545526657d635b36e232bee0f71013877d28d1cd863422", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd.json new file mode 100644 index 0000000000000000000000000000000000000000..b83059c6e50ba61dd011043633b0ad649baccf28 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd.json @@ -0,0 +1,293 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1907, + "sim_steps": 3885, + "calls": 112, + "rows": 3885, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1200.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd/replay.mp4", + "duration_s": 19.12, + "fps": 25.0, + "frames": 478, + "sha256": "651827ea6b50d70eb9e3c6842e903bc3dcd959d011a8e95ec5bff96f7ed1ce05" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.88, + "log_step": null, + "text_zh": "观察：视频 0.64–0.88 s，橙色小方盘滑向左臂 panda-0 的蓝色拍板，左拍向盘运动；视频 0.96–1.28 s，盘反向离拍，从负 y 端第1、2根立柱之间滑到右臂侧。" + }, + { + "t": 1.1, + "log_step": null, + "text_zh": "推断：按视频 1.04、1.12、1.20 s 中盘相对首隙两根立柱的位置，首次向右过线约在视频 1.1 s（约有 0.1 s 读帧误差）；评分器 success=1 支持首阶段的击打、离拍和过线验收已满足。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；词表没有击打方式。视频 0.72–0.96 s，左臂 panda-0 的刚性蓝色拍板撞击橙色小方盘，随后盘离拍滑行；夹爪没有夹住盘。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [ + [ + 3.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 1.60–2.72 s，盘到达右臂 panda-1 拍板附近，接触区部分被右手遮挡，右拍运动后盘改向靠长侧轨的正 y 端；视频 2.88–3.36 s，盘从靠侧轨的第3、4根立柱间返回左臂侧。" + }, + { + "t": 3.1, + "log_step": null, + "text_zh": "推断：根据视频 3.04–3.36 s 中盘在返隙前后的相对位置，将向左过线记为约视频 3.1 s，精度约 0.2 s；评分器 success=1 支持该顺序阶段已被接受。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；词表没有击打方式。视频约 1.76–2.72 s，右臂 panda-1 的刚性蓝色拍板作用于橙色小方盘，使其离拍后朝正 y 端返隙运动；触盘瞬间部分被手部遮挡，后续盘的改向和返隙通过可见。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [ + [ + 15.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 4.00–4.80 s，左臂朝盘运动后，盘移向立柱附近；视频 6.00–8.40 s，盘仍停在靠正 y 端立柱旁，尚未通过中隙。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 8.80–9.20 s，右拍向左运动，将柱旁的盘拨回左侧；视频 9.60–10.00 s 左拍再次作用于盘，视频 11.60–12.80 s 左拍继续沿柱列旁拨动盘，随后重新对准中隙。" + }, + { + "t": 15.12, + "log_step": null, + "text_zh": "观察：视频 14.72–14.96 s 左拍前移触盘，视频 15.04–15.28 s 盘离开左拍并从第2、3根立柱之间滑向右侧；视频 15.44–15.76 s，左拍撤开，盘继续在右侧滑行。" + }, + { + "t": 15.1, + "log_step": 90, + "text_zh": "推断：以视频 15.04、15.12、15.20 s 的中隙穿越画面，将该阶段首次完成记为约视频 15.1 s；此前柱旁停留与回拨没有完成这个节点，最终成功判决支持此次过线满足阶段验收。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 8.80–9.20 s 右臂 panda-1 的蓝色拍板先把橙色小方盘从柱旁拨回左侧，随后左臂 panda-0 在视频 9.60–10.00 s、11.60–12.80 s 用蓝色拍板拨动并调整盘的位置；两拍先后作用，未夹住盘。" + }, + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；词表没有击打方式。上述回拨和调位之后，视频 14.72–14.96 s 左臂 panda-0 用蓝色拍板向前击盘，视频 15.04–15.28 s 盘离拍通过中隙；早先视频 4.00–4.80 s 的左拍触盘也属于本节点的尝试。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [ + [ + 19.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.56, + "log_step": null, + "text_zh": "观察：视频 16.40–17.60 s，右臂 panda-1 将拍板移到盘后并下降；视频 17.92–18.40 s 右拍前移作用于盘，视频 18.56–18.96 s 盘已离拍，朝右侧短挡墙滑行。" + }, + { + "t": 19.0, + "log_step": 105, + "text_zh": "观察：视频 18.96、19.00、19.04、19.08 s，盘到达短挡墙前的门线区域，右拍与盘保持分离；log step 105 的服务返回 episode=4、control_steps=1907、sim_time_s=19.07、done=true、reason=success；run.json 的评分器字段 success=1、live_success=1、graded_by_live=1。" + }, + { + "t": 19.0, + "log_step": 105, + "text_zh": "推断：结合末段自由滑行画面与现场成功判决，将越门线达成时间记为约视频 19.0 s；画面没有标绘精确门线，具体毫米位置与击打间隔以服务验收为据，不从 agent 自行估计的盘坐标反推。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；词表没有击打方式。视频 17.92–18.40 s，右臂 panda-1 的刚性蓝色拍板向前击打橙色小方盘；视频 18.56 s 后盘与拍板分离并自行滑向门线；没有抓握或托举。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "最终受评视频是 log step 87 重置后执行的第4回合；双臂依次完成左击过首隙（约视频 1.1 s）、右击过返隙（约视频 3.1 s）、左击过中隙（约视频 15.1 s）和右击越门线（约视频 19.0 s），四个事件节点均锁存为真。中途盘在柱旁停留，机器人先后回拨、调整盘的位置后完成中隙击打，最终服务在 log step 105 返回 success，受评分数为1。无状态日志，视频中的手部遮挡及未标绘门线限制精确接触、过线位置和毫秒级阈值的核查；时间为逐帧目测近似，五项原生指标未被评分器单独报告，故均填 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "受评第4回合成功，四个事件节点均为真且顺序与评分器成功一致；时间在约1秒内合理，接触标注（击打=其他、推/扫）合理，无失败层。画面较小，逐帧细节未能完全独立核对，但未发现矛盾。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:31:17Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--sjre2zd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fdf7c173d19cfbae3477c9e90096369e3ec62a34f28fd8a7d651027bb2f172f9", + "video_sha256": "651827ea6b50d70eb9e3c6842e903bc3dcd959d011a8e95ec5bff96f7ed1ce05", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna.json new file mode 100644 index 0000000000000000000000000000000000000000..a7444d11d37aa87232e5abde8dcbf7dded9a9cc6 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 80, + "sim_steps": 351, + "calls": 19, + "rows": 351, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2079.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna/replay.mp4", + "duration_s": 0.84, + "fps": 25.0, + "frames": 21, + "sha256": "e0584a0c18ad2ca28d625b107f0989ebebccd08580724d336cbd169a6940945d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": 56, + "text_zh": "观察：已逐帧检查视频 0.00–0.80 s（共21帧），左臂蓝拍从初始位置向来盘方向调整并降低，橙色小方盘一直从右侧穿过负 y 端柱隙向左侧滑来；直至视频 0.80 s，盘仍在左拍右前方，未见接触后的反向滑行或从左向右再次越过首隙，故首次击盘过隙未达成。" + }, + { + "t": 0.8, + "log_step": 56, + "text_zh": "观察：log step 56 明确重置为 episode 4，随后服务返回 control_steps=80、done=True、reason=failed，脚本打印服务返回的 forbidden_tool_fixture_contact（拍板与场景固定物禁碰）；log step 57 再次确认同一末回合已结束。推断：这是本视频对应的最后现场评分回合，而不是日志中前三次测试回合；log step 5 的控制周期为0.01 s，80步对应视频 0.80 s，已与末帧左拍低位、右拍静止的状态核对，视频另含起始帧而总时长为0.84 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：非预期碰撞。左臂 panda-0 的固定蓝色拍板在首次接盘准备中与场景固定物发生禁碰（log step 56）；末段视频未见拍板击中小方盘，不能照抄典型击打接触。碰撞物疑为桌面，但无接触对可精确核实；这种意外碰撞不宜标为抓握、持续推扫或压擦。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": null, + "text_zh": "观察：视频 0.00–0.80 s，右臂蓝拍保持在初始位置，橙盘向左臂侧滑行，未见右拍击盘，也未见盘经长侧轨旁的正 y 端柱隙返回左侧；前置首次击盘也未完成。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": null, + "text_zh": "观察：视频 0.00–0.80 s，左臂仅调整首次接盘位置；未见前两次交替击盘，也未见橙盘受左拍击打后从中间柱隙由左向右穿过。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": null, + "text_zh": "观察：视频 0.00–0.80 s，右臂未作终局击打，橙盘一直远离右侧短挡墙方向滑行，未越过其前方球门线；前三个阶段均未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_first_gap", + "t": 0.8, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频 0.64–0.80 s，左臂蓝拍正对来盘调整到低位，橙盘尚未被击回；log step 56 的 episode 4 服务结果在80个控制步处报告 forbidden_tool_fixture_contact 并终止，log step 57 确认末回合失败且无重置余量。推断：首次左击的准备动作已启动，禁碰使该步骤未完成且无法在本回合修复，断点为左击过首隙。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 0.8, + "log_step": 56, + "evidence_zh": "观察：log step 56 在最后现场回合返回 forbidden_tool_fixture_contact，即机器人拍板碰到禁止接触的场景固定物；视频 0.64–0.80 s 左拍降低贴近桌面后画面结束，右拍仍静止。推断：该碰撞终止了首次击盘准备，碰撞位置较可能是左拍下缘与桌面；具体接触对未记录，不把较可能的桌面接触当作已直接看清的事实。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 0.8, + "log_step": 56, + "source_zh": "日志", + "evidence_zh": "推断：左拍实际运动未保持规划净空，控制器未及时补偿跟踪偏差。log step 43 的脚本设 Z_STRIKE=0.032 m；log step 45 的控制循环把规划终点作为后续起点，log step 56 只在动作块返回后打印实测 tool_pose，未用它修正高度。该回合两块逆解误差均打印0.0001，但目标左拍 z=0.032 m，实测先为0.030 m、失败时为0.025 m；拍高0.05 m（inputs/run.json 的 task_text），因此其下缘已接近桌面 z=0。视频 0.64–0.80 s 的低位左拍与服务禁碰结果一致；agent 在 log step 57 自述“下垂擦桌”是相符的解释，尚不能独立证明具体动力学机制。" + } + ], + "gap_zh": "没有状态日志或原生逐毫秒接触对，视频分辨率也不足以直接辨认左拍下缘与桌面的毫米级接触；服务确认了拍板与场景固定物禁碰，但未给出具体物体名。控制跟踪偏差有本回合实测输出支持，具体下垂机制及提高拍高的修复方案未验证。任务列出的五项原生指标在评分器字段中均未报告，故 value 为 null；日志里的 ph 1 是 agent 脚本内部阶段，不作为原生阶段判决。", + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + } + }, + "summary_zh": "最后现场评分回合仅进行了首次左拍接盘的准备动作；视频 0.00–0.80 s 内橙盘持续向左滑行，未被击回，四个节点均未达成。首次击盘准备因拍板与场景固定物禁碰而终止，日志中的实际拍高低于目标且未及时补偿，支持反馈控制不足的归因。缺少逐步接触对，碰撞物为桌面的判断及具体下垂机制仍属推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点均未达成、断点 left_first_gap（操作中）、被挡/碰撞 + 反馈控制与视频（0.00–0.84 s，盘一直向左滑、未被击回）和 log step 56/57（服务返回 forbidden_tool_fixture_contact，实测拍高 0.030→0.025 m 低于目标 0.032 m）一致；碰撞物为桌面的判断已标为推断，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": "2026-10-30T04:29:40Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--ybkslna/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "63fa4c3f73996a823d375a8ea618ea6e19380cf5d051ede99ae438891d77c1b7", + "video_sha256": "e0584a0c18ad2ca28d625b107f0989ebebccd08580724d336cbd169a6940945d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l.json new file mode 100644 index 0000000000000000000000000000000000000000..63dce299ee42fc3146f66f69ca4e4c147ff0b3da --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 165, + "sim_steps": 1026, + "calls": 37, + "rows": 576, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 554.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.282, + "peak_processes": 7, + "peak_disk_gb": 0.385, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l/replay.mp4", + "duration_s": 1.72, + "fps": 25.0, + "frames": 43, + "sha256": "e4f7de457e9444859b98c0f1d471f73a4c12d34ab9cecd132dcdc8f55e2373c9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.04, + "log_step": null, + "text_zh": "观察：视频 0.80–0.92 s 左臂蓝拍与来盘相遇，橙色小方盘随后反向离拍；视频 1.00–1.08 s 盘从负 y 端前两根立柱之间向右臂侧滑出，约视频 1.04 s 记为首隙通过，时间误差约 0.1 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 0.80–0.92 s 左臂 panda-0 刚性安装的蓝拍撞击橙色小方盘，盘反向离拍。候选：击打；词表没有击打方式，非夹持或持续推扫。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.52, + "log_step": 108, + "text_zh": "观察：视频 1.08–1.68 s 小方盘一直留在柱列右臂侧；右臂蓝拍在视频 1.36–1.64 s 向柱列方向挥动，盘继续向其前下方滑动，没有转向正 y 端返隙，更未从返隙回到左臂侧。log step 108 的现场第4回合在本段结束时报 failed，后续无恢复。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 1.36–1.64 s 右臂 panda-1 用刚性蓝拍尝试返击；未见盘随拍转向，拍盘最近处部分被右手遮挡，不能确认瞬时触盘。候选：击打尝试；无夹持或持续推扫证据。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.64, + "log_step": 108, + "text_zh": "观察：视频 1.12–1.64 s 左臂从首击位置横移、转拍，末段蓝拍靠到柱列中部的立柱；此时盘仍在右臂前方，视频结束前没有返盘供左拍再击，也没有由左向右通过中隙。log step 108 的现场服务返回 forbidden_tool_fixture_contact。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：视频 1.52–1.64 s 左臂 panda-0 蓝拍在移往下一接盘位置时贴到柱列中部立柱，与 log step 108 的工具碰夹具终止信息吻合；尚未击到返盘。候选：碰撞；是拍板与立柱的意外接触，无合适的既有接触方式。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 0.00–1.68 s 未见小方盘完成返隙及中隙路线；末帧盘仍在右手前下方、短橙色挡墙之前，没有经过末次击打向短挡墙越过球门线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 1.5, + "log_step": 108, + "where": "操作中", + "evidence_zh": "观察：视频约 1.04 s 首隙已通过；视频 1.36–1.64 s 右臂实施返击挥拍，但小方盘继续向右手前方滑动，未返回正 y 端间隙，之后没有修复。视频约 1.64 s 左拍移位时靠上立柱，log step 108 的最后现场回合返回 forbidden_tool_fixture_contact 并终止；这是后续终止事件，首个未完成的返击仍为断点。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 1.5, + "log_step": 108, + "evidence_zh": "推断：视频 1.36–1.64 s 右拍向柱列和正 y 方向挥动时，小方盘尚沿首击后的路线滑向右手前下方，二者未形成把盘送回返隙的有效拦截；盘在视频 1.68 s 仍未转向返回。右拍的挥动与来盘到达没有配合，细小瞬时接触因右手遮挡无法逐帧确认。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 106 的控制脚本只在首段接近后估计来盘，随后整批提交各次击打；log step 108 打印按预设时序执行的 351 行动作，中途未依实际首击后的盘运动重新同步返击。视频 1.36–1.64 s 显示右拍挥过而盘未被送回；log step 109 的离线目标位置与 log step 110 的现场工具位置也有明显偏差（左拍目标约 [-0.020,0.260,0.038] m，现场约 [0.070,0.076,0.044] m）。控制脚本把预设运动时序当作实际执行进度，未补偿跟踪偏差；证据不足以进一步区分伺服参数、逆解轨迹与反馈环节。" + } + ], + "gap_zh": "没有状态日志，现场回合未输出原生 phase、逐对接触或各项原生指标；25 fps 总览中右拍附近有局部遮挡，不能确认毫秒级拍盘接触及击打速度阈值。首隙和后续未达按可见盘路判断，返击动态时机及控制归因含推断；工具碰夹具由最后现场回合的服务终止字段支持。log step 114 之后的撤拍修改未再执行，log step 123 直接报告回合已结束，不能用于补记进度。" + }, + "summary_zh": "评分采用 log step 108 的最后现场第4回合：左拍击盘并约在视频 1.04 s 通过首隙，最终完成 1/4 个节点。右拍返击与来盘运动未同步，未将盘送过返隙；随后左拍移位碰立柱，现场服务报告 forbidden_tool_fixture_contact 终止。缺少原生阶段与接触记录，右拍瞬时触盘部分遮挡，精细时序与控制子因只能推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "视频仅1.72 s（第4回合现场，control_steps 154，sim_time 1.54 s），25 fps 下小盘与拍板过小，我无法用帧推翻首隙通过、返隙未完成、断点在右击返隙的标注；与日志 failed / forbidden_tool_fixture_contact 一致，未发现可证明的错误。", + "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": "2026-10-30T04:30:26Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard--yjfnk9l/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f3ffc243b3cbc9ae610ef044d874e6c038dd21174af7aa29fe7d9c97dc735b12", + "video_sha256": "e4f7de457e9444859b98c0f1d471f73a4c12d34ab9cecd132dcdc8f55e2373c9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx.json new file mode 100644 index 0000000000000000000000000000000000000000..85ef520f3bc1ac3f77f8a1a8d662877424619cb9 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 215, + "sim_steps": 5444, + "calls": 136, + "rows": 6858, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1535.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 163.272, + "max_lag_s": 0.2222, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1501, + "late_steps": 0, + "requests_refused": 24, + "request_busy_s": 2.335, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.371, + "peak_processes": 10, + "peak_disk_gb": 1.028, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx/replay.mp4", + "duration_s": 2.2, + "fps": 25.0, + "frames": 55, + "sha256": "7cbdbf02979accf63722f62f6b1b62a03ecd9dd7fe227377f79b2bf54835f93d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.56 s 橙色小方盘从右侧经首隙向左滑到左臂 panda-0 的蓝拍前；视频约 0.56–1.56 s 盘停在左拍前方，随后左拍向左撤开。此处最初的过隙方向是右向左，不是本节点要求的左向右。" + }, + { + "t": 2.16, + "log_step": 163, + "text_zh": "观察：视频 1.60–2.16 s 左拍继续撤离，小方盘仍留在首隙左侧，没有离拍后向右过隙。log step 163 的服务结果为 episode=4、control_steps=215、done=true、reason=failed；这是 log step 163 启动的最后回合，与短视频末态相符。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 0.56–1.56 s 左臂 panda-0 刚性安装的蓝拍迎住橙色小方盘，盘减速停在拍前，随后拍撤开。候选：挡停；实际可见的是迎住来盘，并非持续推扫或夹持，也没有看到随后将盘向右击出的动作，故不照抄任务级的击打接触。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：视频 2.08–2.16 s 右臂 panda-1 在首击阶段移向接盘预备位，其张开夹爪靠短挡墙一侧的指尖逐渐贴上墙边，随即回合停止，支持夹爪与短挡墙碰撞。候选：碰撞；不是对盘的抓握、推扫或支撑，缺少原生接触对作精确核实。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.16, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00–2.16 s，右臂蓝拍始终与停在首隙左侧的小方盘分离，末段右臂只是向右侧短挡墙旁移动；未见右拍击盘或小方盘经长侧轨旁的正 y 端间隙返回。推断：首隙步骤未完成，本事件的前置条件也未满足。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.16, + "log_step": null, + "text_zh": "观察：视频 0.00–2.16 s 小方盘只从初始位置滑向左拍并停在首隙左侧；未见小方盘通过第2、3根柱之间的中间间隙，左拍末段撤开后也没有再次击盘。推断：右击返隙前置事件未发生，左击中隙未达到。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.16, + "log_step": null, + "text_zh": "观察：视频 0.00–2.16 s 小方盘没有被送到右臂侧短挡墙前，也没有右拍击盘后越门线的运动；末帧小方盘仍在首隙左侧。推断：前三个过隙事件尚未完成，终末击球事件未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_first_gap", + "t": 2.12, + "log_step": 163, + "where": "操作中", + "evidence_zh": "观察：视频 1.60–2.16 s 左臂仍在为首隙击盘撤拍调整，盘留在首隙左侧；右臂同时移向接盘预备位，其外侧指尖在视频 2.08–2.16 s 接近并贴上短挡墙边缘，回合随即停止。log step 163 的服务结果确认最后回合 episode=4 在 control_steps=215 时以 failed 结束。推断：这是首隙步骤操作过程中发生、此后未修复的失败；服务控制步长 0.01 s（log step 173），215×0.01=仿真 2.15 s，与视频 2.12–2.16 s 的终止姿态核对一致。" + }, + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.12, + "log_step": 163, + "evidence_zh": "推断：视频 1.92–2.16 s 的逐帧放大图显示，右臂 panda-1 的蓝拍位于短挡墙左方，张开夹爪靠墙侧的指尖却继续靠近墙边；视频 2.08–2.16 s 指尖与墙上缘贴合且运动终止。结合 log step 163 服务在同一末态报告 reason=failed，支持右夹爪碰到固定短挡墙；不是小方盘未被夹住或滑脱。具体接触对没有原生记录，碰撞判读含视觉推断。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 2.12, + "log_step": 157, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 136 将首击时右拍的接盘预备中心设为 (0.392,-0.1264,Z_PAD)；log step 157 的 plate_clear 只按蓝拍半长 0.05 m、半厚 0.006 m 的采样点检查固定物间隙，没有覆盖拍后方的夹爪。log step 163 的末态服务本体读数给出右手 TCP 约 (0.511,-0.126,0.077) m，右拍中心约 (0.391,-0.126,0.037) m；视频 2.08–2.16 s 正是夹爪靠短挡墙边缘、拍板仍远离墙的姿态。结合这一碰撞线索，右臂预备位没有给张开的夹爪留足固定物间隙，是首击中止的可能原因；具体接触几何尚待原生接触记录核实。" + } + ], + "gap_zh": "没有状态日志或原生接触对、穿透深度及具体 failure_reason；服务在 log step 163 只返回通用 failed，因此右夹爪碰短挡墙及其几何原因是结合末段逐帧图像、控制代码与末态本体读数的推断，不能确认它是唯一原生判负原因。agent 在 log step 182 自述的拍板碰柱或挤盘也只是猜测，未作为已证实原因。五项原生指标均未报告数值；25 fps 总览也不能核实毫秒级有效击打条件，但未向右过首隙这一可见事实足以判定四节点均未达到。" + }, + "summary_zh": "评分视频对应 log step 163 启动的最后第4回合：左拍迎住来盘后撤开，小方盘始终没有向右通过首隙，四个节点最终均未完成。视频约 2.12 s 右臂移向接盘预备位时，夹爪指尖贴近短挡墙并随回合判负而停止，推断首击步骤因夹爪碰墙中止，预备位的夹爪避障间隙不足。缺少具体失败码及接触对，上述碰撞和根因仍含推断；前面调试回合及结束后的离线修补不计入本段进度。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点均未达到、断点 left_first_gap（操作中）与 log step 163/167 的服务读数（episode 4，control_steps=215，failed）及 run.json 的 it5 行（puck x=+0.068 速度0，ph=1/push，右拍中心 (0.391,-0.126)）一致；碰撞/接触设计的判断已明确标为推断并在 gap_zh 说明缺少原生失败原因，未见需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:33:26Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--advmngx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e19a7ab000e02e55d14bd473d5110ba0ca060bc664f2eaa8f36df1cbe72701de", + "video_sha256": "7cbdbf02979accf63722f62f6b1b62a03ecd9dd7fe227377f79b2bf54835f93d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu.json new file mode 100644 index 0000000000000000000000000000000000000000..0aafb7349b866f41ac905a9dacd299ad7dfa5d37 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 863, + "sim_steps": 3928, + "calls": 105, + "rows": 2470, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 826.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 117.78, + "max_lag_s": 0.2012, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2500, + "late_steps": 0, + "requests_refused": 6, + "request_busy_s": 2.823, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.231, + "peak_processes": 9, + "peak_disk_gb": 0.518, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu/replay.mp4", + "duration_s": 8.68, + "fps": 25.0, + "frames": 217, + "sha256": "f7413dc0425240fb63220d3897963aa1b2887acc524bf90177569cd945a0a27f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.3, + "log_step": null, + "text_zh": "观察：视频 0.8–1.2 s 左臂 panda-0 的蓝拍接触橙色小方盘并使其反向；视频 1.24–1.40 s 盘离开左拍，从第1、2根柱之间向右臂侧穿出，约视频 1.3 s 越过首隙。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；视频 0.8–1.2 s 左臂 panda-0 上固定的蓝色拍板击中小方盘，随后盘离拍滑行；现有接触方式词表无击打，不标抓握。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.3, + "log_step": null, + "text_zh": "观察：视频 1.6–1.9 s 盘到达右臂 panda-1 蓝拍前沿，视频 1.9–2.4 s 右拍向柱列及长轨方向挥动，盘的一部分被右手遮挡；视频 2.5–3.2 s 仍可见盘在右手下方，视频 6.2–8.64 s 盘再次清楚露出，始终留在柱列右臂侧。左臂侧接盘区域没有出现参考成功视频 5.6–6.8 s 那样穿隙返回的盘，返隙未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；视频 1.6–2.4 s 右臂 panda-1 固定蓝拍与小方盘接触并挥拍，盘未通过规定返隙；词表无击打，不能用抓握表示。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.7, + "log_step": null, + "text_zh": "观察：视频 4.0–5.3 s 左臂蓝拍移至长轨旁，视频 5.3–5.8 s 向柱列方向挥拍，随后撤回；没有盘从左臂侧离拍穿过中隙。视频 6.2–8.64 s 盘仍位于右臂侧，且前置返隙未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打（空挥）；视频 5.3–5.8 s 左臂 panda-0 用固定蓝拍执行第三击动作，但未见蓝拍接触小方盘；按实际挥拍尝试记录作用端，不表示发生了击盘接触，词表无击打。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.64, + "log_step": 131, + "text_zh": "观察：视频 8.0–8.64 s 右臂向柱列附近下降，小方盘仍在右臂侧长轨前方，未朝短挡墙前的门线滑行，视频结束前没有终射越线；前置返隙及中隙均未完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 8.0–8.64 s 右臂进行终射预备下降，工具靠近柱列，但手部遮挡了可能的拍板/适配杆与柱的接触处；没有可确认的终射击盘接触，具体接触对未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 2.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.9–2.4 s 右臂挥拍后，盘没有经长轨旁的第3、4柱间返回左臂侧；视频 2.5–3.2 s 盘在右手下方露出，视频 6.2–8.64 s 仍留在右臂侧。此后未补成返隙，是首个未修复的失败步骤；log step 131 的机器人服务状态为 episode=4、control_steps=863、done=True、reason=failed。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.3, + "log_step": null, + "evidence_zh": "观察：视频 1.9–2.4 s 右拍挥动后，盘未沿要求的返隙方向穿回左侧，而在右手下方及柱列右侧停留；视频 6.2–8.64 s 可见盘仍在右侧。右击的出盘位置/方向没有产生规定的返隙结果。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 125 的实际启动版本先提交预设关节轨迹，监控循环把 detect_puck 的结果仅用于保存 last_puck 和打印，第二块轨迹也只按 control_steps>=200 提交，未用盘的位置修改击打轨迹；log step 127 启动该版本。视频 1.9–2.4 s 返击偏离后，两臂仍继续预设换位及空挥，直到视频 8.64 s 也未纠正盘的位置；缺少针对实际出盘结果的反馈修正使返击失败一直未获修复。" + } + ], + "gap_zh": "没有状态日志，机器人服务只返回通用 reason=failed（log step 131），未报告原生 phase、登记击打、速度或具体违规原因。视频 1.9–3.2 s 右手部分遮挡盘，结合之后盘仍留在右侧及左侧接盘区域始终没有盘判定返隙未达；不能精确验证毫秒级登记条件，亦不能确定视频末尾停止属于哪项安全/禁碰检查。log step 128 的 puck 坐标来自 agent 自写图像检测，不视为原生阶段读数。" + }, + "summary_zh": "最终评分回合为第4回合，左臂在约视频 1.3 s 将盘击过首隙，最终完成1/4节点。右臂返击未使盘穿回指定返隙，之后左臂挥拍及右臂终射预备也未补成后续目标；执行代码只监看盘的位置而不修正已提交的轨迹。无状态日志或原生阶段/违规明细，右手还遮挡部分返击过程；失败后 log step 134–135 的第三击修改未在评分回合执行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "首隙已越过（视频 1.0–1.6 s 盘被左拍击出并到达柱列右臂侧）、返隙未见盘回到左臂侧，断点 right_return_gap 与现象/根因在可见证据下可接受；右手遮挡盘，无法独立证伪，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": "2026-10-30T04:37:17Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--fmjpkhu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "59a81fff75dcf8116d87e5bfd2566da870685bf51e66e6c360e00fd2470f2abc", + "video_sha256": "f7413dc0425240fb63220d3897963aa1b2887acc524bf90177569cd945a0a27f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm.json new file mode 100644 index 0000000000000000000000000000000000000000..392d2e329b0b695c5fa6a7e89fe6b7d02d134215 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 2, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1456.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.045, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.176, + "peak_processes": 6, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "9392d53d6fa61bb5bf05fd9aa1d3e1b111a9e7fa80f773c0c435db3782fefc6a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 31, + "text_zh": "观察：视频 0.00 s（全片仅此一帧，亦为末帧）中，两台 Panda 的蓝拍均与橙色小方盘分离，保持初始姿态，未出现左臂击盘及随后过首隙的动作。log step 31 的机器人服务返回 running=False、steps=0；评分器 n_actions=0、sim_steps=0、rows=0，确认本回合没有启动运动。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 36 在动作启动前记录供应方过滤器中断。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 31, + "text_zh": "观察：视频 0.00 s 的唯一帧显示右臂蓝拍与小方盘分离，没有右臂击打或过返隙的过程；log step 31 的机器人服务返回 running=False、steps=0，评分器记录 sim_steps=0、n_actions=0，回合未启动，也未完成前置的左击过首隙。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 36 在动作启动前记录供应方过滤器中断。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 31, + "text_zh": "观察：视频 0.00 s 的唯一帧仍为初态，左臂蓝拍没有击盘或使盘穿过中隙；log step 31 的机器人服务返回 running=False、steps=0，评分器记录 sim_steps=0、n_actions=0，回合没有发生任何控制步，前置两次过隙均未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 36 在动作启动前记录供应方过滤器中断。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 31, + "text_zh": "观察：视频 0.00 s 的唯一帧中，小方盘仍在柱列旁，未到短挡墙前的球门区域，右臂蓝拍与盘分离；log step 31 的机器人服务返回 running=False、steps=0，评分器记录 sim_steps=0、n_actions=0，未发生最终击打越门线，前置三次过隙均未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 36 在动作启动前记录供应方过滤器中断。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 36, + "where": "首步前", + "evidence_zh": "观察：log step 36 最后一条消息为“This request was blocked by Gemini’s filters”；此前 log step 34 仅创建控制脚本，log step 35 只执行 --dry-run 并返回检测及逆解结果，没有提交机器人动作。log step 31 的机器人服务返回 running=False、steps=0；视频 0.00 s 是唯一初态帧，评分器 n_actions=0、rows=0、sim_steps=0。因此供应方过滤器在回合启动及结果形成前切断会话，未定位到任何物理步骤失败。" + }, + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 36 明确记录 Gemini 供应方过滤器拦截；log step 35 仅完成本地 --dry-run，评分器 n_actions=0、rows=0、sim_steps=0，未交付或执行动作轨迹。现有视频完整但只有视频 0.00 s 的一帧初态，没有状态日志或已执行的物理尝试可供诊断。按外部因素中断规则，本例不作为 agent 失败分析，断点保留 unknown／首步前，现象与根因均为空，不标“没尝试”；会话中的逆解测试和语法错误未进入评分回合，不能当成该回合的失败现象或根因。" + }, + "summary_zh": "本次视频仅含视频 0.00 s 的初始帧，机器人服务及评分器均记录零控制步、零动作，四个交替击打过隙／越门线节点最终均未完成（0/4）。agent 在本地编写脚本并通过 --dry-run（log step 34–35）后，供应方过滤器在 log step 36 中断会话，尚未启动评分回合；目录保留 success=0，但本例属于外部中断，不归为 agent 的物理失败。没有可诊断的执行轨迹或状态日志，故断点为 unknown／首步前，现象、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": 9, + "summary_zh": "标注正确：本回合在供应方（Gemini）过滤器于 log step 36 中断前未交付任何动作（n_actions=0、sim_steps=0），视频仅一帧初态，四个节点均未达成，断点 unknown／首步前，现象与根因为空并有 gap_zh，符合 03 的外部因素规则。", + "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": "2026-10-30T04:33:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--h9b3emm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bbc99fa3d3f4521bfc5aea5dea7aaa1b62d360f347bff4827665a1b728c66fb4", + "video_sha256": "9392d53d6fa61bb5bf05fd9aa1d3e1b111a9e7fa80f773c0c435db3782fefc6a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e8d87a8821d1a62b93f60dc47d7fad1c981e49 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 86, + "sim_steps": 5169, + "calls": 57, + "rows": 1325, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1051.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 155.011, + "max_lag_s": 0.2217, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4933, + "late_steps": 14, + "requests_refused": 3, + "request_busy_s": 1.884, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.199, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi/replay.mp4", + "duration_s": 0.92, + "fps": 25.0, + "frames": 23, + "sha256": "7e35bc5d00176c4e4e00a2681957c5984659acb3e45eb7812dec3d8377c89faa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.88, + "log_step": 46, + "text_zh": "观察：逐帧检查视频 0.00–0.88 s，橙色小方盘从右臂侧持续滑向左臂，左臂蓝拍开始后撤接近，至视频 0.88 s 仍与盘分离；没有左拍击盘后盘改向、离拍向右过首隙的过程。log step 46 显示本次 reset 后已提交 opening，log step 50 确认最后现场回合为 episode 4、done=True、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：视频 0.72–0.88 s，右臂 panda-1 在首击配合预备动作中将刚性安装的蓝拍移入中部橙色立柱处，拍板与柱体重叠并扫碰；这是工具与立柱的非预期接触。左臂 panda-0 蓝拍尚未接触橙色小方盘。无原生接触对记录，碰撞由连续帧及回合紧接着判负推断。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.88, + "log_step": null, + "text_zh": "观察：视频 0.00–0.88 s 右臂蓝拍向柱列移动，未击中橙色小方盘；没有盘经正 y 端间隙由右向左返回的过程。推断：该移动是首击期间的接收方预备动作（log step 37、46 的 opening），不是已进入第二阶段；首击前置也未达成。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.88, + "log_step": null, + "text_zh": "观察：视频 0.00–0.88 s 左臂只有首击的接近动作，橙色小方盘一直朝左滑行；未出现左拍再次击盘及盘向右穿过中间柱隙的过程。推断：前两次击打过隙均未完成，本节点未启动。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.88, + "log_step": null, + "text_zh": "观察：视频 0.00–0.88 s 橙色小方盘从右侧向左滑离球门方向，未出现右拍终末击打及盘越过右侧短挡墙前门线的过程。推断：前三个前置事件均未完成，本节点未启动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_first_gap", + "t": 0.84, + "log_step": 46, + "where": "操作中", + "evidence_zh": "观察：视频 0.72–0.88 s 首击尚未击中小方盘，右臂预备移拍时蓝拍与中部橙柱逐渐重叠，视频随即结束；log step 46 返回 DONE failed cs 86，log step 50 确认 episode 4 为最终判负回合。推断：失误发生在左击过首隙的双臂准备动作中，且之后未修复；不是后续右击返隙。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 0.84, + "log_step": 46, + "evidence_zh": "观察：视频 0.56–0.68 s 右臂蓝拍向柱列靠近，视频 0.72–0.88 s 拍板持续遮住并与中部橙色立柱轮廓重叠，左侧小方盘仍独立向左滑行；log step 46 的本次动作回合返回 failed。推断：右拍预备路径扫碰了立柱，阻断了尚在准备中的首击；碰撞细节由连续画面推断，原生判负原因未公开。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "log_step": 46, + "evidence_zh": "观察：log step 30 的 stage_pose 按 side 传入 right=(side=='R')；log step 40 保留对 G.stage_pose('R',…) 的调用，log step 42 报告 ik stageR 0.1615 并提交 opening，log step 44 的服务状态为 episode 3、done=True、reason=failed、control_steps=83。最后回合 log step 46 改用 mstageR，报告 ik stageR 0.169，仍把返回关节解用于右臂预备轨迹并提交，随后报告 DONE failed cs 86；视频 0.56–0.88 s 可见右臂蓝拍移入柱列并与中部柱轮廓重叠。推断：未拒绝较大逆解误差的预备轨迹结合实际移拍表现，支持轨迹或逆解实现存在问题，但不能确证其触发了哪一种碰撞或违规；正确传入右臂参数的 episode 3 也早期判负，故不能把本次失败归因于遗漏 right=True。逆解误差是 agent 脚本的计算输出，不是原生位姿误差测量。", + "source_zh": "日志 / 视频", + "alt_feasible": "未知" + } + ], + "gap_zh": "没有状态日志、原生接触对、逐毫秒工具位姿或具体 failure_reason；视频 0.72–0.88 s 可见右拍与柱体轮廓重叠，结合 log step 46 的判负支持扫碰推断，但无法在右拍扫柱、左拍拍桌或其他安全违规之间唯一确定实际判负触发原因及精确时刻。agent 在 log step 47 猜测 limit_violation、log step 52 猜测左拍目标 z=0.036 导致触桌，均未获原生服务字段或画面确证。log step 42、44 的 episode 3 对照表明，正确传入右臂参数时也有相近的脚本逆解误差及早期判负；这不能证明两回合失败机制相同，也不能证明漏传 right=True 是本次失败原因。未验证可行的替代轨迹；log step 49 的高位接近新方案因 reset budget exhausted 未执行，不属于评分视频。评分器没有报告五项原生指标，均记 null。", + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + } + }, + "summary_zh": "最后现场回合 episode 4 在视频 0.00–0.88 s 只开始首击准备，四个按序击打过线节点均未完成；末段右臂蓝拍与中部立柱轮廓重叠，结合判负推断发生扫碰。log step 42、44 与 46 表明两回合均提交了较大脚本逆解误差的右臂预备轨迹并早期判负，支持轨迹或逆解问题的推断，但不支持把失败归因于遗漏 right=True。缺少原生接触和具体判负字段，无法区分扫柱、触桌及其他违规的实际作用，根因仍属推断，故置信度降为 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（全 false）、断点 left_first_gap、被挡/碰撞现象与视频一致（0.88 s 右蓝拍与中部橙柱重叠）。但根因证据有误：把失败归因于 mstageR 漏传 right=True，而上一回合（episode 3，log step 38–42）用正确的 G.stage_pose('R')（内部 right=(side=='R')）得到几乎相同的 ik stageR 0.1615，并同样在约 0.85 s（cs 83）判负，说明漏传 right=True 不是区分原因；该因果链不受证据支持。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全 false、断点 left_first_gap、被挡/碰撞（右拍与中部橙柱重叠）与视频一致；根因已按上轮意见改为带推断标注的轨迹或逆解，证据与置信度 5 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": "2026-10-30T04:39:12Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vb2z6pi/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "01f73d05fc0f29ea24a6842f934a81b75e0d862932a63582f9b0b32fba83b0e4", + "video_sha256": "7e35bc5d00176c4e4e00a2681957c5984659acb3e45eb7812dec3d8377c89faa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq.json new file mode 100644 index 0000000000000000000000000000000000000000..005b250904a749fcbeebd72ad33a3b509b024fa5 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 2500, + "sim_steps": 6694, + "calls": 534, + "rows": 11988, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1468.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 200.772, + "max_lag_s": 0.2554, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 3540, + "late_steps": 607, + "requests_refused": 2, + "request_busy_s": 7.105, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.382, + "peak_processes": 13, + "peak_disk_gb": 0.434, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq/replay.mp4", + "duration_s": 25.04, + "fps": 25.0, + "frames": 626, + "sha256": "b30d02db354cda5f69a60da593db0ea0a454ac757c397d1d2c14fc881af6ff3a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.8–1.2 s 来盘在左臂蓝拍前停住；视频 2.2–2.6 s 左臂 panda-0 挥拍触盘，视频 2.76–2.88 s 橙色小方盘与左拍分离，从负 y 端第1、2根立柱之间滑到右臂侧，随后在视频 3.2–4.6 s 继续向右臂滑行。首隙通过取约视频 2.8 s；这是锁存事件，之后停盘不撤销完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；视频 2.2–2.6 s 左臂 panda-0 上固定的蓝色拍板撞击橙色方盘，盘离拍滑过首隙。接触词表没有击打，故用其他；视频 0.8–1.2 s 来盘还先碰到静止左拍而停下。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": 38, + "text_zh": "观察：视频 4.6 s 方盘停在右臂蓝拍近侧；视频 5.0–6.8 s 右臂 panda-1 转拍拨盘，盘只有很小的位移，未向长侧轨旁的正 y 端返隙滑去；视频 7.0–9.0 s 右手及拍板抬移后停住，后续至视频 25.0 s 没有盘经返隙回到左侧的画面。log step 38 明确列出最终回合 reset 4、dribble planned 及 rest timeout，说明此次动作属于返隙前的右臂运盘尝试。" + }, + { + "t": 24.8, + "log_step": 40, + "text_zh": "推断：全片抽帧并对比成功参考视频后，可见应有的返隙通行没有发生，且左臂后续未接盘，故该节点未完成；log step 40 的服务结果为 episode=4、control_steps=2500、done=true、reason=failed，与本次末尾静止画面一致。末段盘局部被右手遮挡，不以遮挡本身推断完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 5.0–6.8 s 右臂 panda-1 的固定蓝拍贴到方盘边缘并拨动它，盘仅略微移动；随后右拍继续移动并抬离。实际为返隙准备中的拨推，未观察到有效返隙击打或夹爪抓握。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.8, + "log_step": null, + "text_zh": "观察：视频 3.0–4.0 s 左臂撤拍后，视频 5.0–25.0 s 左臂保持等待姿态，没有再次击盘；盘也没有先通过正 y 端返隙到达左臂。因此未出现第三次左击及经第2、3根立柱间中隙向右的通行。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 40, + "text_zh": "观察：视频 7.8–25.0 s 双臂停留在原姿态，没有右臂最终发射动作，也没有盘跨过短挡墙前球门线的画面；视频 24.0、24.4、24.8、25.0 s 均保持该局面。log step 40 服务报告最后第4回合失败，前序返隙及中隙均未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 5.6, + "log_step": 38, + "where": "操作中", + "evidence_zh": "观察：视频 5.0–6.8 s 右臂已在首隙后的接盘位置转拍拨盘，但盘只略移，没有沿正 y 方向运到返隙发射位置；之后至视频 25.0 s 都未完成返隙。log step 38 的最终第4回合控制器日志列出 dribble planned 控制步461–841，随后 rest2 的盘位置仍在接盘区域；该次拨盘偏差此后未被修复。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.6, + "log_step": 38, + "evidence_zh": "观察：视频 5.0–6.8 s 右拍转动并贴盘拨动，方盘仍留在接盘处附近，没有随拍进入长侧轨旁的返隙路线；视频 7.0–7.8 s 拍板继续移动并抬起，未把盘送出。返隙所需的盘位置及运动方向没有形成；不是已经握持后滑脱，也未见固定障碍阻断。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志或原生 phase、逐物理步接触及拍速读数，首隙完成时刻按可见过线估计为视频 2.8 s，不能独立核验毫秒级登记击打条件；五项原生指标在 reward 中均未报告。视频 7.0 s 后盘受到右手局部遮挡，但各隙与左臂接盘区域的预期通行均未出现。首次拨盘失败的原因缺少独立证据：具体接触几何、力和实际关节限位未被实测；log step 33–36 为 agent 的 mock 测试，log step 41 的手腕受限说法为 agent 自述，均不足以确证本次拨盘失败的根因，故 root_causes 留空。\n观察：断点之后，log step 38 的最终第4回合控制器日志先记 rest timeout、rest2 控制步1094，再记为左臂规划的轨迹 stretched 310 -> 2044，以及数组赋值 ValueError（形状2044×7无法写入1496×7）；log step 39 的服务状态为 episode=4、planned_steps=0，log step 40 为 control_steps=2500、done=true、reason=failed。视频 9.0–25.0 s 未见新修复动作。推断：log step 18 的提交代码使用 dt=0.01 s，最终回合2500控制步对应约25 s视频；log step 38 的 rest1 控制步451→视频4.51 s，已在视频4.4–4.6 s右侧停盘处核对。因此 dribble 控制步461–841对应约视频4.61–8.41 s，rest2 控制步1094对应约视频10.94 s；数组异常发生在这一视频约10.9 s对应的休止检查之后，精确异常控制步未记录，不将 agent 时间换算成视频时间。异常记录仅支持控制器此后退出及未再修复，不能解释此前拨盘为什么未把盘送向正 y 端返隙。" + }, + "summary_zh": "最后第4回合的评分视频中，左臂约在视频 2.8 s 击盘通过首隙，最终完成1/4个节点。右臂在视频 5.0–6.8 s 拨盘时未把盘送往返隙，返隙、中隙及门线动作均未完成；数组溢出发生在拨盘失效之后，仅作为此后未能修复的记录。缺少原生阶段与逐步接触数据，毫秒级击打条件及首次拨盘失败的根因无法独立核验，根因层留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（首隙完成约视频 2.8 s、其余三个未完成）、断点 right_return_gap 与现象 位姿不准 经帧核对均成立；问题在根因：控制脚本异常发生在断点之后（约控制步 1100 ≈ 视频 11 s），不能解释视频 4.6–8.4 s 那次拨盘为何没把盘送向 +y，现把它写成失败根因属于把事后事件当原因。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（首隙约视频 2.8 s 完成，其余三个未完成）、断点 right_return_gap、位姿不准现象经帧核对成立；上轮根因问题已删除，根因层留空并有 gap_zh，时钟换算说明清楚。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:10Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--vpzqqzq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d90c617dff7e60807b9a941af4a77be5b0a4f3356fe1c207e003a766cd3d94b2", + "video_sha256": "b30d02db354cda5f69a60da593db0ea0a454ac757c397d1d2c14fc881af6ff3a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7da216a8fc9beefcd288e00a42ef0a141d50c4 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 73, + "sim_steps": 2261, + "calls": 49, + "rows": 17, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 563.8, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 67.783, + "max_lag_s": 0.2007, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2244, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 1.084, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.562, + "peak_processes": 41, + "peak_disk_gb": 1.35, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t/replay.mp4", + "duration_s": 0.8, + "fps": 25.0, + "frames": 20, + "sha256": "c7071faa4555029e506ffd606b43d77ec3b89756e01dc6108487bf7403798f72" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.76, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00–0.76 s。橙色方盘从右侧向左滑行，左臂蓝拍向来盘路径靠近；视频 0.32–0.44 s 方盘到达首隙与左拍附近，随后部分被近端立柱和拍板遮挡，直到视频 0.76 s 未见被左拍击回右侧、离拍通过首隙的结果。" + }, + { + "t": null, + "log_step": 57, + "text_zh": "观察：agent 在 log step 57 自述最后回合在 control step 73、left_first_pass 阶段结束，并称方盘经过左拍而没有登记击打；这与画面中没有首击过隙结果一致。该自述不是原生阶段或接触记录，未将其 control step 数换算为视频时刻。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.32–0.76 s 左臂 panda-0 的固定蓝拍迎向橙色方盘，盘随后被近端立柱及拍板遮挡；可确认尝试首击，无法从该视角确定蓝拍是否曾短暂擦到方盘，亦没有接触对日志。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.76, + "log_step": null, + "text_zh": "观察：视频 0.00–0.76 s 右臂蓝拍向桌面中部移动，但未见方盘经左臂首击后到达右拍，也未见右拍击盘经长侧轨旁的正 y 端间隙返回左侧；所需前置左击过首隙未完成。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.76, + "log_step": null, + "text_zh": "观察：视频 0.00–0.76 s 没有右击返隙后的第二次左击，亦未见方盘从中间柱隙向右通过；本回合停留在首次左击的迎盘动作。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.76, + "log_step": null, + "text_zh": "观察：视频 0.00–0.76 s 未见方盘到达右侧短挡墙前的球门线，更没有前三次过隙后的右臂终击越线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_first_gap", + "t": 0.48, + "log_step": 57, + "where": "操作中", + "evidence_zh": "观察：视频 0.32–0.52 s 左臂蓝拍向滑来的方盘迎击，方盘进入拍板与近端立柱附近的遮挡区，之后直到视频 0.76 s 都没有出现反向离拍、过首隙的结果。推断：首击迎盘未形成所需回击，且本回合没有修复；log step 57 的 agent 自述同样停在 left_first_pass，但具体判负规则未记录。" + }, + "unmet": { + "left_first_gap": false, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 0.48, + "log_step": 57, + "evidence_zh": "观察：视频 0.00–0.44 s 方盘持续向左滑行，左拍也向方盘路径移动，但未见方盘被及时击回；视频 0.48–0.76 s 没有首隙向右通过的结果。推断：左拍未在来盘经过时完成有效迎击，属于运动目标的拦截失配；log step 57 中 agent 自述“盘经过左拍而无登记击打”仅作相符的辅助证据。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 内没有状态日志；最后回合的日志输出未给出原生 phase、击打登记、接触对或具体 failure_reason，log step 57 仅有 agent 自述。视频 0.48–0.76 s 方盘被左拍和近端立柱遮挡，不能确定是否有短暂擦碰，也不能区分迎击高度、横向位置、控制时序或其他终止规则，因此 contact_actual 记未知，根因层留空。DAG 的五项原生连续指标均未由评分器报告，value 记 null。" + }, + "summary_zh": "本回合左臂开始迎击来盘，但未见有效回击后向右通过首隙，四个顺序节点均未完成。断点为左击过首隙，画面支持来盘拦截失配；没有证据确定具体控制根因。末段方盘受拍板和近端立柱遮挡，且无原生接触及具体判负记录，无法确认短暂接触或终止规则。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅0.8 s，只覆盖本回合开头，标注对节点未达成、断点 left_first_gap、根因留空且 gap_zh 说明的处理克制，与服务读数（log step 57：control step 73、left_first_pass 失败、无登记击打）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": "2026-10-30T04:38:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zcjcn3t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "efe8056de3a3c18860ab9057bf2a7b938a1c051974a7490504ab283ff0838916", + "video_sha256": "c7071faa4555029e506ffd606b43d77ec3b89756e01dc6108487bf7403798f72", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l.json new file mode 100644 index 0000000000000000000000000000000000000000..782784b58866d18bf3ea4a4404fa25bcfb421d13 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1125, + "sim_steps": 6093, + "calls": 3429, + "rows": 1707, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2292.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 182.765, + "max_lag_s": 0.2413, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4386, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 38.62, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.33, + "peak_processes": 11, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l/replay.mp4", + "duration_s": 11.32, + "fps": 25.0, + "frames": 283, + "sha256": "7b70d63b917f7cd23bab76cf54e20e709d6d31d8375485d45e35758044570941" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.8, + "log_step": 55, + "text_zh": "观察：视频 0.64–0.92 s，左臂 panda-0 的蓝色拍板接触来盘，橙色小方盘随后反向朝右臂侧滑动。" + }, + { + "t": 1.2, + "log_step": 55, + "text_zh": "观察：视频 1.12–1.32 s，盘经画面前方第1、2根立柱之间的首隙进入右臂侧，与左拍分离；视频 1.52–2.5 s 继续向右臂侧滑行。log step 55 的本回合脚本输出 LOWER_PASS 与此可见过隙一致；节点按视频约 1.2 s 记为达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 0.7–0.9 s，左臂 panda-0 刚性安装的蓝色拍板撞击橙色小方盘并使其反向滑行。候选：击打；接触词表无击打项，故用其他，不是夹爪抓握。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": 57, + "text_zh": "观察：视频 3.8–5.4 s，右臂 panda-1 的蓝色拍板接触盘并使盘沿柱列右侧朝长侧轨方向移动；视频 7.4–9.4 s 又接触、调整盘的位置，盘始终未从正 y 端返隙返回左臂侧。" + }, + { + "t": 11.28, + "log_step": 59, + "text_zh": "观察：视频 10.76–11.28 s，右拍返击使盘向柱列方向左移，但末帧中盘仍在第3、4根立柱间隙的右臂侧，没有越过柱列。log step 59、60 的机器人服务状态均为 episode=4、control_steps=1125、done=True、reason=failed，未报告阶段完成值或更具体的失败原因。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 4.0–5.2 s、7.4–8.6 s，右臂 panda-1 固定蓝拍先后触盘使其朝正 y 端移动；视频约 10.9–11.28 s 再触盘朝左臂侧返击。候选：击打；词表无击打项，故用其他。这些顺次接触均服务于右击过返隙，左臂此时悬停，非双臂同时接触。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.28, + "log_step": 59, + "text_zh": "观察：视频 1.5–11.28 s，左臂撤至柱列左侧上方后悬停，未再触盘，盘也未返回左臂侧后经中间间隙向右通过。推断：右击过返隙前置未完成，左击过中隙未达成；不把左臂预备姿态计为击打完成。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.28, + "log_step": 59, + "text_zh": "观察：完整视频 0–11.28 s 中，盘先过首隙，再沿柱列右侧移至长侧轨附近，末段由右拍向左返击；没有出现右臂朝短挡墙方向的末击或盘越过其前方球门线。推断：左击过中隙前置尚未完成，右击越门线未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "t": 11.2, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频约 4–9.5 s，右臂通过数次触盘将盘移向正 y 端返隙；视频 10.76–11.28 s 正在返击，盘已左移但仍在柱列右臂侧，随后视频结束。log step 54 是最后一次重置，log step 59、60 的服务状态确认该 episode=4 已 failed；前一步首隙已通过，此次右击过返隙未完成且未修复。" + }, + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中有完整本次视频、run.json 和成功参考视频，但没有 simulator 状态日志。log step 59、60 仅给出服务终止状态 reason=failed；reward 中 infra_error、sim_error 均为0，未给出原生 failure_reason、碰撞对、穿透深度或安全限值触发记录。视频末段显示右拍已触盘并使其左移，返隙尚未过；手部、拍杆与邻近立柱的精确间距在该视角无法可靠判定，也没有可确定的明显失误形态。因此失败现象与根因均留空，不把仍在进行中的返击直接标为位姿不准，也不沿用较早回合的碰撞或角速度问题。首隙时间按视频近似，毫秒级击打速度、接触间隔和原生阶段锁存未独立核验；DAG 所列五项原生指标在本次评分字段中均未报告，故 value 为 null。" + }, + "summary_zh": "评分视频对应 log step 54 最后一次重置后的第4回合：左臂在视频约 1.2 s 将盘击过首隙，最终完成1/4个节点。右臂随后多次触盘调整至正 y 端，在视频约 11.2 s 返击过程中回合判负，盘未过返隙，后两步未启动。缺少原生终止原因、接触与限值记录，画面不足以确定判负机制，失败现象和根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "首隙达成、其余三节点未达成、断点 right_return_gap（视频约 11.2 s 返击中被服务判 failed）与视频和 log step 57-60 一致；失败现象和根因留空并附 gap_zh，因缺少原生终止原因而无法判定，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": "2026-10-30T04:38:25Z", + "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/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-standard-realtime--zjuda2l/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "812d533fc8066503f95bced014d6f5a2b8014bd1c21ccf122e874d4b38391990", + "video_sha256": "7b70d63b917f7cd23bab76cf54e20e709d6d31d8375485d45e35758044570941", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad76a35eebf47768f3fc7d22539b1e7a82f226a --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1042, + "executed_rows": 1042, + "sim_steps": 1042, + "physics_steps": 10420, + "sim_time_s": 10.42, + "phases_done": 3, + "valid": 1, + "replay_wall_s": 43.9, + "replay_timeout_s": 404.2, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 53, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.707, + "peak_processes": 11, + "peak_disk_gb": 0.24, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs/replay.mp4", + "duration_s": 10.44, + "fps": 25.0, + "frames": 261, + "sha256": "460d854d86b6fc936625a4582294170b6c71039b614eb9c3acb36698513fee11" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [ + [ + 4.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "推断：视频约 3.6–4.6 s 左臂倾杯向右臂直槽倒球，交接位置被右腕遮挡；视频 6.8–9.2 s 橙球已由直槽承托，左杯为空并移向出口。评分器 phases_done=3 确认首次入槽、移动出口离槽和首次接稳均已完成，故首次入槽锚点估为视频 4.2 s，误差约半秒。" + }, + { + "t": 6.8, + "log_step": 76, + "text_zh": "观察：视频 6.8–9.2 s 可见橙球在蓝色直槽内，左杯与球分离；log step 76 的同前缀试验在仿真 4.75 s 报告 phase=1(first_moving_exit)，与首次倒球后槽托球的画面一致。该试验后半段不属于本次交付视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左臂固定安装的蓝色方杯先从下方托球并倾倒，橙球随后由右臂固定安装的直槽承托；两段工具接触依次发生，手指没有直接夹球。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [ + [ + 10.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.54, + "log_step": null, + "text_zh": "观察：视频 9.24–9.44 s 橙球沿直槽到出口，视频约 9.54 s 已离槽落向左杯，视频 9.64–9.94 s 在杯中反弹，视频 10.04–10.40 s 留在杯底；固定盆始终为空。" + }, + { + "t": 10.3, + "log_step": 85, + "text_zh": "推断：依据视频 10.04–10.40 s 球在左杯内稳定留下，以及评分器 phases_done=3、valid=1，将首次接稳完成锚点记为视频约 10.3 s。评分器已接受此前移动出口离槽及接球的内部条件，具体出口速度、无接触窗口和相对速度没有数值报告；log step 85 核验交付文件只有 1042 行，评分器 executed_rows=1042、sim_time_s=10.42，与本视频长度相符。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右臂直槽先托球并调整出口，球离槽飞行后，左臂安装的方杯从下方承接并托住橙球；不是夹爪抓握。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": 86, + "text_zh": "观察：视频 10.04–10.40 s 橙球仍在左杯内，左臂未再次抬杯倾倒，右槽也未开始第二轮明显换向；视频随即结束。log step 86 的最终报告明确交付的 1042 行只完成前三个原生阶段，评分器 phases_done=3；第二轮会话试验未包含在交付轨迹中。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 0–10.40 s 只出现一次从直槽离开并落回左杯的过程；末帧仍是首次接球后的杯内橙球，未出现第二轮入槽、离槽和接回。评分器 phases_done=3，与第二次接球尚未发生一致。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 0 s 及视频 9.24–10.40 s 桌前立柱托起的固定蓝色方盆均为空，末帧橙球在左臂方杯内；全段没有向固定盆倾杯交付的动作，也没有球在盆内静止的结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "second_ball_in_channel", + "t": 10.4, + "log_step": 85, + "where": "首步前", + "evidence_zh": "观察：视频 10.04–10.40 s 左杯托着首次接回的球，第二轮抬杯、换向后倒球尚未启动，交付轨迹就在此结束。log step 69、70 的脚本在首次接稳后调用 save()，后续试验在更晚阶段失败而提前返回；log step 85 最终核验仍为 1042 行，评分器也只执行 1042 行并报告 phases_done=3。故断点是未开始的二次球入槽，不能使用会话中更晚的滚落、碰桌或出界作本视频断点。" + }, + "unmet": { + "first_ball_in_channel": true, + "first_ball_caught": true, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 10.4, + "log_step": 85, + "evidence_zh": "观察：本次评分视频在首次接球后结束；视频 10.04–10.40 s 左杯仍水平托球，未出现第二轮送球入槽动作。log step 85 核验的交付文件只有 1042 行，log step 86 也承认仅交付前三个原生阶段；此处“没尝试”仅指交付轨迹中的二次入槽。" + } + ], + "root_causes": [], + "gap_zh": "首次入槽时球被右腕遮挡，视频约 4.2 s 是结合倾杯前后画面与评分器阶段结果推断的近似时刻；无状态日志，无法独立量测毫秒级接触窗口、出口速度和接稳相对速度。交付视频止于首次接稳，未提供二次入槽操作中的失败证据；日志虽记录更晚的第二轮调试失败，但这些未进入交付轨迹，不能据此确定本断点的控制子类或推断保存操作出错，故根因留空。成功参考录像仅用于辨认杯、槽、盆与第二轮倒球的视觉线索，DAG 已注明其出口速度门槛存在版本差异。" + }, + "summary_zh": "本次交付完成首次球入槽和首次杯接球，最终为 2/5；视频 10.40 s 橙球仍稳定留在左杯，固定盆为空。轨迹止于首次接稳后的保存点，二次球入槽尚未开始，断点标为该步的首步前；日志中更晚的第二轮失败不属于评分视频。首次入槽时刻因腕部遮挡为近似推断，且交付未展示第二轮失败过程，根因证据不足而留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（前两节点达成、后三未达成，2/5）与视频 4.2 s、9.0 s、10.3 s 帧及 phases_done=3、1042 行一致；断点为二次入槽首步前，现象没尝试、根因留空并写明 gap（交付是首次接稳后的 save 检查点，符合 FAIL-23），未把会话中的后期失败当作评分视频事实。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": "2026-10-30T04:18:45Z", + "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/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--adjhshs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "80c4a218160194092f8e4ba8c852fe0c83110dde504d7455c1ba7a8212cb804e", + "video_sha256": "460d854d86b6fc936625a4582294170b6c71039b614eb9c3acb36698513fee11", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff.json new file mode 100644 index 0000000000000000000000000000000000000000..65155d53af3bb510d5fb29cc12d4fcf35dbfc21e --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2357, + "executed_rows": 2357, + "sim_steps": 2357, + "physics_steps": 23570, + "sim_time_s": 23.57, + "phases_done": 6, + "valid": 1, + "replay_wall_s": 79.3, + "replay_timeout_s": 535.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 16, + "agent_resets": 3, + "agent_sim_steps": 7071, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.746, + "peak_processes": 12, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff/replay.mp4", + "duration_s": 23.64, + "fps": 25.0, + "frames": 591, + "sha256": "e7920b3000278748c3087c48d19cd891cdfc4e7877fc748c42850bb9cc0c0635" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [ + [ + 5.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频 4.8–5.4 s 左臂将蓝色方杯倾向右臂直槽入口，随后视频 5.6–6.7 s 左杯离开并复正；入口及球的落点受右腕遮挡。" + }, + { + "t": 5.4, + "log_step": 22, + "text_zh": "推断：结合上述倾杯过程、视频 8.7–9.1 s 橙球从直槽出口进入左杯的后续画面，以及评分器 phases_done=6、success=1，首次入槽已完成；以视频约 5.4 s 为近似锚点，入槽瞬间不确定度约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频约 5.4 s，左臂安装的方杯先托住并倾倒橙球，随后右臂安装的直槽底面承接球；入口接触被腕部遮挡，结合后续从槽出口落球及阶段通过结果确认。两个工具依次托球，未见夹爪直接夹球。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [ + [ + 9.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 8.7–8.9 s 橙球从右臂直槽出口一侧落入下方的左臂方杯，视频 9.0–9.8 s 球留在杯底并随杯移动；首次接稳取视频约 9.1 s。" + }, + { + "t": 9.1, + "log_step": 22, + "text_zh": "观察：log step 22 的交付文件回放两次均 success=true、phase=6、valid=true，终态哈希相同；评分器也报告 phases_done=6。log step 2 的本次实例 outlet_min_speed=0.0，按本次旧规则确认接球完成，不声称达到 DAG 所列 0.10 m/s 出口速度门槛。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 8.7–9.8 s，右臂安装直槽先托球并使球离开出口，左臂安装方杯从下方承接并托住橙球，随后携球离开。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [ + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.5, + "log_step": null, + "text_zh": "观察：视频 13.8–14.6 s 左臂再次倾杯向直槽入口倒球，右臂直槽较首次入槽时绕长轴倾斜；视频 14.8–15.6 s 左杯复正撤离。球进入槽的瞬间受右腕遮挡。" + }, + { + "t": 14.5, + "log_step": 22, + "text_zh": "推断：结合视频 18.2–18.6 s 球再次从槽方向进入左杯、评分器六阶段全部通过，二次入槽及换朝向验收完成；时间取视频约 14.5 s，不确定度约 0.5 s，未从画面量测精确姿态差。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频约 14.5 s，左臂安装杯托住首次接回的球并再次倾倒；换了朝向的右臂安装直槽随后承托同一球，转移处部分遮挡，后续第二次从槽出球及评分结果支持该接触链。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [ + [ + 18.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.6, + "log_step": null, + "text_zh": "观察：视频 18.2 s 橙球进入左臂方杯，视频 18.3–18.6 s 球落到杯内并留下，视频 18.9–19.2 s 球继续随左杯移动，没有直接由槽落入固定盆；第二次接稳取视频约 18.6 s。" + }, + { + "t": 18.6, + "log_step": 22, + "text_zh": "推断：视频显示独立的第二次承接和携球阶段；结合 log step 22 的成功回放与评分器六阶段全部通过，按本次执行规则确认第二次接稳。视频不能独立量测 25 ms 无接触窗口、相对杯速度或精确连续接触时长；出口速度版本差异同首次接球。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 18.2–19.2 s，右臂安装槽先托球至出口，左臂安装杯从下方接球并托住，继而携球向固定盆移动。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [ + [ + 23.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.4, + "log_step": null, + "text_zh": "观察：视频 21.6–22.2 s 左臂倾杯，橙球从杯口下落；视频 22.4 s 球已在固定蓝色方盆内，杯与球分开。" + }, + { + "t": 23.6, + "log_step": null, + "text_zh": "观察：逐帧检查视频 22.64–23.60 s，橙球在盆底移动幅度逐渐减小，最后持续留在盆内，左杯已撤离；视频 23.60 s 末帧球仍在盆底。" + }, + { + "t": 23.6, + "log_step": 22, + "text_zh": "推断：视频末段与评分器 success=1、phases_done=6、valid=1 一致，盆内静置验收在视频约 23.6 s 完成；连续 0.7 s 和精确速度阈值由成功验收支持，未以初次落盆时刻代替静置完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 21.6–22.4 s，左臂安装杯托球后倾倒入固定盆；球随后由固定盆承托，左杯撤离，未见机器人触碰盆或立柱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分轨迹完成两次入槽、两次杯接球及最终入盆静置，五个节点最终均成立；视频 23.60 s 末帧球留在盆底，评分器报告 success=1、六阶段全部通过且两次回放确定一致。版本差异：log step 2 显示本次实例 outlet_min_speed=0.0、restitution=0.1，故按本次实际评分规则接受两次接球，不断言通过 DAG 新版本的 0.10 m/s 移动出口门槛。没有状态日志或独立参考录像，入槽瞬间被右腕遮挡、时间为近似推断；精确接触窗口、速度及姿态差无法独立量测，评分器未报告的七项原生指标均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点时间与视频相符（首次倾杯、8.7–9.1 s 接球、14.5 s 二次倾杯、18.2–18.6 s 二次接球、22.4 s 入盆至 23.6 s 静置），成功运行无 failure，推断已标注，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": "2026-10-30T04:18:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--eikxhff/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b189e4a0bc3278a1033237d21037287b777b5946fa53e1385a101bd48843dbc7", + "video_sha256": "e7920b3000278748c3087c48d19cd891cdfc4e7877fc748c42850bb9cc0c0635", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9.json new file mode 100644 index 0000000000000000000000000000000000000000..2a5b4482fea01d3a6fc602841013531aa0d18a2d --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 884, + "executed_rows": 884, + "sim_steps": 884, + "physics_steps": 8840, + "sim_time_s": 8.84, + "phases_done": 0, + "valid": 0, + "replay_wall_s": 34.6, + "replay_timeout_s": 388.4, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 70, + "agent_resets": 5, + "agent_sim_steps": 736, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.537, + "peak_processes": 11, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9/replay.mp4", + "duration_s": 8.88, + "fps": 25.0, + "frames": 222, + "sha256": "8a0f8e9b525d5d0d50dcb4fbadf7efb227b21fdec94b320fd21cb4728e793ebe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 橙球位于左臂安装的蓝色方杯内，右臂直槽和前侧固定盆均为空；视频约 0.4–7.8 s 左杯托球绕行至右臂上方。" + }, + { + "t": 8.84, + "log_step": 265, + "text_zh": "观察：视频 7.76–8.84 s 逐帧可见左杯向右臂腕部后侧下移并倾斜，槽内未见橙球，也未见完成杯到槽的转移。log step 265 的最后保存为 SAVE 884，服务终态仍为 first_channel_entry，原因 arm_arm_or_tool_collision；评分器记录 executed_rows=884、sim_time_s=8.84、phases_done=0、deterministic=1。" + }, + { + "t": 8.08, + "log_step": 265, + "text_zh": "推断：log step 265 是最终交付的生成记录，884 控制步按任务 100 Hz 对应视频 8.84 s；807/100=8.07 s 的倒球前停顿在视频 8.04–8.08 s 左杯停在右腕后上方处核对一致。结合首次入槽原生阶段未推进及画面未出现转移，首次球入槽未达成；未将其他会话测试计入进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：左臂固定安装的方杯从下方托住橙球并随臂搬运；视频末段开始倾杯。未观察到右臂直槽承托球，固定安装不另算抓握。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：候选名称“意外碰撞”。与交付行数和末段画面吻合的 log step 265 记录左臂 panda_leftfinger 碰到右臂 panda_link6；这不是夹住目标、托球或有意推擦，现有接触方式不适用。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.84, + "log_step": 265, + "text_zh": "观察：视频 0.00–8.84 s 没有球沿槽离开出口、飞行后落回左杯的过程；末段左杯仍在首次倒球的进给姿态，右槽未进行放球接回。推断：首次入槽尚未完成，原生阶段仍为 first_channel_entry，首次杯接球事件未发生。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.84, + "log_step": 265, + "text_zh": "观察：视频 0.00–8.84 s 只有第一次托球搬运及末段倾杯，没有首次接回后再倒球的第二轮动作。推断：首次接球前置未达成，二次球入槽未发生。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.84, + "log_step": 265, + "text_zh": "观察：视频 0.00–8.84 s 没有第二次球从槽出口飞出并落入左杯的过程；录像止于首次倒球阶段的两臂靠拢。推断：前置两轮转移未完成，二次杯接球未发生。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.84, + "log_step": null, + "text_zh": "观察：视频 0.00 s 及末段视频 7.76–8.84 s 的前侧固定蓝盆内均无橙球；全片没有左杯移向固定盆并将球倒入盆内的过程，球入盆静止条件始终未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 8.8, + "log_step": 265, + "where": "操作中", + "evidence_zh": "观察：视频 8.60–8.84 s 左臂持杯向下倾斜，左夹爪区域与右臂腕部靠拢，录像在首次倒球动作中结束。log step 265 记录最终保存 884 行，服务在仿真 8.832 s 报 contact:left/panda_leftfinger:right/panda_link6 和 arm_arm_or_tool_collision，仍处于 first_channel_entry；评分器亦记录执行 884 行、仿真 8.84 s、完成阶段数 0。推断：该记录与视频末段和交付长度吻合，首次球入槽因两臂碰撞中断，之后未修复。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 8.8, + "log_step": 265, + "evidence_zh": "观察：视频 8.60–8.84 s 左杯进给使左夹爪区域进入右臂腕部旁，末帧两臂末端贴近而球尚未进入直槽。log step 265 的最终保存记录明确报告左臂左手指与右臂 link6 接触，并以 arm_arm_or_tool_collision 结束。推断：这是首次倒球期间的实际臂间碰撞，不是后续接球失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 8.08–8.84 s 及 log step 265 表明，agent 脚本执行 first pour 目标时未保持左夹爪与支撑直槽的右腕之间的空间间隙，发生手指与 link6 碰撞并终止。此前 log step 163、177 已将同类接近冲突作为调姿问题反复修改；最后交付仍复现碰撞，支持控制层的避碰失败。缺少完整关节参考与跟踪记录，不能进一步区分接触布局、轨迹生成或反馈跟踪。", + "source_zh": "视频 / 日志 / 评分器字段" + } + ], + "gap_zh": "没有状态日志；视频末段球和碰撞局部被右腕遮挡，精确碰撞对来自与最终保存行数、时长及画面吻合的 log step 265 服务事件，不能独立从图像辨认每个接触点。未报告 DAG 所列七项原生连续指标，均填 null；控制根因仅判到大类。log step 8 的会话实例显示 outlet_min_speed=0.0、restitution=0.1，与 DAG 当前实例门槛不同；本次未完成首次入槽，差异不影响五个节点的未达成判断。", + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + } + }, + "summary_zh": "本次交付中左臂用安装杯托球绕行到右臂上方并开始首次倒球，五个节点均未完成，后续接回、第二轮和入盆均未开始。视频约 8.8 s 两臂末端发生碰撞而中断，最终保存记录指明左手指碰到右臂 link6，支持控制层的避碰失败。末段球与接触点受遮挡且无状态日志，精确碰撞对依赖匹配交付的服务事件；日志实例的出口速度门槛与 DAG 有版本差异，但未进入离槽阶段，未影响本次进度结论。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点未达成、断点 first_ball_in_channel（操作中，被挡/碰撞 + 控制）与视频、log step 265 的终态（arm_arm_or_tool_collision，884 行，8.84 s）和评分器字段一致；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": "2026-10-30T04:20:17Z", + "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/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--kzxefx9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f05b7018aa894dda2a2b9be77193b67cd6937a41e7b5eae5db36f8d399d72c22", + "video_sha256": "8a0f8e9b525d5d0d50dcb4fbadf7efb227b21fdec94b320fd21cb4728e793ebe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq.json new file mode 100644 index 0000000000000000000000000000000000000000..05cea60592d82d1d21958719b7a53bcb988ce7ec --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 200, + "executed_rows": 200, + "sim_steps": 200, + "physics_steps": 2000, + "sim_time_s": 2.0, + "phases_done": 0, + "valid": 1, + "replay_wall_s": 13.6, + "replay_timeout_s": 320.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 17, + "agent_resets": 10, + "agent_sim_steps": 250, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.249, + "peak_memory_gb": 0.598, + "peak_processes": 12, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq/replay.mp4", + "duration_s": 2.04, + "fps": 25.0, + "frames": 51, + "sha256": "8029df9c51110b0ffc05ae5d4b117e8a87269608e316b6d6ce3edf06e5bb7bee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 62, + "text_zh": "观察：逐帧检查评分视频 0.00–2.00 s 的全部 51 帧，左臂方杯与右臂直槽始终保持初始位置和朝向，橙球一直可见于左杯内，未离杯进入槽入口。log step 60 的交付生成脚本将 hold_action() 重复 200 行；log step 62 对该交付文件的自检返回 phase=0、phase_name=first_channel_entry，与画面一致。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 62, + "text_zh": "观察：评分视频 0.00–2.00 s 中橙球始终位于左杯内，没有先进入直槽、离槽飞行再落回左杯的过程；起始就在杯内不构成首次接回。log step 62 的交付自检仍为 phase=0。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：评分视频 0.00–2.00 s 中右臂直槽始终维持初始朝向，左杯未倒球，橙球始终留在左杯；首次接回及第二次入槽均未发生。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：评分视频 0.00–2.00 s 中双臂工具不作接力运动，橙球没有离槽和重新入杯的过程；第二次杯接球未发生。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：评分视频 0.00–2.00 s 中前侧立柱上的固定蓝盆始终为空，橙球留在左臂方杯内；视频 2.00 s 的最后一帧仍保持这一状态，球未入盆。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 0.0, + "log_step": 60, + "where": "首步前", + "evidence_zh": "观察：评分视频 0.00–2.00 s 全程双臂保持起始姿态，左杯未向直槽入口送球或倾倒，首步未启动。log step 53 保存保持姿态的占位轨迹，log step 60 的最终生成脚本仍只将初始 hold_action() 重复 200 行，log step 62、64 的交付回放分别返回 phase=0、success=false；会话中的运动测试未包含在最终交付内。" + }, + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 60, + "evidence_zh": "观察：评分视频 0.00–2.00 s 的全部 51 帧均显示橙球留在初始左杯内，机器人未开展首次倒入直槽的动作；log step 60 明确生成 baseline hold trajectory，log step 62 验证该文件只运行 200 个控制步且阶段仍为首次入槽。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 57, + "source_zh": "日志", + "evidence_zh": "推断：agent 未形成能完成首步的双臂控制方案，因而保留了静止基线交付。会话测试 log step 31、51 返回 left_tool 与 right_tool 的 arm_arm_or_tool_collision；改变路线后，log step 57 又返回 left_tool 与 right/panda_link7 碰撞，log step 60 的后续测试仍在 phase=0 因同类碰撞停止。log step 53、60 保存的却是保持初始姿态的轨迹，log step 62、64 确认其不成功，log step 65 的 agent 最终自述也将未完成归于尚未解决无碰撞双臂运动。这些测试仅用于解释控制困难，不作为评分视频发生碰撞的证据。" + } + ], + "gap_zh": "观察：inputs/ 未提供状态日志，评分器未报告 DAG 所列七项原生连续指标的实测值，故 native_metrics.value 均为 null。推断：会话测试足以支持控制困难，但无法进一步区分接触几何设计、路径生成或跟踪问题，根因保留控制大类。观察：log step 3 的本次运行实例 outlet_min_speed=0.0，与 DAG 的 0.10 m/s 门槛存在版本差异；评分视频全程没有离槽事件，因此该差异不改变此次五个节点均未达的结论。" + }, + "summary_zh": "观察：评分视频 0.00–2.00 s 全部 51 帧显示双臂保持初始姿态，球始终在左杯，五个节点均未达，交付自检也停在首次入槽阶段。推断：断点为首次球入槽的首步前，现象为没尝试；会话中多次双臂或工具碰撞未解决，agent 最终交付静止基线，支持控制大类根因。观察：无状态日志和七项连续指标实测值，控制子类仍不能确定；日志实例与 DAG 的出口速度门槛有版本差异，但本次没有离槽事件。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分视频首末帧一致：双臂静止、球在左杯、盆空，五个节点未达、断点首步前/没尝试均成立；交付为 hold 轨迹（log 53/60/62/64），根因控制按 FAIL-22 由会话碰撞证据支持，且标为推断。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": "2026-10-30T04:17:31Z", + "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/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--mpeeaoq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ad7e79ec0612b233eb7690823f161c6076e1a1c2188ec92f4d59c705625a39bc", + "video_sha256": "8029df9c51110b0ffc05ae5d4b117e8a87269608e316b6d6ce3edf06e5bb7bee", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb.json new file mode 100644 index 0000000000000000000000000000000000000000..ba2da04f741d14bd6ecf5db4c8c94642f4eba4a1 --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 43, + "sim_steps": 43, + "calls": 2, + "rows": 43, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2711.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb/replay.mp4", + "duration_s": 0.48, + "fps": 25.0, + "frames": 12, + "sha256": "b3e482e6c7b4cc939f174d52316893aa726ec7226cd6fc4a90a3952d89c3c3b5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.24 s 的逐帧画面及放大图显示，橙球仍在左臂安装的蓝色方杯中；左杯开始移动，右臂直槽尚未承接球。" + }, + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：已检查视频 0.00–0.44 s 的全部 12 帧；后几帧球被杯壁遮住，未出现球从杯转入右槽入口的过程，槽内未见橙球。推断：本次仅有首次转移的起始搬运，首次球入槽未完成；不是仅凭 success=0 判为未达。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–0.24 s，左臂固定安装的方杯从下方托着橙球并开始移动；本次尚未见右臂直槽承接橙球，不把工具安装连接标为夹爪抓握。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：视频 0.00–0.44 s 全部画面未见橙球沿右槽滚动、离槽飞行或重新落入左杯；开局橙球已在左杯中。推断：开局托球不等于首次接回，首次杯接球未达。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：视频 0.00–0.44 s 只显示双臂的起始运动，没有完成一轮接力，更没有首次接回后再将球倒入改变朝向的直槽。推断：二次球入槽未达。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：视频 0.00–0.44 s 未出现任何一轮离槽飞行和杯中接回，录像即结束。推断：二次杯接球未达。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：视频 0.00–0.44 s 中，前侧立柱上的固定蓝盆始终为空，左杯没有向盆中倒球。推断：球入盆并静止的条件从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": null, + "log_step": 68, + "where": "操作中", + "evidence_zh": "观察：视频 0.00–0.44 s 中左杯已携球开始移动，右槽仅作起始调位，未见球进入槽；评分字段 n_actions=43、sim_steps=43、resets=0。log step 68 是 agent 修补脚本后最后一次启动运行的记录，log step 69 未返回运行进展或终止原因。推断：本次在首次球入槽的起始搬运中止步，后续没有完成或修复此步；无法定位一个可证实的异常发生瞬间，故视频锚点留空。" + }, + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，评分字段未报告物理 failure_reason、阶段或本任务原生指标，log step 69 的末次运行检查输出为空。已逐帧检查视频 0.00–0.44 s（共 12 帧），后段球被杯壁遮挡，杯与槽边缘的投影接近不足以确认阻挡接触；因此不能判定碰撞、掉球、安全限值超限或控制跟踪异常，失败现象留空。log step 66、67 记录 agent 脚本在姿态构建阶段的 None 种子和数组真值异常，但 log step 67、68 随后修改了对应代码；这些早期异常不能直接作为最后已执行运动的终止原因，根因亦留空。成功参考录像仅用于辨认接力和入盆的视觉形态；DAG 已注明参考版本的出口速度门槛不同，不据其成功反推本次精确判据。" + }, + "summary_zh": "评分回合仅有视频 0.00–0.44 s 的起始运动：左杯托球开始搬运，未完成首次入槽，五个节点最终均未达（0/5）。断点位于首次球入槽的操作中，之后没有接回、第二轮接力或入盆。缺少最终服务终止原因和状态日志，末段球又被杯壁遮挡，故不将已修改的早期脚本错误或可疑的工具边缘重叠推定为本次失败原因，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": 7, + "summary_zh": "视频仅 0.48 s（12 帧），左杯携球开始移动、球被遮挡，五个节点未达、断点首次球入槽、现象与根因留空并写明 gap_zh，均有证据支持；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:24:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--d2pkhdb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "324f76de74d8370fa6e03d43e4a1723065ca1884bf6f25946c7fa577f452573c", + "video_sha256": "b3e482e6c7b4cc939f174d52316893aa726ec7226cd6fc4a90a3952d89c3c3b5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd5db1579045fe21a18fd103e6ea67df9c4a043 --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck.json @@ -0,0 +1,299 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 564, + "sim_steps": 1035, + "calls": 15, + "rows": 1035, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1159.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.245, + "peak_processes": 9, + "peak_disk_gb": 0.56, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck/replay.mp4", + "duration_s": 5.68, + "fps": 25.0, + "frames": 142, + "sha256": "608650f0a6364e4bff5ecd86bb8bacc5e4bc315e2821c2d1285a5a36c74998b3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 橙球在左臂安装的蓝色方杯内，右臂直槽与杯分开；视频 0.00–4.00 s 左臂托球抬杯、右臂将直槽移到杯附近，尚无球入槽。" + }, + { + "t": 5.64, + "log_step": 188, + "text_zh": "观察：逐帧查看视频 4.00–5.64 s，左臂倾杯后回转，橙球仍位于杯内低侧杯沿附近；末帧直槽内未见橙球，未出现离杯后由槽入口承托的转移。log step 188 的机器人服务结果为 episode=4、control_steps=564、sim_time_s=5.64、done=true、reason=failed、why=arm_arm_or_tool_collision。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–5.64 s，左臂 panda-0 固定安装的方杯从下方托住橙球并倾斜，球移动到杯内低侧；右臂 panda-1 调整安装直槽的位置，但未见直槽承接到球。未见手指直接夹球。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.64, + "log_step": null, + "text_zh": "观察：视频 0.00–5.64 s 没有橙球从直槽出口飞出再落入左杯的过程；视频 4.60–5.64 s 球仍在原来的左杯低侧，左杯未到槽出口下方完成接球。对比成功参考视频 8.50–9.50 s 的出口下方接球构型，本次未出现该过程。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.64, + "log_step": null, + "text_zh": "观察：视频 0.00–5.64 s 只有左杯首次向直槽靠近、倾斜的动作，没有首次接球后的再次倒球；末帧橙球仍在左杯，未发生二次入槽。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.64, + "log_step": null, + "text_zh": "观察：视频 0.00–5.64 s 未见第二次离槽飞行或左杯承接；视频 5.64 s 两工具仍停在首次倒球附近，球在左杯内，二次接球未发生。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.64, + "log_step": null, + "text_zh": "观察：视频 0.00–5.64 s 前侧立柱上的固定蓝色方盆始终空着，左杯没有向盆倒球；视频 5.64 s 盆内无橙球，未形成盆内静置结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 5.64, + "log_step": 188, + "where": "操作中", + "evidence_zh": "观察：视频 4.60–5.64 s 左臂仍在首次倾杯送球及回转过程中；视频 5.64 s 末帧左杯倾斜悬在直槽上方，橙球仍在杯内低侧，画面未显示具体碰撞部位。log step 188 的本次实时回合服务结果报告 done=true、reason=failed、why=arm_arm_or_tool_collision，首次入槽始终未完成。推断：log step 46 给出控制周期 0.01 s，log step 188 的本回合 564 个控制步对应仿真 5.64 s，与视频 5.64 s 的末端停姿核对一致；此处以视频末帧停姿为导航锚点。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.64, + "log_step": 188, + "evidence_zh": "观察：视频 5.64 s 末帧左杯倾斜悬在直槽上方、球仍在杯内低侧，画面未显示具体碰撞部位；log step 188 的机器人服务（记录本次实时受评分回合的执行结果）报告 done=true、reason=failed、why=arm_arm_or_tool_collision，表明双臂或工具之间的碰撞终止了倒球动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 188, + "evidence_zh": "推断：log step 185 执行的脚本在本次实时回合控制左杯与右槽运动，log step 188 的服务结果显示该运动在 564 个控制步后因 arm_arm_or_tool_collision 终止；视频 5.64 s 末帧两工具仍处于首次倒球附近，画面无法确定具体碰撞部位。该执行未保持双臂或工具之间的安全间隙，故归于控制；log step 191 对本次终态的运动学计算也给出杯角高度约 0.289 m、槽壁顶约 0.290 m，但这是 agent 的离线几何诊断，不能据此确定具体碰撞对或更细控制子类。" + } + ], + "gap_zh": "观察：inputs/ 未提供状态日志；log step 188 的碰撞代码未指出具体接触部件，视频 4.60、5.00、5.32、5.64 s 的画面可见左杯悬在直槽上方，腕部与工具相邻，但无法确定具体碰撞对。推断：可以确认首次入槽未完成且因双臂或工具碰撞终止，但无法进一步区分碰撞几何建模、轨迹插值和伺服跟踪误差。log step 196 仅修改脚本，log step 197–198 仅进行语法和导入检查，不能作为新物理尝试或成功证据；评分器未报告七项原生连续指标的数值。", + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + } + }, + "summary_zh": "本次受评分的是最后一次实时回合：机器人抬杯、调整直槽并首次倾杯，但视频 5.64 s 末帧橙球仍在左杯低侧，五个节点均未完成。首次入槽操作因双臂或工具碰撞终止（log step 188），现象为被挡/碰撞，根因保留为控制；后续脚本修改没有重新执行。没有状态日志及具体碰撞对记录，无法细分控制失误机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "五个节点均未到达、breakpoint=首次球入槽、被挡/碰撞 + 控制与视频和服务读数一致；仅有一处证据措辞把视频未能显示的“杯下侧靠到槽壁”写成观察。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "五个节点均未到达、断点为首次球入槽、被挡/碰撞（服务读数 arm_arm_or_tool_collision）+ 控制，均与视频末帧和 log step 188 一致；上一轮证据措辞已修正。", + "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": "2026-10-30T04:32:42Z", + "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/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--fmsevck/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "accd86c5387e52ccd57321f6a38db0695b7f74b22442d7f14e4df4423edb1177", + "video_sha256": "608650f0a6364e4bff5ecd86bb8bacc5e4bc315e2821c2d1285a5a36c74998b3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee.json new file mode 100644 index 0000000000000000000000000000000000000000..493bd58a5ae1107b3866a8133f99e39b7b798313 --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 64, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3582.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "31dd086307c0b5cdf038ae9a979621f16c9df9f861b0173d2c2713fa2ecc7e5b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：视频 0.00 s（全片唯一一帧）中橙球仍在左臂安装的蓝色方杯内，右臂直槽与杯分离；未出现左杯倒球或球进入槽入口的过程。log step 2 的实时服务状态为 control_steps=0，最终评分器 n_actions=0、sim_steps=0、rows=0，说明评分回合没有执行运动。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 中球位于初始左杯，直槽为空，双臂保持初始姿态；评分器 sim_steps=0，没有球离槽飞行再被杯接稳的过程，初始杯内有球不是首次接球事件。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 中球仍在初始左杯，右槽未承接球。评分器 n_actions=0、sim_steps=0、resets=0，没有首次接球后的第二次倒球或换向入槽过程。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 中球仍在初始左杯，右槽为空；评分器 sim_steps=0，没有第二次离槽、飞行及左杯承接过程。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 中桌面前侧立柱上的固定蓝色方盆为空，橙球在左臂杯内；评分器 sim_steps=0，未发生球脱杯入盆并静止的过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 0.0, + "log_step": 2, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s 的唯一画面显示球仍在初始左杯、右槽为空，机器人未开始倒球；log step 2 的实时服务 control_steps=0，最终评分器 n_actions=0、sim_steps=0、rows=0 且 finalized=1。评分回合停留在第一步开始之前。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 2, + "evidence_zh": "观察：视频 0.00 s 为全片唯一画面，左杯仍托着初始橙球，未见机器人倾杯送球。log step 2 的实时服务 control_steps=0，最终评分器 n_actions=0、sim_steps=0、rows=0；首次球入槽在受评实时回合中未启动。" + } + ], + "root_causes": [], + "gap_zh": "观察：没有状态日志，视频仅有初始一帧；但零动作、零仿真步的评分器记录与该画面一致，足以判断五个节点均未达成。log step 18 建立 agent 自己的 LocalTwin 离线仿真，log step 24 的运动循环只推进该仿真；log step 84 仍在检查离线路径间隙，log step 111 的最后一条 say 仍称正在等待离线检查，log step 114 结束于腕关节轴计算。推断：这些会话记录不能当作评分回合的接触或进度；它们也不足以证明未启动实时执行究竟由哪一种规划、控制或交付问题导致，因此根因留空。全部节点均未开始实际操作，省略 contact_actual；初始杯托球不计为主动尝试。评分器未报告 DAG 所列七项原生指标，value 均为 null。", + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + } + }, + "summary_zh": "评分实时回合停留在初始状态：视频 0.00 s 的唯一画面中球仍在左杯、固定盆为空，评分器记录零动作、零仿真步，五个节点均未达成。断点为“首次球入槽”的首步前，现象为没尝试；日志中的离线仿真运动不属于评分回合。缺少能够确定未启动实时执行之具体原因的证据，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": "评分回合 n_actions=0、sim_steps=0，视频仅初始一帧，五个节点均未达成，断点首步前+没尝试符合 FAIL-22 的零控制步先例；根因留空并有 gap_zh，agent 在 3600 s 限时内仅做离线仿真，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": "2026-10-30T04:19:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--h3fldee/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "24fd8b4c90403173ddf2cd188b80d4aad78a93b9457c2e5dc5045dce108087fa", + "video_sha256": "31dd086307c0b5cdf038ae9a979621f16c9df9f861b0173d2c2713fa2ecc7e5b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug.json new file mode 100644 index 0000000000000000000000000000000000000000..61292f52e9912b2ba2731148cf8b510e99cf1837 --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--iojocug", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 249, + "sim_steps": 685, + "calls": 98, + "rows": 685, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2268.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.533, + "peak_processes": 41, + "peak_disk_gb": 1.051, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug/replay.mp4", + "duration_s": 2.56, + "fps": 25.0, + "frames": 64, + "sha256": "7070cff39081f591f238cd1821f4c1ecc62775b0aedcb22c4851c91ee4430a85" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 131, + "text_zh": "观察：视频 0.00–0.96 s 橙球留在左臂方杯，右臂将直槽移近；视频 1.08–2.52 s 左臂抬升并向右移杯，杯保持近似直立，橙球随杯移动，未见球脱杯落到槽入口。视频 2.40–2.52 s 杯右侧接近右臂腕部并在片尾相贴，首次入槽未完成。log step 131 的实时提交返回 p2_cup_pour 阶段 DONE reason=failed，尚未执行倾杯倒球。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–2.52 s，左臂固定安装的蓝色方杯从下方托着橙球并携球抬升、接近槽入口；右臂直槽没有承接到球。没有手指直接夹球。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": 131, + "text_zh": "观察：视频 0.00–2.52 s 橙球一直随左杯移动，没有从直槽出口飞出再落入左杯的过程；log step 131 显示实时回合在首次倒球前的移杯阶段结束。首次杯接球未发生。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": 131, + "text_zh": "观察：视频 0.00–2.52 s 仅出现右臂移槽和左臂携球抬杯，未出现首次接回后的第二次倒球或换向入槽；橙球未离开初始左杯。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": 131, + "text_zh": "观察：视频 0.00–2.52 s 没有第二轮球离槽飞行、左杯承接的动作；回合在首次入槽准备过程中结束。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": 132, + "text_zh": "观察：视频 0.00–2.52 s 前侧立柱上的固定蓝盆始终为空，橙球随左杯抬高，机器人没有向盆倾倒；视频 2.52 s 盆仍为空。log step 132 服务状态为 episode=4、done=True。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 2.48, + "log_step": 131, + "where": "操作中", + "evidence_zh": "观察：视频 1.08–2.52 s 左臂携球抬杯并接近右槽，视频约 2.48 s 杯右侧与右臂竖直腕部相贴，橙球仍在杯内，未开始倒入槽。log step 130 服务确认最后一回合 episode=4、sim_time_s=0.0；log step 131 在 p2_cup_pour 提交中返回 DONE reason=failed，log step 132 确认该回合已结束。推断：断点是正在操作的首次球入槽，后续入槽、接球和交付均未执行。" + }, + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.48, + "log_step": 131, + "evidence_zh": "观察：视频 2.24–2.52 s 左杯继续向右臂腕部靠近，约视频 2.48 s 杯的右侧与右臂腕部外壳相贴，片尾停在这一位置，球仍在杯内；log step 131 服务在移杯阶段报告 failed。推断：此次移杯发生了工具与对侧机械臂的碰撞，阻断首次倒球；不把回合结束后下一次提交收到的 EpisodeOver 异常当成控制脚本先行崩溃。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 140, + "evidence_zh": "观察：log step 127 的移杯程序先经过抬高航点，再移到 POUR1；log step 140 展示该程序仅检查航点逆解误差和关节限位，再用关节空间 quintic 插值连接。视频 1.08–2.52 s 杯实际沿抬高、靠右的路线进入右腕附近，片尾相贴。log step 145–147 的后续离线近似模型也报告杯与右臂路径干涉，但首次穿透在其模型仿真 2.91 s，晚于 log step 132 服务报告的本回合仿真 2.49 s。推断：移杯运动未保持对另一机械臂的碰撞余量；近似模型不足以区分工作位姿布局、插值路径和实际跟踪各自的贡献，根因保留为控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或原生碰撞对、详细失败码；服务只报告 failed。片尾接触位置与后续近似模型支持杯碰右腕的判断，但精确碰撞链接、穿透深度及首先触发的监测项无法独立核实。log step 145–148 的离线重建不是本回合状态证据，且其接触时刻与实时结果不一致；log step 148 的补丁没有在已结束的评分回合执行。七项原生指标均未由评分字段报告，因此值为 null。" + }, + "summary_zh": "本次评分为最后一次实时回合，五个节点均未完成：橙球仍由左杯托住，右槽尚未接到球。机器人在首次入槽的携球移杯过程中，于视频约 2.48 s 杯沿贴到右臂腕部后结束；运动未避开另一机械臂，根因记为控制。没有原生碰撞对和详细失败码，后续离线排查及补丁不能替代本回合证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点均未达成与视频一致（橙球始终在左杯，盆为空）；断点首次入槽、碰撞现象和控制根因有视频片尾杯贴右腕及服务 failed/sim_time 2.49 s 支持，且已如实写明不确定性。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": "2026-10-30T04:17:47Z", + "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/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--iojocug/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "43727365c6cb6aae541420837f3eb854ab630969ca4b2e8e63334cbcdab5508d", + "video_sha256": "7070cff39081f591f238cd1821f4c1ecc62775b0aedcb22c4851c91ee4430a85", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme.json new file mode 100644 index 0000000000000000000000000000000000000000..62fa6d4b853bae49bb73d27a4f0c95ac13fc64df --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 259, + "sim_steps": 2751, + "calls": 80, + "rows": 2751, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2941.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.334, + "peak_processes": 12, + "peak_disk_gb": 1.003, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme/replay.mp4", + "duration_s": 2.64, + "fps": 25.0, + "frames": 66, + "sha256": "32913906eb09331c1044bf99cb90378bce69e5d8c37f8d8fd9f90b573d22f26b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 168, + "text_zh": "观察：视频 0.00–2.60 s 左臂方杯保持直立，橙球始终可见于杯内；右臂把空直槽向左杯移近，视频 2.40–2.60 s 仍未见球离杯或落入槽入口。log step 168 的最后实时回合 episode=4 在 control_steps=259 以 arm_arm_or_tool_collision 结束。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–2.60 s 左臂固定安装的方杯从下方托住橙球；右臂安装直槽移近左杯但没有承接球。log step 168 服务报告臂或工具互碰；具体碰撞双方未输出，不把槽托球或手指抓球记为已发生。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.60 s 橙球一直留在原来的左杯内，直槽为空；没有球由槽出口飞出再进入左杯的过程，初始杯内球不属于首次接回。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.60 s 只见右臂移动空槽，橙球未离开左杯；未出现首次接回后的再次倒入槽过程。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.60 s 球没有进入直槽或从槽飞出，左杯内始终是初始橙球；未出现第二轮离槽与接稳。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.60 s 前侧立柱上的固定蓝盆始终为空，末帧橙球仍在左臂方杯内；左杯没有向固定盆倒球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 2.6, + "log_step": 168, + "where": "操作中", + "evidence_zh": "观察：视频 2.40–2.60 s 右臂持空槽向左杯靠近，槽端与左杯右后沿区域在画面中贴近，球仍在杯内；log step 168 中机器人服务在最后回合 episode=4 的 control_steps=259 报告 done=True、reason=failed、why=arm_arm_or_tool_collision，log step 172 确认该回合已结束且无重置剩余。推断：碰撞发生在首次倒球所需的直槽就位过程中，本步尚未完成且之后没有修复。" + }, + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.6, + "log_step": 168, + "evidence_zh": "观察：视频 2.40–2.60 s 右臂直槽逐渐移到左杯旁并在两工具靠近处结束运动，橙球留在左杯；同一最后实时回合的服务输出（log step 168）明确给出 arm_arm_or_tool_collision，并在 control_steps=259 终止。该字段表示两臂或其工具之间发生禁触碰撞，具体接触对未记录。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.6, + "log_step": 168, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的运动脚本未解决首次入槽前两臂及工具的运动避碰。log step 163 的脚本只筛选目标 IK 误差、关节余量和目标两手距离，再以 seg 对关节做平滑插值；log step 87 所定义的 check_traj 检查关节范围、关节速度和工具速度，没有碰撞检查。log step 168 将动作改成左臂保持初始姿态、右臂先移槽，服务仍在 control_steps=259 报告 arm_arm_or_tool_collision；视频 0.00–2.60 s 确认正是该移槽过程。log step 155 已修正并核对 FK，因此不把先前回合的 DH 错误直接归因于本回合碰撞。", + "note_zh": "缺少逐连杆接触与连续几何记录，不能进一步确定是具体接触布局还是就位路径的哪一段净空不足，根因保留在控制大类。" + } + ], + "gap_zh": "没有状态日志；视频和最后回合服务输出共同确认臂或工具间碰撞，但未提供碰撞双方、接触力或逐连杆距离，无法细分控制根因。评分器未报告 DAG 所列七项原生连续指标，均保留 null；未用前三个会话回合的动作给最后评分回合计进度。" + }, + "summary_zh": "评分采用最后实时回合 episode=4：视频 0.00–2.60 s 橙球一直在左杯内，右臂仅移动空槽，五个节点均未完成。首次入槽的就位过程中发生臂或工具间碰撞而终止（视频约 2.60 s；log step 168），运动脚本的关节插值与限速检查没有解决避碰。无状态日志及具体碰撞对，控制根因无法进一步细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回合 episode=4 在 control_steps=259（≈2.6 s）因 arm_arm_or_tool_collision 终止，与视频 2.64 s 一致；五个节点均未达成，球始终在左杯内，断点、碰撞现象与保守的控制根因均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:19:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--pzgapme/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "872d61b3a014028202213fa0a51bfd6daff461741ccfd721e7ecd25e6396770d", + "video_sha256": "32913906eb09331c1044bf99cb90378bce69e5d8c37f8d8fd9f90b573d22f26b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8d634473b93190931d6c9bc7c92d8b323458cf --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 317, + "sim_steps": 1795, + "calls": 38, + "rows": 1795, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1307.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.858, + "peak_processes": 43, + "peak_disk_gb": 2.418, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb/replay.mp4", + "duration_s": 3.24, + "fps": 25.0, + "frames": 81, + "sha256": "4484673d4b20b2818b55200d3bb0b23f73d7ec97793e59ae2cfe19a9c72f366d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.40 s，橙球在左臂安装的蓝色方杯内，左臂抬杯；随后左杯移至右臂直槽上方。" + }, + { + "t": 3.16, + "log_step": 91, + "text_zh": "推断：已检查视频全程及视频 2.16–3.20 s 的连续帧，左杯只开始首次倾斜，未见球飞出并落到直槽入口；结合 log step 89 执行首次倾倒、log step 90–91 显示该动作的首个 f03_pour35 段即终止，判定首次入槽未完成。后段杯内被腕部和杯壁遮挡，未把不可见的球位置当作直接观察。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–0.40 s，左臂固定安装的方杯从下方托住橙球并抬升，随后搬至直槽上方开始倾杯；未观察到右臂直槽接触橙球，不追加槽承球或手指抓握。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": 91, + "text_zh": "观察：视频 0.00–3.20 s，左杯始终在抬升、移向直槽上方及初始倾倒阶段，没有退到出口下方接球，也没有球从槽出口飞入杯中的过程；log step 91 的最终回合已终止。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": 91, + "text_zh": "观察：视频 0.00–3.20 s 仅有首次送球的准备和初始倾杯，没有首次接球后的再次倒球动作，也没有换槽朝向后第二次入槽的过程。log step 87 的重置后回合在 log step 91 被服务记录为结束。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": 91, + "text_zh": "观察：视频 0.00–3.20 s 没有第二轮出槽、自由飞行和左杯接稳的过程，机器人在首次倾杯阶段结束；log step 91 最终回合 done=True。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0.00–3.20 s，前侧固定蓝盆一直空着，左杯没有向盆交付橙球，终帧盆内也没有橙球；未出现盆内静止的区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_in_channel", + "t": 3.16, + "log_step": 91, + "where": "操作中", + "evidence_zh": "观察：视频 2.64 s 左杯在直槽上方，视频约 2.68–3.20 s 左臂开始倾杯，首次送球尚未完成即结束。log step 87 明确重置并开始最终回合，log step 89 执行 pour1；log step 90–91 的机器人服务返回 episode=4、control_steps=317、done=True、why=limit_violation。推断：服务为标准模式的实时物理仿真接口，按 log step 7 的 control_dt=0.01 s，317 控制步对应仿真 3.17 s，约为视频 3.16 s；已用 log step 88 仿真 2.65 s 的就位姿态与视频 2.64 s 核对，断点取首次入槽的操作中。" + }, + "unmet": { + "first_ball_in_channel": false, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 3.16, + "log_step": 91, + "evidence_zh": "观察：log step 91 的最终回合服务元数据为 sim_time_s=3.17、control_steps=317、executed_rows=52、type=joint_position、why=limit_violation，表明机器人首次倾杯时触发运动安全限值；视频约 2.68–3.20 s 可见这一倾杯动作后回合结束。未提供具体超限量，故不指定关节或 TCP 的哪项速度、加速度或力矩超限。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.16, + "log_step": 91, + "source_zh": "日志", + "evidence_zh": "推断：log step 84 的控制脚本把首次倾杯分为 35、65、90、100 度四段，log step 89 实际执行该控制段；log step 90–91 显示仅首段执行 52 个关节位置控制行便由机器人服务以 limit_violation 结束，与视频末段初始倾杯一致。因此控制器未能在安全限值内执行这次倾杯。日志没有本回合超限变量及高频实际运动数据，不能进一步区分参考轨迹问题、跟踪问题或具体参数不当。" + } + ], + "gap_zh": "没有状态日志；视频后段球在左杯内的具体位置受杯壁和右臂腕部遮挡，首次入槽未完成由可见动作、未出现入槽线索及最终控制段记录联合推断。服务只报告 limit_violation，未报告超限变量、实测值及对应阈值，根因保留在控制大类；DAG 七项原生指标均未由评分器报告，值均为 null。会话较早回合的碰撞和落球、以及本地模型声称的接球成功不属于本次评分视频。" + }, + "summary_zh": "本次评分视频对应 log step 87 重置后的第 4 回合：机器人抬起托球左杯、移到右臂直槽上方并开始首次倾倒，五个节点均未完成。视频约 3.16 s 的首次倾杯因服务记录的 limit_violation 终止，断点为首次球入槽，根因归控制。后段球有遮挡，且缺少具体安全超限量和状态日志，不能细分控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频及服务记录一致：视频 3.24 s 对应最终回合，左杯在约 2.7–3.2 s 才开始倾斜，五个节点均未达成，断点为首次球入槽，limit_violation 为服务对评分回合的读数，可作观察。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:17:34Z", + "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/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--qba8pwb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a055854b51dce3c48e588e9221bb9227c56fc427e39188fedf9bc9fc5939d4cc", + "video_sha256": "4484673d4b20b2818b55200d3bb0b23f73d7ec97793e59ae2cfe19a9c72f366d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky.json new file mode 100644 index 0000000000000000000000000000000000000000..60badf2f94cb290a08b473de8c19dfb346b00b5b --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1070, + "sim_steps": 2431, + "calls": 83, + "rows": 2431, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 949.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky/replay.mp4", + "duration_s": 10.76, + "fps": 25.0, + "frames": 269, + "sha256": "a0877f8365f355d1519ff95cc66d486bb887b8a999da0216da47d65d0df8d00f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "first_ball_in_channel": { + "method": "visual", + "intervals": [ + [ + 9.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 橙球在左臂方杯内；视频 3.0–8.8 s 左臂将杯转为倾倒姿态并移到右臂槽入口上方。" + }, + { + "t": 9.12, + "log_step": null, + "text_zh": "观察：视频 9.0–9.24 s 橙球露在右臂腕部旁、槽入口端沿的位置，随后视频 9.36–9.52 s 从该处向槽外下落，未沿槽长方向滚到另一端。" + }, + { + "t": 9.0, + "log_step": null, + "text_zh": "推断：结合视频 8.92–9.52 s 连续放大帧，球离开倾斜方杯后在槽入口端沿短暂停留、再向外掉落，按入口半侧接触右工具且脱离左杯的事件判据，记约视频 9.0 s 首次入槽，时间误差约 0.2 s；本节点不要求在槽中停稳，后续掉落不撤销事件。腕部遮挡使接触切换时刻不能直接量测。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：左臂固定方杯先托球并倾杯倒出（视频 0.0–9.0 s）；推断：右臂固定直槽的入口端沿短暂承接球（视频约 9.0–9.3 s），随后球掉到槽外。两段工具与球接触依次发生。" + } + ] + }, + "first_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.44, + "log_step": null, + "text_zh": "观察：视频 9.36–9.6 s 橙球从槽入口附近向外下落到桌面；左臂方杯仍倾斜在上方，未位于球下方承接。视频 9.76–10.72 s 球持续在盆外桌面滚动，未回杯，也未完成从另一端出口离槽再接稳。" + }, + { + "t": 10.72, + "log_step": 21, + "text_zh": "观察：log step 21 的最后一次实时执行返回 failed / arm_arm_or_tool_collision、control_steps=1070；log step 22 服务状态确认 episode=4、done=True。视频末尾两腕与工具靠近并停止，球仍在桌面；此碰撞晚于未修复的失球。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：右臂直槽入口端沿短暂承球并调倾，继而失球（视频约 9.0–9.4 s）。观察：左臂随后开始调整方杯姿态，但视频截至 10.72 s 未发生杯与球的接回接触。" + } + ] + }, + "second_ball_in_channel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.72, + "log_step": null, + "text_zh": "观察：视频 9.6–10.72 s 橙球一直在桌面，左杯未重新取得球，未出现第二次倒入直槽入口的动作；首次杯接球也未完成。" + } + ] + }, + "second_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.72, + "log_step": null, + "text_zh": "观察：整段视频只有首次倾杯送球，视频 9.6–10.72 s 球在桌面滚动，未出现第二次从槽出口飞出并落入左杯的过程。" + } + ] + }, + "ball_settled_in_basin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.72, + "log_step": null, + "text_zh": "观察：视频 0.0–10.72 s 前侧固定蓝盆均未接到橙球；视频 9.6–10.72 s 球落在盆外桌面并继续滚动，未进入盆底静止。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "first_ball_caught", + "t": 9.4, + "log_step": 21, + "where": "操作中", + "evidence_zh": "观察：视频 9.0–9.24 s 球处在槽入口端沿，右臂槽调倾；视频 9.36–9.6 s 球直接向槽外桌面下落，左杯仍在上方，未沿槽到出口并接回。此后直到视频 10.72 s 球均未被重新取得；log step 21 记录后来因 arm_arm_or_tool_collision 结束，首次接回失球始终未修复。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 9.4, + "log_step": 21, + "evidence_zh": "观察：视频 8.8–9.4 s 右臂改变槽的倾斜，橙球此时正从左杯进入入口端沿，随后视频 9.36–9.6 s 向外掉落而非沿槽到出口；左杯仍在上方。推断：槽的调倾与来球转移未同步，首次接回所需的受控滚动及承接过程未建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 9.0, + "log_step": 21, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 16 写入的 s2.py 在 phase!=tilt 且视觉球位置 sf 非空时，就以 (6*(sf-0.14)+4*vf)/7 设定槽倾角，并无确认球已落入槽内的门控；log step 19–20 的后续修改保留该控制分支，log step 21 实际输出 wait 阶段 sf=-0.026、-0.013 时倾角均为 -0.07。视频 8.8–9.4 s 可见入口调倾、球在入口端沿停留后掉落。推断：控制器对尚在入口交接处的球提前应用槽内稳球反馈，破坏转移；这里不把 agent 在 log step 23 提出的替代姿态当成已验证方案。" + } + ], + "gap_zh": "无状态日志及原生阶段、工具接触对记录；入口处受两腕和倾杯部分遮挡，首次入槽依据连续画面中的端沿停留与后续脱离推断，无法独立核对接触切换的精确时刻。出口速度、接稳窗口等七项原生指标未由评分字段报告，均留 null；log step 21 的球坐标来自 agent 自写视觉脚本，仅用于解释控制器，不作为状态真值。成功参考录像的出口速度要求与当前实例不同，按 DAG 的 open_questions_zh 只用于对照转移外观。", + "unmet": { + "first_ball_in_channel": true, + "first_ball_caught": false, + "second_ball_in_channel": false, + "second_ball_caught": false, + "ball_settled_in_basin": false + } + }, + "summary_zh": "评分为最后一次实时回合（episode 4），视频约 9.0 s 橙球离杯后在槽入口端沿短暂受托，推断首次入槽事件达成；首次接回失败，后续第二轮接力和入盆均未发生，终值 1/5。右槽在交接时提前调倾，球于视频约 9.4 s 掉向桌面，此后未修复，稍后的两臂／工具碰撞结束回合。入口接触切换受腕部遮挡且无原生阶段日志，首次事件及具体反馈因果为结合连续画面和控制代码的推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 9.0 s 球在右臂槽入口端沿、9.36–9.6 s 向外掉到桌面，左杯未接，与首次入槽达成、首次接回未达成、终值 1/5、断点 first_ball_caught 一致；时间与 episode 4 的 1070 控制步（≈10.7 s）对应。未发现需改内容的错误；入槽时刻与反馈因果为推断，文件已如实标注。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:21:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-standard--vdgp3ky/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb331fdbea48648cb54df143bd1a3551418444c1c858edfdc7bb670851ffdb2e", + "video_sha256": "a0877f8365f355d1519ff95cc66d486bb887b8a999da0216da47d65d0df8d00f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44.json new file mode 100644 index 0000000000000000000000000000000000000000..dea0ff517c3b6cc44240f1c9d315b33384337ce8 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2519, + "executed_rows": 2519, + "sim_steps": 2519, + "physics_steps": 25190, + "sim_time_s": 25.19, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 75.8, + "replay_timeout_s": 551.9, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 17, + "agent_resets": 17, + "agent_sim_steps": 5038, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44/replay.mp4", + "duration_s": 25.24, + "fps": 25.0, + "frames": 631, + "sha256": "aec35588e01f26cc8deeacacae79a7037d4f23b068ecf0b7066c4b00595d7d7b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 4.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.1, + "log_step": null, + "text_zh": "观察：视频 0.0–2.8 s 左臂 panda-0 下降并合拢二指包住门自由端，视频 3.0–4.4 s 夹爪带动琥珀色门叶朝右臂方向摆开。" + }, + { + "t": 4.1, + "log_step": null, + "text_zh": "推断：结合视频 4.0–4.4 s 的开门幅度和评分器 phases_done=5、success=1，将正向开门事件约定在视频 4.1 s；画面不能直接量出 0.5 rad 阈值。" + }, + { + "t": null, + "log_step": 22, + "text_zh": "观察：log step 2 输出的本次运行 update_task 在首阶段检查 bilateral_grip(gate) 与 q>0.5；log step 22 的已保存轨迹回放结果为 phase=5、success=true、valid=true。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 二指夹爪包夹门叶自由端并随其转动；视频 3.0–4.4 s 可见门随夹爪正向摆开。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 11.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.4, + "log_step": null, + "text_zh": "观察：视频 5.2–7.4 s 右臂蓝色安装球拍先把橙色冰球向围栏内拨移；视频 11.0–11.4 s 球拍再次触球，冰球脱拍向左侧远轨滑去。" + }, + { + "t": 11.7, + "log_step": null, + "text_zh": "推断：视频 11.4–11.9 s 冰球滑入左夹爪后方遮挡区，随后从靠上轨处向右返回；结合评分器 phases_done=5，深入围栏事件记为视频约 11.7 s，误差约 0.2 s；遮挡处的 x<-0.05 m 不能由画面精确测出。" + }, + { + "t": null, + "log_step": 22, + "text_zh": "观察：log step 2 的运行版本在本阶段检查先触右拍、随后 x<-0.05 且不再触拍，没有当前 DAG 所列每次同步把手冲量条件；log step 22 回放已保存轨迹，报告五阶段完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的刚性安装蓝色球拍直接作用于橙色冰球，视频 5.2–7.4 s 先缓推，视频约 11.1 s 再挥拍击出，冰球随后脱拍滑向远轨；现有怎么碰取值没有击打。左手此时仍握门，未直接触球。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [ + [ + 12.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 5.0–7.0 s 左夹爪带门反摆至零位另一侧并保持；视频 11.9–12.3 s 冰球从远轨方向沿上侧长橙轨返回，随后转向右拍。" + }, + { + "t": 12.1, + "log_step": null, + "text_zh": "推断：结合视频 11.9–12.3 s 的轨边运动、门的反向姿态及评分器五阶段完成，反向开门与上轨接触的同步验收约在视频 12.1 s；并非在视频约 7.0 s 门已反摆时就记此事件。" + }, + { + "t": null, + "log_step": 22, + "text_zh": "观察：log step 2 的运行版本在此阶段检查 bilateral_grip(gate)、q<-0.35 及 puck 与 upper_rail 接触；log step 22 的两次回放均 phase=5 且末态哈希相同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 保持二指包夹门自由端，视频 5.0–7.0 s 带门反摆，之后夹爪与门保持同一姿态；冰球自行碰上轨，右拍不负责操作门。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [ + [ + 13.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.6, + "log_step": null, + "text_zh": "观察：视频 12.4–13.4 s 橙色冰球向右滑近预置的蓝色球拍，视频约 13.6 s 到拍面处，随即稍向左退并在视频约 14.4 s 停住；左夹爪仍在门自由端。" + }, + { + "t": 13.6, + "log_step": null, + "text_zh": "推断：上述接近、碰拍后反向及停住的连续画面支持回程截击事件，时间取视频约 13.6 s；评分器 phases_done=5 与该进展一致。" + }, + { + "t": null, + "log_step": 22, + "text_zh": "观察：log step 22 已保存轨迹的两次独立回放均 phase=5；log step 2 的运行版本将反向开门阶段之后再次触右拍作为截击验收，没有最低速度或静置窗口。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打（挡停来球）；右臂 panda-1 预置的蓝色安装球拍在视频约 13.6 s 迎住橙色冰球，使其轻微反弹并停下，未用右夹爪夹持冰球；现有怎么碰取值没有球拍挡击。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [ + [ + 25.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.4, + "log_step": null, + "text_zh": "观察：视频 16.0–23.6 s 右臂抬拍并绕到静止冰球后方，视频 24.2–24.7 s 拍面推动冰球朝右侧独立短挡墙方向运动。" + }, + { + "t": 25.2, + "log_step": null, + "text_zh": "观察：视频 24.8–25.20 s 蓝色球拍退开并抬高，橙色冰球与拍面分离，继续向短挡墙前的通道滑行；视频 25.20 s 末帧左夹爪仍在偏开的门自由端。" + }, + { + "t": 25.2, + "log_step": null, + "text_zh": "推断：结合末段脱拍向右滑行和评分器 success=1、phases_done=5，越线事件记为视频约 25.2 s；桌面没有画出 x=0.43 m 目标线，越线与通道容差由本次评分结果确认，未从视频量测。" + }, + { + "t": null, + "log_step": 22, + "text_zh": "观察：log step 21 保存轨迹后调用回放；log step 22 的回放输出两次 success=true、control_steps=2519、phase=5、valid=true，末态哈希相同；这与本次 reward 的 deterministic=1、replays=2、phases_done=5 一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打（推杆式击球）；右臂 panda-1 绕到冰球后方，视频约 24.2 s 用固定蓝色球拍向目标方向推击，再退拍让冰球独立滑行；现有怎么碰取值没有击打，不虚构右夹爪握拍或握球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "本次评分轨迹完成正向开门、击球深入围栏、反向开门并碰上轨、回程截击和最终脱拍越线五个顺序事件，评分器 success=1、phases_done=5，两次回放末态一致（log step 22）。版本差异：log step 2 的旧版运行代码仅在两次开门阶段检查 bilateral_grip，未实施当前 DAG 的把手范围、双指冲量及其他阶段同步夹持检查，按 P19 使用本次实际评分规则标注。无状态日志，门角阈值、遮挡中的深入界线及未绘出的目标线无法逐物理步核验；视频时间为约值，未把开发会话的 agent 时间换算成视频时间，也未使用独立参考录像。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行；五个视觉节点均标为到达，时间由评分器 phases_done=5 约束且以推断标注，接触为抓握/手持工具·其他（击打），failure 为 null，符合规则。画面分辨率有限，无法精确核对各事件时刻，但未发现与帧矛盾之处。", + "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": "2026-10-30T04:18:35Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--5btuc44/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dbfeaabde7910aed7f43ce38c616a138701ef69b8d5cb3b45714a802db7c3e34", + "video_sha256": "aec35588e01f26cc8deeacacae79a7037d4f23b068ecf0b7066c4b00595d7d7b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm.json new file mode 100644 index 0000000000000000000000000000000000000000..f151083000722ac3731eceaa19d4801c1f918627 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 3097, + "executed_rows": 3097, + "sim_steps": 3097, + "physics_steps": 30970, + "sim_time_s": 30.97, + "phases_done": 2, + "valid": 0, + "replay_wall_s": 114.7, + "replay_timeout_s": 609.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 51, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 1.009, + "peak_processes": 10, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm/replay.mp4", + "duration_s": 31.04, + "fps": 25.0, + "frames": 776, + "sha256": "c3b239a35bf1c3baac1122ae1ce7e98e13ab0b141e5f2ff8c8523934ceb78d6e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 24.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.7, + "log_step": null, + "text_zh": "观察：视频 2.8–3.6 s 左臂二指围住橙红把手；视频 23.6–25.0 s 左夹爪带动门自由端向右臂方向摆开，视频约 24.7 s 开度已达到正向开门阶段的外观。推断：结合评分器 phases_done=2 的顺序阶段计数，正向开门事件已成立；时刻按画面估计，误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂 panda-0 的两指夹住门自由端把手，并随门叶转动。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 27.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.1, + "log_step": null, + "text_zh": "观察：视频 26.2–26.6 s 右臂蓝色球拍向围栏内挥动；视频 26.8–27.2 s 橙色冰球已离开球拍，从入口快速滑向左端远轨，随后反弹，左手仍在把手处。推断：结合评分器 phases_done=2，深入围栏事件在视频约 27.1 s 达成，时间误差约 0.2 s；并非由奖励为零推断动作失败。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：右臂 panda-1 的刚性安装蓝色球拍接触并击出橙色冰球；前期也用拍面缓推冰球调整起点。候选：击打，现有接触方式无击打项，按 S16 用其他。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右拍击球期间，左臂 panda-0 夹爪同时夹住门把手，使门保持偏开。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.2, + "log_step": 167, + "text_zh": "观察：视频 27.2–29.2 s 左臂将门从正向开位摆回、略过零位，冰球反弹后停在门旁的下侧区域，视频 30.2 s 仍未到后方上轨。log step 167 的末次生成脚本输出记录仿真 29.05 s 门 q=-0.1373 rad、仿真 30.25 s q≈-0.142 rad，阶段为 gate_reconfiguration；运行版 log step 6 要求 q < -0.35 rad 且冰球接触上轨。视频 30.56–31.0 s 右手及球拍组件移向持门左臂，两手靠拢后画面停止，未见补击冰球到上轨；评分器 phases_done=2。推断：末次生成的时长、阶段和末段动作与交付回放吻合，支持反向开度不足、同步上轨接触未成立，第三阶段没有锁存。" + }, + { + "t": 30.96, + "log_step": 167, + "text_zh": "观察：log step 167 的末次生成输出为 gate_reconfiguration，报告 END upper shot overhead ... arm_arm_or_tool_collision，并在仿真 30.97 s 输出 CHECKPOINT；评分器交付回放也执行 3097 行、仿真 30.97 s、phases_done=2、valid=0，视频 30.96 s 可见两臂手部贴近。推断：末次生成与交付回放的时长、阶段和末段动作吻合，碰撞记录可支持本次末段判断；其他试验的反向开度不移用于本视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂 panda-0 夹爪夹住门把手，带门向零位另一侧转动；右臂随后移拍准备把冰球打向上轨，但尚未再次触到冰球。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.96, + "log_step": null, + "text_zh": "观察：视频 27.4–31.0 s 右臂球拍先离开冰球、抬起并移向左臂；橙色冰球留在围栏内门旁，没有到右侧球拍处形成回程触拍。推断：第三阶段未完成且评分器 phases_done=2，后继截击事件未达成；没有把前期首次击球计作截击。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 27.4–31.0 s 冰球仍在围栏内门旁，未滑向右侧独立短挡墙前的目标通道；视频 31.0 s 末帧亦如此。推断：截击前置未达成，且可见冰球未正向越过右侧目标区，最终越线事件为假，与评分器 phases_done=2 一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened_opposite", + "t": 29.2, + "log_step": 167, + "where": "操作中", + "evidence_zh": "观察：视频 27.2–29.2 s 左臂将门从正向开位摆回并略过零位，冰球反弹后留在门旁下侧，视频 30.2 s 仍未到后方上轨。log step 167 是 agent 会话中末次生成脚本的输出，其中仿真 29.05 s 的门 q=-0.1373 rad，仿真 30.25 s 的 q≈-0.142 rad、阶段为 gate_reconfiguration、valid=True；该运行版 log step 6 的第三阶段要求 q < -0.35 rad 且冰球接触上轨。视频 30.56–31.0 s 右手及球拍组件移近持门左臂后停止，log step 167 随后报告 arm_arm_or_tool_collision，并输出仿真 30.97 s 的 CHECKPOINT；交付评分器记录仿真 30.97 s、phases_done=2、valid=0。推断：末次生成的时长、阶段和末段动作与交付回放吻合，其读数支持反向开度不足；第三步在碰撞前已因开度不足且冰球未触上轨而未达成，随后补救动作中的碰撞终止回放，该步始终未修复。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": true, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 29.2, + "log_step": 167, + "evidence_zh": "观察：视频 27.2、27.6、28.4、29.2 s 显示左臂将门摆回、略过零位，冰球从远轨反弹后留在门旁下侧；视频 30.2 s 门和冰球仍在该区域，冰球未到后方上轨。log step 167 的末次生成脚本输出记录仿真 29.05 s 门 q=-0.1373 rad、仿真 30.25 s q≈-0.142 rad，阶段均为 gate_reconfiguration；log step 6 的运行版判据及 task/task_dag.json 的 gate_opened_opposite.criterion_zh 均要求 q < -0.35 rad 并同步触上轨。推断：结合末次生成与交付回放的时长、阶段及末段动作吻合，负向开门幅度仅约 0.14 rad，未达反向开门要求，且冰球未触上轨；这一不足先于末段双臂碰撞，门角来自日志读数而非画面测量。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 30.9, + "log_step": 167, + "evidence_zh": "观察：视频 30.56–31.0 s 右臂携蓝色球拍移向持门左臂，右手组件与左手腕区域贴近后动作停止；log step 167 是 agent 会话中末次生成脚本的输出，对该末段动作报告 END upper shot overhead ... arm_arm_or_tool_collision，交付评分器回放在仿真 30.97 s 终止且 valid=0。推断：末次生成与交付回放的时长、阶段及末段动作吻合，支持补击准备中发生双臂或工具碰撞，具体接触零件不能由该视角唯一识别；碰撞发生在反向开度不足、冰球未到上轨的现象之后，终止了补救动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：视频 27.2–29.2 s 左臂确实夹持门把手反向摆门，但视频 29.2、30.2 s 门仅略过零位，冰球留在门旁；log step 167 的末次生成脚本输出给出仿真 29.05 s q=-0.1373 rad、仿真 30.25 s q≈-0.142 rad，未达 log step 6 运行版要求的 q < -0.35 rad。随后视频 30.56–31.0 s 右手及球拍接近持门左臂，log step 167 报告 arm_arm_or_tool_collision；该输出的时长、阶段及末段动作与交付评分器和画面吻合。推断：机器人执行了反向摆门及补击准备，但执行中未形成足够反向开度和上轨接触，后续双臂接近又发生碰撞，支持控制层归因；没有充分的目标轨迹、跟踪和接触力记录区分逆解、跟踪或接触设计子类，碰撞不是先前开度不足的原因。", + "source_zh": "视频 / 日志 / 评分器字段" + } + ], + "gap_zh": "观察：inputs 中没有状态日志，门把手及末段两手相交区域有局部遮挡；无法核验交付回放逐物理步双指冲量、门角轨迹、碰撞零件对及首达时刻，节点时刻为视频估计。日志多次会话试验中有更大的反向开度及其他失败，均未作为本次节点值。推断：仅末次 log step 167 的生成脚本输出因时长、阶段及可见末段与交付回放吻合，用于支持约 -0.14 rad 的门角和末段碰撞；这些读数并非交付回放的独立状态日志，仿真读数时刻与视频观察时刻分别保留。log step 6 读出的运行版 update_task 比当前 DAG 少部分同步把手条件，本文件按实际运行版及评分器阶段计数标注。" + }, + "summary_zh": "本次交付完成正向打开门和击球深入围栏两个锁存节点，最终为 2/5。反向开门阶段仅摆至约 -0.14 rad，未达 q < -0.35 rad，冰球反弹后停在门旁且未触上轨；随后视频约 30.9 s 右臂补击准备与持门左臂发生碰撞并终止，断于 gate_opened_opposite，归因为控制且子类不明。无状态日志，门角依据与交付时长、阶段和画面吻合的末次 log step 167 生成输出，首达时间及接触细节受画面精度限制；log step 6 所示运行版比当前 DAG 少部分同步夹持要求，依实际运行评分规则保留前两阶段完成。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "前两个节点（phases_done=2）与时间无明显矛盾，断点 gate_opened_opposite 可接受；但失败叙述把末段双臂碰撞当成该步失败的原因，而日志与视频显示该步在碰撞之前已经没达成（门只摆到约 -0.14 rad，判据要求 < -0.35 rad，冰球未到上轨），缺少这一主现象。视频分辨率低，门角与冰球位置只能粗看。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "前两个节点与 phases_done=2 及画面一致（视频约 24–25 s 门摆开、26–27 s 击球入围栏），断点 gate_opened_opposite 合理；第一轮意见已落实（位姿不准在先、碰撞在后，门角读数标明来自与交付回放时长一致的 log step 167 生成输出）。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": "2026-10-30T04:32:26Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--993zajm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2bef72f74785a76170eac21dbc590bc5976725ea64617485bffd35323b2a1900", + "video_sha256": "c3b239a35bf1c3baac1122ae1ce7e98e13ab0b141e5f2ff8c8523934ceb78d6e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg.json new file mode 100644 index 0000000000000000000000000000000000000000..eb851450788ff7a01af3d1bbb29917e6e3a974cd --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1220, + "executed_rows": 1220, + "sim_steps": 1220, + "physics_steps": 12200, + "sim_time_s": 12.2, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 38.3, + "replay_timeout_s": 422.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 123, + "agent_resets": 130, + "agent_sim_steps": 6060, + "agent_replays": 10, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg/replay.mp4", + "duration_s": 12.24, + "fps": 25.0, + "frames": 306, + "sha256": "0f918ff7871dcd3668c2ac0de97b4b80e90e1215837b7953dfef21d420178947" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 6.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 3.2–5.6 s，左臂 panda-0 的二指夹爪下降并夹在琥珀色门叶两侧；视频 5.6–6.4 s 门随夹爪向右臂方向摆开，视频 6.0 s 已明显偏离零位。夹点在门叶上，不能从画面认定为末端橙红把手。" + }, + { + "t": 6.0, + "log_step": 194, + "text_zh": "推断：结合门的摆向及交付文件回放完成 phase=5（log step 194），按本次运行规则将正向开门事件记在视频约 6.0 s，阈值通过时间的视觉误差约 0.2 s；后续反向摆门不撤销该事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–6.4 s，左臂 panda-0 两指夹住门叶并带其正向转动；实际夹点靠近门叶中部，不把它写成已核实的把手夹持。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 8.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 7.68–7.80 s，右臂 panda-1 的蓝色安装球拍触及入口处橙色冰球；视频 7.84–8.44 s 冰球与球拍分离，向左侧围栏深处滑动，视频 8.4 s 已靠近左端远轨，随后反弹；左夹爪仍夹着门叶。" + }, + { + "t": 8.4, + "log_step": 194, + "text_zh": "推断：视频 8.4 s 的冰球位置及随后远轨反弹支持深入围栏；精确 x=-0.05 m 界线未标在桌面，结合评分器 phases_done=5、log step 194 交付回放 phase=5，按运行时规则认定本事件完成，时间约有 0.2 s 误差。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 7.68–7.80 s，右臂 panda-1 刚性安装的蓝色球拍击打橙色冰球，使其脱拍向围栏深处运动；候选：击打，现有接触方式无击打条目。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.6–8.4 s，左臂 panda-0 夹爪同时夹住门叶并开始回摆；未观察到左手抓取冰球。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [ + [ + 9.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.2, + "log_step": null, + "text_zh": "观察：视频 8.4–9.2 s，左臂 panda-0 保持夹住门叶，将其从正向开度摆过零位；视频 9.12–9.20 s，橙色冰球到达后方长橙色上轨并折返，门叶已摆向与首次开门相反的一侧。" + }, + { + "t": 9.2, + "log_step": 194, + "text_zh": "推断：按可见上轨折返及反向门位姿，把同步事件记在视频约 9.2 s；log step 194 的交付回放 phase=5 及评分器 phases_done=5 确认通过本次运行的阶段验收。无物理状态日志，不能由画面独立测出 q<-0.35 rad 与双指接触的同一物理步。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.4–9.2 s，左臂 panda-0 的两指夹住门叶并将其反向摆动；冰球自行滑行碰上轨，右拍此时已退开。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频 9.2–10.6 s，冰球由上轨折返后滑到右侧入口；视频 10.8–11.4 s，右臂 panda-1 将蓝色球拍移到冰球后侧；视频 11.48–11.80 s，球拍贴近并向右推送冰球，冰球由近乎静止转为随拍向目标方向加速。左夹爪仍夹持反向偏开的门叶。" + }, + { + "t": 11.5, + "log_step": 194, + "text_zh": "推断：将视频约 11.5 s 的重新触拍记为截击完成，视觉时间误差约 0.1 s；本实例不要求来球最低速度或截停窗口。log step 194 的交付回放 phase=5 确认该阶段已通过；未用会话中失败测试的触拍作为本次进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 11.48–11.80 s，右臂 panda-1 的刚性安装蓝色球拍从冰球后侧向右扫动、推送橙色冰球；未形成夹持，实际接触呈连续推送。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 11.4–11.8 s，左臂 panda-0 二指夹爪同时夹持门叶，维持反向开度。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [ + [ + 12.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：逐帧检查视频 11.2–12.2 s，右臂 panda-1 球拍在冰球后侧向右扫动；视频 11.8–12.2 s 冰球向独立橙色短挡墙前方滑动，末帧已进入该目标通道。左夹爪仍夹着反向偏开的门叶，画面没有标绘目标线。" + }, + { + "t": 12.2, + "log_step": 194, + "text_zh": "推断：结合可见的向右滑行动作、log step 194 对最终 1220 行交付文件的回放结果 success=true、phase=5、sim_time_s=12.2，以及评分器 success=1、phases_done=5，认定脱拍正向越线事件在视频约 12.2 s 完成；精确越线位置及瞬间无拍接触由运行时评分验收支持，不能单靠遮挡和无刻度画面测定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 11.5–11.8 s，右臂 panda-1 通过刚性安装球拍向右推送冰球，随后的滑行使冰球到达目标通道；这是与截击相连的一次扫动，未观察到另一次独立抡拍击打。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 11.8–12.2 s，左臂 panda-0 夹爪同时夹住反向偏开的门叶。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：本次视频中左夹爪正向摆门，右拍击球深入围栏；门反向后冰球碰上轨，右拍再从冰球后侧连续推送，视频约 12.2 s 到达目标通道，评分器报告五阶段全部完成、两次回放成功且确定性一致。观察：log step 6 展示的运行时旧版 update_task 只在正向开门和反向碰轨阶段检查门叶双指夹持，未要求当前 DAG 的把手范围及各阶段同步夹持；log step 194 的旧实例初态哈希以 09fa46e7 开头，故按 P19 采用本次执行规则，将五个事件均记为完成。推断：各事件时间取自已检查画面的近似位置；没有状态日志，视频无法独立核验精确角度、指端冲量、毫秒级同步或未画出的越线界线，参考成功视频仅用于核对几何外观。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "任务成功（评分器五阶段全部完成），五个节点均为 final 真，时间与接触与视频帧一致；无失败层，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:26:34Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--guqwwxg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7bccfbfdb42141bbdd2fa20c21acb3b3650b2c86b5d7fea09ec133503f7b2e00", + "video_sha256": "0f918ff7871dcd3668c2ac0de97b4b80e90e1215837b7953dfef21d420178947", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5df84c175f93c678ed9dee3c97284696a3d37e --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 575, + "executed_rows": 575, + "sim_steps": 575, + "physics_steps": 5750, + "sim_time_s": 5.75, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 26.9, + "replay_timeout_s": 357.5, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 47, + "agent_resets": 66, + "agent_sim_steps": 1150, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.737, + "peak_processes": 9, + "peak_disk_gb": 0.056, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z/replay.mp4", + "duration_s": 5.8, + "fps": 25.0, + "frames": 145, + "sha256": "20f2e13ea1c178f251f0a5ced85f254f08e23cb48f22e9a92d760b8bf9b337a7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 2.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.12, + "log_step": null, + "text_zh": "观察：视频 1.60–2.16 s，左臂二指夹爪包住门自由端把手并带动琥珀色门叶向右臂侧摆开；视频 2.12–2.20 s 门达到正向最大开度，随后反向运动。" + }, + { + "t": 2.12, + "log_step": null, + "text_zh": "推断：结合上述摆门画面及评分器 phases_done=5、success=1，本次运行的正向开门事件已通过并锁存；视频 2.12 s 为约略到达时刻，不能由画面测出精确角度或指垫冲量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪夹住门自由端把手并随门摆动；视频中夹爪包住把手，门随其转动。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 3.48, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.12, + "log_step": null, + "text_zh": "观察：视频 3.00–3.12 s，右臂蓝色球拍接近并碰到橙色冰球，随后冰球向围栏左端滑动；左夹爪仍包住门把手。视频 3.16–3.60 s 冰球路径部分被门叶及夹爪遮挡。" + }, + { + "t": 3.48, + "log_step": null, + "text_zh": "推断：冰球离拍向围栏深处运动，结合评分器 phases_done=5、success=1，深入围栏事件已按本次规则完成；视频约 3.48 s 为深处到达锚点，隐蔽处的精确过线与瞬时接触条件不可直接量出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的固定安装蓝色球拍击球使冰球向围栏左端深入，现有方式无击打，故用其他；右夹爪保持张开，不虚构抓握球拍。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪夹住门自由端把手并随门摆动；视频中夹爪包住把手，门随其转动。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [ + [ + 4.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.24–2.80 s，左臂夹爪带门向零位另一侧摆动，之后门保持反向偏开；视频 3.00–5.76 s 左夹爪仍位于把手上。" + }, + { + "t": 4.08, + "log_step": null, + "text_zh": "推断：视频 3.48–4.20 s 冰球经过围栏深处后回程，部分轨道区域被机械臂遮挡；结合评分器 phases_done=5、success=1，反向开门与上轨接触的阶段已通过。本节点须在深入围栏后与触上轨同时成立，不能把视频约 2.80 s 门已反向的画面直接算完成；到达时刻估为视频 4.08 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪夹住门自由端把手并随门摆动；视频中夹爪包住把手，门随其转动。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [ + [ + 4.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.88, + "log_step": null, + "text_zh": "观察：视频 4.72–5.16 s，右臂在围栏出口附近摆动蓝色球拍；接触区域起初被右腕遮挡，视频 5.12–5.28 s 橙色冰球从球拍右侧显露并向右滑动，左夹爪继续握住反向偏开的门。" + }, + { + "t": 4.88, + "log_step": null, + "text_zh": "推断：结合回程冰球到拍后向目标侧改变运动的连续画面及评分器 phases_done=5、success=1，截击已发生并锁存；视频约 4.88 s 为接触锚点，受右腕遮挡而不能逐物理步判定首次接触。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的固定安装蓝色球拍截击回程冰球，使其转向目标通道，现有方式无击打，故用其他；右夹爪保持张开，不虚构抓握球拍。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪夹住门自由端把手并随门摆动；视频中夹爪包住把手，门随其转动。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [ + [ + 5.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频 5.12–5.52 s，橙色冰球从蓝色球拍右侧分离，继续滑向独立橙色短挡墙前方；视频 5.56–5.76 s 末段画面中冰球停留在短挡墙旁的目标通道位置，与球拍有可见间隔，左夹爪仍握门。" + }, + { + "t": 5.6, + "log_step": null, + "text_zh": "推断：结合末段离拍滑行画面和评分器 success=1、phases_done=5、valid=1、deterministic=1、replays=2，最终越线事件按运行时规则成立并锁存，锚点取视频约 5.60 s。桌面没有画出目标线，精确越线位置、瞬时门角度与双指冲量不能由画面独立测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的固定安装蓝色球拍截击后将冰球送向右侧目标通道；视频 5.12–5.76 s 可见冰球离拍滑行，未另虚构一次触拍，现有方式无击打，故用其他；右夹爪保持张开，不虚构抓握球拍。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪夹住门自由端把手并随门摆动；视频中夹爪包住把手，门随其转动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "本次交付录像中，左夹爪握把手正向开门并反向持门，右侧安装球拍击球深入围栏、截击回程冰球并将其送入右侧目标通道；评分器确认五阶段全部完成、两次回放确定一致，五个事件节点均锁存为真。版本差异：log step 2 的运行实例初态哈希以 09fa46e7 开头，属于 DAG 注明的旧版，与当前 DAG 所引新版 09f02cb9 不同，故按本次运行规则及成功结果标注，不把成功当作新版把手范围和冲量条件的证明。无状态日志，门叶和右腕遮挡部分触球及碰轨过程，桌面也无目标线刻度，因此节点视频时刻为近似锚点，无法独立核实毫秒级同步或接触冲量。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行（phases_done=5、success=1），五个事件节点均为真且锚点时间与视频帧大体一致；接触标注（左夹爪抓握、右拍击打用其他）与帧相符，无失败层，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": "2026-10-30T04:17:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--hash59z/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1053f49ecd345eb27866a9caadd7878308c1b0587ca89b8179d784e3d7947604", + "video_sha256": "20f2e13ea1c178f251f0a5ced85f254f08e23cb48f22e9a92d760b8bf9b337a7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk.json new file mode 100644 index 0000000000000000000000000000000000000000..c50d5d33047a855beb1ea21460c91f3c6766d3ee --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk.json @@ -0,0 +1,270 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1125, + "executed_rows": 1125, + "sim_steps": 1125, + "physics_steps": 11250, + "sim_time_s": 11.25, + "phases_done": 2, + "valid": 0, + "replay_wall_s": 52.5, + "replay_timeout_s": 412.5, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 81, + "agent_resets": 81, + "agent_sim_steps": 1579, + "agent_replays": 10, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk/replay.mp4", + "duration_s": 11.32, + "fps": 25.0, + "frames": 283, + "sha256": "e7bcb04ff4b9ae21927c380b2a7d13e263899a1a903fa4de82fa4e004623a268" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 3.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0.6–2.0 s 左夹爪下降并合拢在门自由端；视频 2.4–3.76 s 门随左手向右臂方向摆开，视频 3.6 s 已明显偏离零位，夹爪围住门末端。首次满足双指接触的物理步不可见，区间起点为约半秒精度的视觉估计。" + }, + { + "t": 3.6, + "log_step": 101, + "text_zh": "推断：评分器 reward.phases_done=2，且 log step 101 对最终 1125 行交付文件的回放报告 phase=2（gate_reconfiguration），结合视频中的正向摆门确认本事件已锁存。log step 4 所读运行时检查只要求 bilateral_grip(gate) 与 q>0.5，不把当前 DAG 新增的把手冲量条件追溯强加给本次旧版运行。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 的二指夹爪合拢夹住琥珀色门自由端的把手区域，夹爪转动时门叶随动；不是右臂抓门。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.08, + "log_step": null, + "text_zh": "观察：视频 4.00–4.16 s 右臂安装的蓝色球拍前移并击中橙色冰球，冰球离开入口原位置；视频 4.4–5.4 s 冰球脱拍沿近侧长轨向左端滑行，随后在远端反弹；左夹爪仍在门末端，门保持正向偏开。" + }, + { + "t": 5.0, + "log_step": 100, + "text_zh": "推断：视频约 5.0 s 的深入位置与 log step 100 生成最终交付轨迹时记录的仿真 4.96 s 冰球 x=-0.051 m、仿真 5.0 s phase=2 一致；近侧轨短暂遮住冰球下部，采用视频约 5.0 s 为到达锚点。评分器 phases_done=2 及 log step 101 对同一 1125 行文件的回放支持第二阶段已锁存。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的刚性安装蓝色球拍直接击中橙色冰球并使其脱拍左行。现有 how 取值没有击打，按 S16 使用其他；右夹爪未抓握冰球。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 5.4–7.0 s 冰球从围栏左端反弹后减速，停在围栏内部、与后方上轨仍有明显间隔；视频 7.0–11.28 s 冰球没有再到上轨，门也未出现成功参考视频约 6–9 s 那样摆至零位另一侧的姿态。左夹爪仍夹在门末端。" + }, + { + "t": 11.24, + "log_step": 101, + "text_zh": "观察：log step 101 的交付文件回放报告 phase=2、phase_name=gate_reconfiguration、valid=false、failure_reason=limit_violation，评分器亦给出 phases_done=2；视频 10.28–11.28 s 逐帧检查未见反向开门与冰球触上轨的同步事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪在改换门位阶段继续围住并夹持门自由端把手区域；末段门仍停留在原正向一侧。右球拍留在入口外，没有碰到停在围栏内部的冰球。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.28, + "log_step": null, + "text_zh": "观察：视频 5.4–11.28 s 冰球由围栏左端回弹后停在内部，蓝色球拍位于右侧入口外，两者始终有间隔，没有再次触拍或截停动作。此前视频约 4.08 s 的首次击球不属于本节点。" + }, + { + "t": 11.24, + "log_step": 101, + "text_zh": "推断：log step 101 回放停在 phase=2，反向开门的前置事件尚未锁存；结合视频中缺少再次触拍，截击回程冰球未完成，亦未进入实际截击操作。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.28, + "log_step": null, + "text_zh": "观察：视频约 7.0 s 至视频 11.28 s，橙色冰球一直停在围栏内部，没有离开围栏滑向右侧独立短挡墙前的目标通道；未发生最终射门。" + }, + { + "t": 11.24, + "log_step": 101, + "text_zh": "推断：评分器 phases_done=2、log step 101 最终回放 phase=2，与视频未见截击或射门一致，故本事件未锁存；不是仅由 success=0 推断未越线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened_opposite", + "t": 11.24, + "log_step": 101, + "where": "操作中", + "evidence_zh": "观察：视频 7.0–11.28 s 冰球停在围栏内部、门未摆到反向位置，机器人仍在改换门位阶段；log step 101 对最终交付文件的回放在 control_steps=1125、仿真 11.25 s 报告 limit_violation，phase=2，未完成反向开门。推断：控制频率为 100 Hz，1125/100=11.25 s 与视频 11.32 s 总长相符，且已用视频约 4.08 s 的击球离拍和约 5.0 s 的深入事件核对时钟，故用视频 11.24 s 作终止附近的导航锚点。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": true, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 11.24, + "log_step": 101, + "evidence_zh": "观察：log step 101 的最终交付文件回放明确返回 end_reason=limit_violation、failure_reason=limit_violation、valid=false；对应视频 11.24 s 附近，门仍未反向，冰球未触上轨。该报告表示机器人运动限值检查触发，日志没有给出本次超限的具体量；不沿用早期其他轨迹的碰轨、两臂相撞或 finger_speed 诊断。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 100 生成的 1125 行机器人动作文件，经 log step 101 独立回放仍在仿真 11.25 s 触发运动限值，评分器也确认两次回放 deterministic=1、instance_ok=1、infra_error=0。结合视频中尚未完成的改换门位动作，支持交付动作的控制执行未满足限值；缺少末次轨迹的遥测，不能进一步归因于手指速度、某个关节、逆解或特定参数。" + } + ], + "gap_zh": "本任务没有状态日志；单一远景下可见门与冰球运动，但不能逐物理步核验双指接触、冲量和精确门角，正向开门起点只能近似定位。末次交付回放仅报告 limit_violation，没有记录具体机械臂、超限变量或其数值；早期会话的 finger_speed 与碰撞属于其他轨迹，不能用来填补该缺口。运行时旧版阶段检查见 log step 4，弱于当前 DAG 的把手及同步条件，按 P19 使用本次运行规则。" + }, + "summary_zh": "本次完成正向开门和击球深入围栏两个锁存事件，最终进度 2/5；冰球随后停在围栏内部，门未完成反向摆开，截击与越线均未发生。断点为反向打开门的操作中：最终交付回放在仿真 11.25 s 报告运动限值违规，根因仅能定位为控制，缺少具体超限遥测。log step 4 显示本次使用较旧阶段检查，按运行时规则标注；无状态日志，双指接触的精确起点及当前 DAG 新增的把手冲量条件无法由远景核验。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度 2/5（正向开门、击球深入）与评分器 phases_done=2、log step 100/101 的仿真 5.0 s phase=2 及视频帧一致；断点 gate_opened_opposite、违反约束+控制的标注有日志回放依据，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:25:29Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--jzfzymk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5811265bfe0c12d11d9cc42978bdc3de5cf6395fdb1dc6b1e0956ad548de4039", + "video_sha256": "e7bcb04ff4b9ae21927c380b2a7d13e263899a1a903fa4de82fa4e004623a268", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx.json new file mode 100644 index 0000000000000000000000000000000000000000..e27b5888b5233e2f0867f8d38f3574f2bf480360 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx.json @@ -0,0 +1,228 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 234, + "sim_steps": 3734, + "calls": 7, + "rows": 1234, + "resets": 1, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2950.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx/replay.mp4", + "duration_s": 2.4, + "fps": 25.0, + "frames": 60, + "sha256": "76e91065641dcf1d51c5ed97d0a436fbe9b5934c0452a515063a648ade3c0e51" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 0.00–2.36 s 中，左臂 panda-0 移到门把手上方并下降、合拢夹爪，但琥珀色门叶一直保持初始方向，没有正向摆开的可见变化；视频 1.80 s 与 2.36 s 的门叶朝向相同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1.40–2.36 s，左臂 panda-0 的两指下降至橙红把手两侧并合拢包住把手区域；门没有随夹爪摆开。画面不能核验双指接触冲量及把手接触点阈值。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.00–0.96 s，右臂 panda-1 将蓝色球拍抬高并转向，橙色冰球从拍下方继续朝围栏外滑行，没有被打向围栏深处；视频 2.08 s 冰球已到桌边，视频 2.20–2.36 s 可见它跌下桌面。正向开门前置也从未达到。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.00–0.96 s，右臂 panda-1 实际移动安装球拍准备击球，但冰球从拍下方滑出，未见明确的球拍—冰球接触。25 fps 总览无法排除经过拍边时的瞬时轻触，故不将计划中的击打记为已发生接触。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.36, + "log_step": null, + "text_zh": "观察：视频 0.00–2.36 s，门未摆到初态另一侧，冰球向右离开围栏并跌下桌边，未见冰球回到上轨；前面的正向开门与深入阶段也未完成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.36, + "log_step": null, + "text_zh": "观察：视频 0.00–2.36 s，冰球只有从围栏向右滑出、最后跌下桌边的行程，没有反向开门后的回程触拍；右球拍在冰球后方上抬、转向，未进入完成前置后的截击阶段。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：视频 0.80–2.36 s，冰球沿独立短挡墙的前侧滑向桌边并跌落，门始终未摆开，也没有先前的回程截击。推断：即使冰球曾向右经过某个 x 位置，也不构成有前置阶段及门条件的目标越线事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "puck_deep_in_pen", + "t": 0.4, + "log_step": 47, + "where": "操作中", + "evidence_zh": "观察：视频 0.20–0.60 s，右臂为首次击球调整球拍时将球拍抬离来球高度，冰球从其下方滑过，随后一直向桌边移动；视频 2.20–2.36 s 冰球跌落，左臂尚在合拢门把手、门未摆开。log step 47 的机器人服务返回第 2 局 control_steps=234、done=True、reason=failed，与这段结尾相符。推断：出错的是首次击球的准备与来球处理，故断点归击球深入围栏；左臂的开门尚未完成，但未见独立的更早开门失败。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 0.4, + "log_step": 47, + "evidence_zh": "观察：视频 0.20–0.60 s，初始就在运动的冰球到达右球拍处时，右臂正在抬拍，冰球从拍下方穿过；视频 0.80–2.08 s 它继续远离围栏、滑至桌边，视频 2.20–2.36 s 跌下桌面。球拍未在来球经过时维持可将它送回围栏的高度与位置。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 22 的探测试验让双臂保持不动，log step 24 的自制跟踪结果及 log step 25 的 agent 自述据此认为冰球碰拍后会停住、之后可按准静态处理；log step 40 的驱动脚本说明仍以击打静止冰球为方案。然而评分局视频 0.00–0.80 s 显示右臂一开始就抬拍和转向，改变了使探测局冰球停住的挡拍条件，初始来球滑出并在视频 2.20–2.36 s 跌落。把保持球拍时的停球结果用于立即抬拍的新序列，是有证据的跨动作规划错误。" + } + ], + "gap_zh": "没有状态日志或原生阶段事件账本；总览可确认门未摆开和冰球跌落，但不能核验把手双指冲量、毫米级接触点，也不能排除拍边的瞬时轻触。log step 47 服务只返回 failed，未给具体失败码，故不把跌落推断为已证实的原生越界触发，也不采用 log step 53 的夹爪速度超限算术猜测作为失败原因。inputs/run.json 中 log step 40 的脚本中段已被截断，log step 43 的替换又失败，不能用该未生效编辑的精确计划时序代替视频。" + }, + "summary_zh": "评分采用重置后的第 2 局，视频 0.00–2.36 s 中左夹爪下降合拢，但门始终未摆开，五个顺序节点均未完成。右臂准备首次击球时抬拍，初始运动的冰球从拍下方滑出并跌下桌边；日志支持其沿用了静止球拍探测试验中的停球假设，却未保留停球条件，断点归击球深入围栏。无状态日志和具体失败码，瞬时接触及精确安全触发原因无法核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分局为重置后的第2局（log step 47 control_steps=234，约2.34 s，与视频2.4 s吻合）；五个节点均未达成、冰球从拍下滑出并跌下桌边、门未摆开，均与帧相符；断点、现象与根因（探测局停球假设迁移到抬拍序列）有证据且标注为推断，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": "2026-10-30T04:32:31Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--6enwcgx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b6f0c70728ecfdcf1b50829011e5c5d2d99d4cc2aa1add72c296016dd3246f41", + "video_sha256": "76e91065641dcf1d51c5ed97d0a436fbe9b5934c0452a515063a648ade3c0e51", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls.json new file mode 100644 index 0000000000000000000000000000000000000000..47014dc043e7309c18ea6206613be820862b90d7 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 753, + "sim_steps": 1964, + "calls": 31, + "rows": 1764, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2025.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.267, + "peak_processes": 8, + "peak_disk_gb": 0.529, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/replay.mp4", + "duration_s": 7.6, + "fps": 25.0, + "frames": 190, + "sha256": "47ddd3048a9708e3701b7b2e9d143228adb3db9d6dfd129ec98d42bd32b408a2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 7.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": 117, + "text_zh": "观察：视频 5.4–6.4 s，左臂 panda-0 的两指从把手两侧闭合，把手留在指间；视频 6.4–7.56 s，夹爪带动门自由端向右臂方向摆动。log step 117 返回第 4 局 control_steps=642、尚未结束，抓握后的自写视觉估计为 gate_q=0.0487。" + }, + { + "t": 7.4, + "log_step": 132, + "text_zh": "推断：视频约 7.4 s（估时误差约 0.2 s），门已正向摆过约 0.5 rad，夹爪仍包夹把手，故正向开门事件达到并锁存；视频 7.4–7.56 s 的门叶由斜面转为接近侧面对镜头，与成功参考视频约 3.8–4.2 s 的正向摆门几何一致。log step 132 的服务末态 TCP=(0.1792,-0.0565,0.0947) m，结合 log step 106 的铰链估计 (0.099,0.05) m 及画面中的持门关系，平面角 atan2(0.1792-0.099,0.05+0.0565) 约为 +0.65 rad，支持已过开度阈值。" + }, + { + "t": 7.56, + "log_step": 131, + "text_zh": "观察：log step 131 打印的 gate_q=-1.4279 来自 agent 的 track_puck/track2.gate_angle 视觉计算（程序见 log step 106），不是服务的原生门关节或阶段读数；视频 6.4–7.56 s 门随夹爪连续向正向摆动，没有先反向大幅开门。本节点以画面及实际 TCP 几何作近似判断，不采用该自写末态角度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 5.4–7.56 s，左臂 panda-0 的二指夹爪从两侧夹住橙红把手，随后保持夹持并摆动琥珀色门叶；右臂未参与摆门。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": 131, + "text_zh": "观察：视频 0–7.56 s，橙色冰球仅在右侧入口、蓝色球拍前方移动后停留，没有滑到围栏左端深处；右球拍始终停在原位，没有执行向左击球。log step 131 的程序在 s3 正向摆门时即返回 done=True，尚未执行 s4 推球。开局冰球靠近静止球拍的早期接触发生于正向开门之前，不能计为本阶段完成。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": 131, + "text_zh": "观察：视频 6.4–7.56 s 左夹爪只执行正向摆门，门未摆到零位另一侧；冰球仍在入口下侧，未到上轨。log step 131 显示运行在 s3 终止，未执行反向摆门的 s5，前置的深入围栏也未完成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": 131, + "text_zh": "观察：视频 0–7.56 s 右臂及球拍保持初始姿态，冰球没有深入、碰上轨后返回球拍的过程；末段冰球仍在入口处。反向开门同步触上轨的前置事件未发生，初始接近球拍不能计为回程截击。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": 131, + "text_zh": "观察：视频 0–7.56 s 冰球未离开入口球拍处向右侧独立短挡墙前的目标通道滑行，最后一帧仍在围栏入口下侧；没有截击后的离拍越线过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 7.5, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频约 6.4–7.56 s，左臂仍在夹住把手继续正向摆门，右球拍没有开始击球；log step 131 的 s3 摆门执行返回 done=True、reason=failed，log step 132 从该次服务返回元数据读到 why=limit_violation、control_steps=753。推断：断点属于仍在操作的正向打开门步骤，虽开度事件约在视频 7.4 s 已达到，继续摆门时运动安全验收失败，未进入击球阶段。log step 3 给 control_dt=0.01 s，753 个控制步约为视频 7.53 s，与视频末段摆门及视频 7.6 s 截止相符；不使用 agent 工作时间映射视频。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 7.5, + "log_step": 132, + "evidence_zh": "观察：视频约 7.4–7.56 s 左臂正夹持门把手摆动，随后片段结束；本次第 4 局的服务执行元数据在 log step 132 明确给出 why=limit_violation、control_steps=753，log step 133 确认该局 done=true、reason=failed。这是机器人运动限值检查触发，不是墙钟超时；没有可见的撞轨、跌落或失握证据可作更具体的现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.5, + "log_step": 131, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的脚本生成并提交的持门关节位置轨迹未满足服务的运动安全限值。log step 126、130 的离线诊断已显示该摆门逆解路径在更大角度存在关节速度尖峰及腕部换支，log step 129 将脚本的关节 5–7 速度防护上限从 1.2 放宽至 3.5 rad/s；log step 131 改为目标开角 1.02 rad 后实际提交，仍在 s3 返回 failed，log step 132 证实原因为 limit_violation。视频末段确实只执行了这一持门摆动，故归于控制；诊断中的大角度腕限位不能直接当成本次已执行到的失败点，具体控制子类不确定。" + } + ], + "gap_zh": "观察：inputs/ 没有 states.jsonl 或原生五阶段事件账本。视频可见把手包夹和正向摆门，首节点按几何近似判为达到，但无法核验同一物理步的双指接触冲量及 2 mm 把手范围；成功参考来自旧版验收，仅用于比较可见几何。log step 132 只给 limit_violation，没有指出关节、速度/加速度/力矩等具体超限项，不能证实 agent 在 log step 136 自述的“实际在约 1.0–1.1 rad 腕限位处失败”；其自写末态角度也与可见摆向不符。" + }, + "summary_zh": "观察：评分视频是最后一次重置后的第 4 局，左夹爪夹住把手并正向摆门，首个开门事件约在视频 7.4 s 达到，其余四个阶段均未完成。观察：机器人继续摆门时，服务于 control_steps=753 报 limit_violation 并终止，因此断点仍在正向打开门，根因保守标为控制。推断：首节点的精确阈值时刻依据画面及末态 TCP 几何估计；缺少原生阶段、接触冲量和具体超限通道，不能把 agent 的腕限位诊断当作已核实的物理原因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "首节点 gate_opened 的视频证据（把手被左夹爪夹住、门叶向 +x 摆至末帧接近侧面）可接受，时间约 7.4 s 合理；限值超标现象与保守的‘控制’根因也与日志一致。问题在断点：同一文件把 gate_opened 判为已达到（final=true），却把它作为断点 ref 并在 unmet 中标未完成，自相矛盾。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "进度与现象基本可接受，但断点自相矛盾：gate_opened 已标 final=true（7.4 s 起），却仍作 breakpoint.ref 且 unmet.gate_opened=true。第一轮已指出，回应未给出新证据，此矛盾仍使读者无法判断失败发生在哪一步。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 的拒绝成立：failure.unmet 按 SCHEMA 就是各目标节点的最终真值（须等于 progress final），断点按 S14 是失败时正在操作的步骤，二者并不矛盾；文件已如实标注推断与不确定性。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的拒绝成立：failure.unmet 按 SCHEMA 就是各目标节点的最终真值（须等于 progress final），断点按 S14 是失败时正在操作的步骤，二者并不矛盾；文件已如实标注推断与不确定性。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:40:54Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--bz2nhls/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fbd88cf105705bda3fc2e74665940d58c9e5406b972112ae860d0bde6a84e66", + "video_sha256": "47ddd3048a9708e3701b7b2e9d143228adb3db9d6dfd129ec98d42bd32b408a2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6330739f6cebf3ff64c17b79ae4bf222ecf284 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 460, + "sim_steps": 1130, + "calls": 23, + "rows": 930, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 722.9, + "video_rendered": 1, + "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": 0.342, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq/replay.mp4", + "duration_s": 4.64, + "fps": 25.0, + "frames": 116, + "sha256": "9d2755f17f86d90e61f7af8af9e9811b59ce39a916409b50ef7af9d2653dce84" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 3.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 1.4–2.8 s，左臂 panda-0 的两指在橙红色把手两侧收拢；视频 2.8–4.0 s，把手和琥珀色门叶随左手向右臂方向摆动，门叶由宽面可见转为接近侧面可见。" + }, + { + "t": 3.9, + "log_step": 114, + "text_zh": "推断：视频约 3.9–4.2 s 的门摆向、自由端位移和双指包夹外观，结合 log step 114 所执行脚本的正向摆门目标 0.55 rad，判为正向打开门已达到；时间按视频取约 3.9 s，误差约 0.2 s。未用脚本目标代替门叶实际运动；精确角度和把手接触冲量未记录。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.6–4.2 s，左臂 panda-0 的二指夹爪包夹橙红把手，带动门叶正向摆开。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": 119, + "text_zh": "观察：视频 0–4.2 s，橙色冰球一直在右侧入口及蓝色球拍附近；视频 4.24–4.60 s，右臂 panda-1 向围栏内挥拍，末段冰球被手和球拍遮挡，但左端深处始终没有冰球进入。log step 119 的服务状态为 episode 4、control_steps=460、done=True、reason=failed，未报告具体 why。" + }, + { + "t": 4.6, + "log_step": 116, + "text_zh": "推断：log step 116 执行的是最后一次重置后的策略；log step 9 的 control_dt=0.01 s，log step 119 的本局 460 个控制步对应 4.60 s，与视频末帧 4.60 s 核对一致。影片中没有冰球脱拍滑入远端的过程，故深入围栏未达到；log step 125 的后续改拍点没有再次执行，不计入评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 0.12–0.32 s，橙色冰球到达右臂固定安装的蓝色球拍并回弹，此时门尚未打开；视频 4.24–4.60 s 右拍再向入口内挥进，末段触球点被遮挡。候选：击打（含球拍挡回）；现有接触方式无击打，使用其他，早期碰拍不作为本阶段完成证据。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": 114, + "text_zh": "观察：视频 4.2–4.6 s，左夹爪仍包夹门把手，腕部开始回摆；至视频 4.60 s，门未摆到零位的另一侧，也未出现冰球到达后方上轨的情形。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "推断：前置的冰球深入围栏未成立，且本步所需反向门位与上轨接触的同步事件未出现，因此该锁存事件未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.2–4.6 s，左臂 panda-0 仍以二指包夹橙红把手并开始回摆；反向开门的验收未完成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 0–4.60 s，没有冰球深入围栏后从上轨返回右拍的过程；右拍末段仍在执行入口处的首次主动挥拍。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "推断：深入围栏与反向开门两个前置事件均未达到，开局冰球碰静止球拍不能算回程截击，本步未达到且尚未实际开始。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 0–4.60 s，右侧独立橙色短挡墙前的目标通道未见冰球滑过；末帧右手和蓝拍仍在围栏入口附近。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "推断：没有截击后的脱拍正向越线过程，且前置截击未成立，最终越线事件未达到；没有把早期入口附近的反弹当作目标越线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "puck_deep_in_pen", + "t": 4.6, + "log_step": 119, + "where": "操作中", + "evidence_zh": "观察：视频 4.24–4.60 s，右臂正将蓝色球拍挥入围栏入口的冰球位置，尚未出现冰球脱拍深入围栏，影片即结束；log step 119 与 log step 122 的服务状态均为最后一局 episode 4 在 control_steps=460 时 failed。推断：正向开门之后首次击球深入的工作未完成且没有修复，断点取 puck_deep_in_pen；不是把后续未启动的截击或越线当作断点。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次输入无状态日志；log step 119 只给出本局 failed，why 为 None，未提供阶段账本、接触对、安全监测量或具体终止原因。视频 4.40–4.60 s 的触球区域被右手与蓝拍遮挡，不能可靠区分挥拍未触球、被轨道挡住或运动限值触发，故现象和根因留空；log step 52、57、73 的 limit_violation 属于先前已重置的局，不能移作本局失败现象。正向开门以可见夹持及门叶摆动判定，无法从影片验证 1 ms 同步、2 mm 把手裕量与接触冲量阈值；成功参考片仅用于辨认几何外观，DAG 已记录其旧版验收差异。" + }, + "summary_zh": "观察：评分录像仅为最后一次 episode 4；左夹爪抓住把手并正向摆门，视觉判定约视频 3.9 s 达到正向打开门，最终为 1/5 节点。观察：右臂于视频 4.24–4.60 s 挥拍，冰球未进入围栏深处，本局以 failed 结束，断在击球深入围栏的操作中，后续截击与越线未开始。推断：具体失败机制无法由遮挡画面和缺少 why 的服务状态确定，现象与根因留空；开门的精确物理接触阈值亦缺少记录。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频帧：左夹爪约 2.6–4.2 s 夹住把手并摆门，约 3.9 s 判正向开门可接受；右拍直到 4.24–4.6 s 才入围栏，冰球未深入，断点 puck_deep_in_pen、后续节点未达到与帧一致；无状态日志、why 为 None，现象与根因留空并写 gap_zh 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": "2026-10-30T04:24:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--d2fvxpq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f165a2b060863f0c519c12c8ec99dbe8dfe03e7324a62667ef6fc10cb76ff042", + "video_sha256": "9d2755f17f86d90e61f7af8af9e9811b59ce39a916409b50ef7af9d2653dce84", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a83fd8217b3ca4852b87e7985db16ba855f72f --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 644, + "sim_steps": 1556, + "calls": 52, + "rows": 1556, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 352.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.736, + "peak_processes": 77, + "peak_disk_gb": 2.16, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv/replay.mp4", + "duration_s": 6.48, + "fps": 25.0, + "frames": 162, + "sha256": "b43d61a98e89a6dcb58f6cc53efb9783bb3baa06a44aaec84ea621621a59c1ec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": 38, + "text_zh": "观察：视频 0.00、1.00、3.00、5.00 s 及视频 5.20–6.44 s 的逐帧末段中，左臂张开的夹爪在把手左侧下降，直到停止仍未合拢夹住橙红把手，琥珀色门叶始终保持初始方向，没有正向摆开。log step 37–38 的最后一次重置及下降代码与该动作相符；前几次重置的测试不计入本片段。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.20–6.44 s，实际尝试的作用端是左臂 panda-0 的张开二指夹爪，目标为门的橙红把手，但未形成抓握；总览不足以确认夹爪是否擦压门、轨道或其他夹具，故实际接触方式与接触对保留未知，不将接近动作写成抓握。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 0.00–6.44 s，右臂蓝色球拍保持初始姿态；橙色冰球由入口附近靠向球拍后留在入口下轨端附近，未向左端围栏深处滑入。推断：正向开门未达成，且无脱拍深入过程，本阶段未达到；初态冰球自行滑向静止球拍不构成合格击球。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 0.00、1.00、3.00、5.00、6.00、6.44 s，门叶均保持同一初始方向，未向相反方向摆动；视频末段冰球仍在入口附近，没有同步触上轨的过程。推断：深入围栏前置事件也未达到，本阶段未完成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 0.00–6.44 s 的总览中，右球拍未作截击移动，冰球没有深入围栏后返回球拍的过程，门也从未反向打开。推断：入口附近与静止球拍的早期接近或接触不满足反向开门之后的截击阶段，故本节点未达到。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 5.20–6.44 s 的末段中，橙色冰球仍在蓝色球拍及下轨入口端附近，未滑向右侧独立橙色短挡墙前的目标通道；左夹爪也未夹持并偏开门。推断：未出现此前置截击之后的脱拍正向越线事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 6.0, + "log_step": 38, + "where": "操作中", + "evidence_zh": "观察：视频 5.20–6.44 s，左臂在门把手左侧继续低位下降后停止，夹爪保持张开，门叶未摆开，首次开门从未完成。log step 37–38 记录最后一次重置后在固定侧向位置下降的命令。agent 最终自述仿真 6.44 s 因 forbidden_arm_scene_contact 结束（log step 43），但对应服务返回文本未保存在这些日志步骤中，故这里只将视频约 6.0 s 的低位停止作为导航锚点，不把自述作为已确认的碰撞对。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.0, + "log_step": 38, + "evidence_zh": "观察：视频 5.00、6.00、6.44 s，左臂的两个手指仍张开，停在橙红把手左侧，未从两侧夹住把手，门叶未随夹爪转动；视频整个片段均未出现所需把手夹持。这里缺失的是开门需要的双指抓握，不排除手部与场景发生其他接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 38, + "evidence_zh": "推断：最后一次尝试的接近几何未把把手送入夹爪。log step 37–38 的代码将左 TCP 固定在 x=0.05 m、y=-0.10 m 并逐级降低 z，始终命令夹爪开口 0.08 m；视频 5.00–6.44 s 确实显示张开夹爪下降在把手左侧并停止，尚未实现横向对准、闭合夹持或摆门。失败可归于本次把手接近与接触布置；没有证据判为感知误估、逆解失败或力控失稳。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：本工作目录未提供状态日志；log step 37–40 的工具返回文本为空，log step 43 中 forbidden_arm_scene_contact 和仿真 6.44 s 仅为 agent 自述。视频末段可确认未抓住把手、未开门，但遮挡和分辨率不足以确定触发停止的具体连杆与场景接触对，也不能测量双指冲量；因此接触实际值保留未知，不另标被挡/碰撞。参考成功录像存在 DAG 所述规则版本差异，仅用于比较可见几何。" + }, + "summary_zh": "评分片段中，左臂张开夹爪在门把手旁下降，始终未夹住把手或摆开门，五个阶段均未达到，最终进度为 0/5。断点为正向打开门，现象是未建立所需抓握；最后一次脚本与画面共同支持把手接近及接触布置不合适。无状态日志且服务终止读数未保留，具体场景碰撞对无法核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 0–6.44 s 显示左夹爪张开下降到把手旁、门叶未动、冰球和右拍未动，五节点均未达到、进度 0/5 与结果一致；断点 gate_opened、没建立接触与抓取和接触设计的标注在可用证据下可接受，对 forbidden_arm_scene_contact 仅来自 agent 自述的处理也谨慎。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:26:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--egy4xcv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7672103058819489e1e846460289aac9589e11f23c80f70746602e5a1565c444", + "video_sha256": "b43d61a98e89a6dcb58f6cc53efb9783bb3baa06a44aaec84ea621621a59c1ec", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk.json new file mode 100644 index 0000000000000000000000000000000000000000..ecde1e0c83ec825a65dbbe38ccc181537546dea7 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 28, + "sim_steps": 569, + "calls": 25, + "rows": 569, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2046.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.206, + "peak_processes": 7, + "peak_disk_gb": 0.26, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk/replay.mp4", + "duration_s": 0.32, + "fps": 25.0, + "frames": 8, + "sha256": "82f32fc153304721d8dbfd9d67e4282a72fcb72a583a1b6d96ee23082fcba71a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.28 s 的全部 8 帧中，左夹爪从门左后上方向把手附近靠近，但一直张开并悬在把手上方；琥珀色门叶保持初始方向，没有正向摆开。" + }, + { + "t": 0.28, + "log_step": 61, + "text_zh": "观察：log step 61 的服务返回第 4 局在 control_steps=28 时 done=True、reason=failed、why=forbidden_tool_fixture_contact；视频 0.24–0.28 s 右臂蓝色球拍贴到围栏下轨入口端，左夹爪仍未握住把手。此前第 2 局开门的 log step 43 不属于本次评分局。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 0.24–0.28 s，开门的并行准备过程中，右臂 panda-1 安装球拍贴到围栏下轨入口端；log step 61 的服务确认工具与固定设施接触。候选：碰撞；这是球拍对固定设施的意外接触，不适用抓握、推扫或击球。左臂 panda-0 仅接近把手，未形成抓握。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.28, + "log_step": 61, + "text_zh": "观察：视频 0.00–0.28 s 冰球从入口附近向蓝色球拍方向滑行，随后被球拍及下轨端遮住；未见冰球向左端围栏深处运动。log step 61 的脚本让右拍先作缓冲预定位，但本局在开门前已结束。" + }, + { + "t": 0.28, + "log_step": null, + "text_zh": "推断：正向开门事件在整段视频中未发生，因此其后按顺序验收的深入围栏事件未达到；入口处可能的早期触拍不能计为合格击球。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.08–0.28 s，右臂安装球拍为后续击球作入口处缓冲准备，冰球靠近拍面后被下轨端和球拍遮挡；没有接触对日志，不能确认冰球实际触拍及其接触方式。此处不据脚本的缓冲意图虚构击打。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.28, + "log_step": null, + "text_zh": "观察：视频 0.00–0.28 s 门叶始终在初始方向，没有反向摆门；冰球未见抵达围栏上轨。推断：正向开门、深入围栏均未达到，反向开门的顺序事件亦未达到。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.28, + "log_step": null, + "text_zh": "观察：视频 0.00–0.28 s 右球拍只在入口下轨端附近移动，未见冰球从围栏上轨回程到拍面。推断：反向开门阶段未达到，入口处可能的早期触拍不构成回程截击事件。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.28, + "log_step": null, + "text_zh": "观察：视频 0.00–0.28 s 未见冰球离拍驶向右侧独立橙色短挡墙前的目标通道，右球拍停在下轨入口端。推断：回程截击未达到，且无朝目标通道的越线过程，最终越线事件未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 0.28, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 0.24–0.28 s 左夹爪正向门把手上方靠近，尚未夹持或摆门；同期开门准备中的右球拍贴到下轨入口端。log step 61 的服务确认第 4 局因 forbidden_tool_fixture_contact 在控制步 28 终止，log step 63、68 均确认本局已结束且无重置余量。推断：最先开始而从未补成的步骤是正向开门；此前测试局的开门和之后只生成的控制文件不能修复本局。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 0.28, + "log_step": 61, + "evidence_zh": "观察：视频 0.20–0.28 s 右臂蓝色安装球拍向围栏下轨入口端靠拢，末帧拍边与轨端相接；log step 61 返回 forbidden_tool_fixture_contact，随后服务保持 done=True（log step 63）。这次固定设施碰撞在左夹爪开门的并行准备过程中终止了评分局。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "log_step": 61, + "source_zh": "日志", + "evidence_zh": "观察：log step 6 的运动学函数包含第七关节前 trans(0.088,0,0)，且其左右 TCP 和右工具位姿与服务本体感知数值吻合；执行本次评分局的 log step 61 函数却省略了该平移，并用此函数求解两臂关节位置轨迹。log step 61 的服务本体感知读数显示右工具已到 (0.28126,-0.09015,0.04124) 附近，偏离脚本拟定的向 +x 缓冲路径；log step 64 用完整运动学核算左臂实际收到的目标关节时，TCP 为 (0.31034,0.00633,0.32886)，也明显不是脚本指定的把手上方航点。推断：遗漏连杆变换使逆解及下发轨迹偏离预期，右拍因此碰上固定设施；归为运动学与轨迹控制错误。log step 67 恢复该平移后，log step 68 仅离线生成轨迹，已未能再次执行评分局。" + } + ], + "gap_zh": "观察：inputs/ 中无状态日志；本次视频仅有 8 帧，碰撞时球拍与下轨端重叠，服务只给出 forbidden_tool_fixture_contact 而没有具体接触对，无法精确区分拍面或适配器的首先接触点，也不能确认被遮挡冰球的早期触拍。log step 3 的运行时规范对后续阶段的夹持要求比当前 DAG 宽松；本局连正向开门都未达到，版本差异不改变五节点均未达的结论。" + }, + "summary_zh": "评分采用最后重置后的第 4 局：视频 0.00–0.28 s 左夹爪只接近门把手、门未摆开，五个事件均未达到；此前测试局的开门不计入本局。正向开门的并行准备中，右球拍碰上围栏下轨端，服务判定 forbidden_tool_fixture_contact；执行代码遗漏 0.088 m 连杆变换，支持控制·轨迹或逆解归因。无状态日志，精确碰撞部件及早期触球被遮挡；运行时规范较 DAG 宽松，但不影响此次零进度判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 8 帧（0.32 s），评分局为第 4 局；五节点均未达、断点 gate_opened、被挡/碰撞与 控制·轨迹或逆解 归因均有 log step 61/63/64 及帧支持（step 61 代码的 fk_arm 确实缺 trans(0.088,0,0)，而 step 6 的含该项且与本体感知吻合）。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:21:38Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--nckmrwk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98d83efe964f16ec3b1309c47f38053acff82948c01ef5b6eb136c503f52c054", + "video_sha256": "82f32fc153304721d8dbfd9d67e4282a72fcb72a583a1b6d96ee23082fcba71a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy.json new file mode 100644 index 0000000000000000000000000000000000000000..d9817ae5c74a97bedb88b9b22f10fb83f9568dd3 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1087, + "sim_steps": 4181, + "calls": 33, + "rows": 4179, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 799.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy/replay.mp4", + "duration_s": 10.92, + "fps": 25.0, + "frames": 273, + "sha256": "ff971e8b264bfc54223965b2a7a926c81b0c76ce38bd1ad93a51a4daad54d766" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 6.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.2, + "log_step": 57, + "text_zh": "观察：视频 3.5–5.0 s 左臂二指夹爪收拢在橙红把手两侧，视频 5.4–6.6 s 夹爪带着门自由端向右臂方向摆开；视频 6.2–6.6 s 门明显偏离零位。log step 56–57 显示第 4 回合执行 open2，至 control_steps=680 时仍未终止。" + }, + { + "t": 6.6, + "log_step": 56, + "text_zh": "推断：log step 56 在本次回合重用 log step 23 定义的正向 0→0.65 rad 把手圆弧；结合视频 6.0–6.6 s 门随夹爪转动且夹爪持续夹住把手，判定正向开门约在视频 6.2 s 达成，时间约有 0.2 s 不确定。后续反摆不撤销该锁存事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.5–6.6 s 左臂 panda-0 二指夹住橙红把手并带动琥珀色门叶正向转动。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.88, + "log_step": 61, + "text_zh": "观察：视频 0.0–2.0 s 橙色冰球移至入口蓝色球拍处，之后一直留在下轨右端附近；视频 7.0–9.2 s 右臂抬起、转动球拍，视频 9.6–10.88 s 球拍下降，冰球仍未离开入口滑向左侧围栏深处。视频末帧未出现成功参考视频约 10–12 s 中冰球横穿围栏到左端的变化。" + }, + { + "t": 10.88, + "log_step": 61, + "text_zh": "观察：log step 56 重置后进入 episode=4，log step 58 执行 transferlower4，log step 61 的服务返回 episode=4、control_steps=1087、done=True、reason=failed；此前 log step 31–54 的击球及回弹属于其他回合，不计入本视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 0.1–0.4 s 来球到达静止的右臂蓝色安装球拍边缘并停止在入口附近；随后右臂将球拍抬起、旋转并降向冰球。候选：击打，接触方式表没有击打专值；末段球拍与球的精确接触被球拍遮挡，不能确认再次触球。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–10.88 s 左臂二指继续夹住门把手，右臂准备处理入口冰球时左臂持门。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": 56, + "text_zh": "观察：视频 7.0–9.0 s 左夹爪带着门从正向开度摆至零位另一侧，并保持至视频 10.88 s；同时冰球留在入口下轨端，未到达后方上轨。" + }, + { + "t": 10.88, + "log_step": null, + "text_zh": "推断：视频全程未发生冰球深入围栏及触上轨事件；即使门几何上已反摆，也不满足本节点的前置锁存阶段和上轨同步验收，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–9.0 s 左臂 panda-0 二指夹持把手，把门摆向相反方向，随后持续持门。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.88, + "log_step": null, + "text_zh": "观察：视频 0.0–10.88 s 冰球没有绕至上轨后回到右拍的过程；末段右拍只是降向仍在入口的冰球。推断：反向开门并触上轨阶段未达成，早期触拍不算回程截击，该节点未达成。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.88, + "log_step": null, + "text_zh": "观察：视频 9.6–10.88 s 冰球仍在围栏下轨右端、球拍附近，独立橙色短挡墙前没有冰球滑过；视频全程未见冰球脱拍向右穿过目标通道。推断：回程截击前置也未完成，越线节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "puck_deep_in_pen", + "t": 10.8, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 9.6–10.88 s 右臂将倾斜球拍降向入口冰球，末帧球拍仍在冰球上侧，冰球没有被送入围栏。log step 58 的球拍中心目标为 z=0.035 m，log step 59、61 服务返回的实际 tool z 分别约 0.0595、0.0582 m；log step 61 回合终止为 failed。推断：本次轨迹在为首次合格击球下降入位时失败，击球深入围栏未修复。时间映射核对：控制率为 100 Hz，log step 57 的 control_steps=915 对应视频约 9.15 s 球拍抬起转向完毕，log step 61 的 1087 步对应视频约 10.87 s 末态；视频编码尾部相差约一帧。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.8, + "log_step": 61, + "evidence_zh": "观察：视频 10.0–10.88 s 右球拍逐渐降向入口，但回合终止时尚未形成将冰球击入围栏的入位姿态，冰球仍在原处。log step 58 要求球拍中心到 z=0.035 m，log step 61 服务返回约 z=0.0582 m。推断：末段下降未到位；不把未记录的具体碰撞或限值触发当作已观察到的现象。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志或分阶段事件账本，不能直接核验双指把手冲量和毫秒级同步；正向开门由可见夹持、门运动及本回合所执行的圆弧命令综合推断。最后回合 log step 61 只报告 failed，未给出 why、碰撞对象或限值分量；log step 58 还命令右夹爪闭合至 ap=0，log step 60 指位约为每指 0.0064 m，但当前总览不足以确认是否碰适配器、门或轨道，因此根因留空，也不沿用早前回合的 limit_violation。成功参考来自旧规则版本，只用于比较几何变化。" + }, + "summary_zh": "本次评分视频对应最后的第 4 回合：左夹爪夹把手正向开门，约视频 6.2 s 完成首节点，之后虽反向摆门，冰球始终没有深入围栏，最终进度为 1/5。右球拍在视频约 10.8 s 向入口冰球下降时未到目标高度，服务随即判失败，断点为击球深入围栏；后续反向开门同步验收、截击和越线均未完成。无状态及阶段账本，最终失败的具体触发原因也未记录，根因不能确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "已核对视频与 log：第 4 回合左夹爪夹把手开门、右球拍末段下降、冰球始终留在入口，进度 1/5 与断点（击球深入围栏）和空根因（失败原因未给出，前两次失败为 limit_violation 但本回合无 why）均与证据一致；未发现需要改动的内容。位姿不准一项依据服务返回的工具 z 与目标 z 之差，证据较弱但已标为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:27:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--orq3bfy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4679cba5341b204dd6e9b85aae0372f54bddfc7a6d8491f53ec7ea1998c18756", + "video_sha256": "ff971e8b264bfc54223965b2a7a926c81b0c76ce38bd1ad93a51a4daad54d766", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif.json new file mode 100644 index 0000000000000000000000000000000000000000..1155cbb20be36cd575a4bdbe58141ac806880341 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 747, + "sim_steps": 2143, + "calls": 29, + "rows": 1743, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 590.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.178, + "peak_processes": 8, + "peak_disk_gb": 0.414, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif/replay.mp4", + "duration_s": 7.52, + "fps": 25.0, + "frames": 188, + "sha256": "6f900695cfba6a9d827109aee5393ec4e4113788d3b300e7e09042df4e68d9f4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0–7.48 s 中琥珀色门叶始终保持初始方向，没有出现参考视频 5.5–7.0 s 中左夹爪持门后明显摆开的变化；本次左夹爪越过门上方后下降到入口附近的橙色冰球处，未夹门把手或正向开门。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.0–1.4 s 中橙色冰球到达蓝色右球拍并回退一小段，始终留在围栏右侧入口附近；门未打开。视频 1.0–1.8 s 右臂将球拍移开，视频 3.8–4.8 s 左夹爪在冰球处下降，视频 4.8–7.48 s 两指合拢，冰球未被搬离原处，也未滑入左侧围栏深处。" + }, + { + "t": 7.4, + "log_step": 33, + "text_zh": "观察：log step 33 显示 agent 重置到 episode 4 后执行 fA.py go，服务返回 done=True、why=limit_violation；最后左 TCP 约为 (0.228,-0.058,0.024) m，夹爪开口约 0.0441 m。视频 7.0–7.48 s 仍见冰球留在左指间的桌面处。推断：这是击球前搬球准备失败，不构成按顺序开门后的脱拍深入事件。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.48, + "log_step": null, + "text_zh": "观察：视频 0.0–7.48 s 未见左夹爪持门反向摆动，门始终保持初始方向，冰球也没有绕行到后方上轨。推断：正向开门与深入两个前置事件均未达成，反向开门并同步触上轨的事件不成立。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.48, + "log_step": null, + "text_zh": "观察：视频约 1.4 s 后冰球停留在入口附近，右球拍已移向右侧；至视频 7.48 s 未见深入围栏后的回程来球或再次碰拍。推断：开头的触拍早于任何开门事件，不能计作完成反向开门之后的截击。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.48, + "log_step": null, + "text_zh": "观察：视频 0.0–7.48 s 冰球一直处于前方长轨的右端附近，未向后方独立橙色短挡墙前的目标通道发射；末帧冰球仍在左夹爪处。推断：没有截击后脱拍、正向越过目标线的事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 7.4, + "log_step": 33, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–7.48 s 门叶始终保持初始方向；左夹爪越过门上方后到入口冰球处下降，视频 4.8–7.48 s 在冰球两侧合爪，未接近或夹持门把手。log step 29 的 fA.py 先夹球再计划将球搬向上方通道；log steps 32–33 修改并执行该程序，最后重置后的 episode 4 在合爪时由服务报告 limit_violation 终止，尚未搬球。agent 在 log step 37 自述计划先搬球、再抓门开门、随后击球；该计划与程序及录像中的准备动作一致。推断：搬球是 agent 自加的开门前准备，不属于任一 DAG 节点的操作；正向打开门的工作尚未开始，断点为首个未达成节点 gate_opened／首步前，视频约 7.4 s 仅作末段停机导航锚点。" + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 7.4, + "log_step": 33, + "evidence_zh": "观察：视频 6.2–7.48 s 左夹爪合在冰球两侧，冰球未被搬走；log step 33 同一次 episode 4 的服务返回 DONE failed limit_violation，末批记录的左手指速度最大值打印为 0.051 m/s。推断：操作因运动限值违规终止；没有可见脱手、失衡或阻挡碰撞可用作更具体的现象，不将前面已重置 episode 的碰撞计入本次。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 7.4, + "log_step": 33, + "evidence_zh": "观察：视频 0.0–7.48 s 未见左夹爪夹持门把手或摆门，末段只在入口冰球处合爪；log step 33 的最终 episode 4 执行搬球准备程序时报告 limit_violation 并终止。推断：评分尝试中正向打开门这一步根本未启动；按 docs/03_trajectory.md Step 3.1–3.2，对首步前断点补记没尝试。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.4, + "log_step": 33, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的合爪控制没有将实际手指运动保持在服务限值内。依据是 log step 29 的 ramp_ap 将夹爪开口从 0.08 m 按 0.02 m/s 向零递减，log steps 32–33 的最终执行仍使用该合爪段，而服务在左夹爪开口约 0.0441 m 时返回 limit_violation（log step 33）；视频 4.8–7.48 s 对应合爪且未搬离冰球。没有足够证据区分伺服跟踪、接触响应或具体参数问题，停留在控制大项。" + } + ], + "gap_zh": "无状态日志或逐物理步安全监测明细。log step 33 的手指速度仅打印到三位小数，无法由 0.051 这一舍入值计算超限幅度，也无法完全排除其他运动限值同时触发；服务的 limit_violation 可确认违规终止，具体控制子类不明。视频能判断门未摆开、冰球未深入及未搬离，不能测出双指冲量或精确安全触发物理步；断点视频约 7.4 s 仅作末段导航锚点，未用 agent 时间换算视频。参考视频用于几何比较，DAG 已注明其规则版本较旧，未据其成功反推本次接触合格。", + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + } + }, + "summary_zh": "本次评分取最后重置后的 episode 4：冰球开头与右球拍接触后停在入口附近，右球拍移开，左夹爪下降合拢冰球，但未搬离原处；门从未打开，五个顺序节点均未达成。搬球是 agent 自加的开门前准备，尚未开始任何 DAG 步骤，断点归于 gate_opened／首步前，现象为违反约束及没尝试，服务在合爪时报告运动限值违规，根因为控制。缺少逐物理步监测，无法确定超限幅度或进一步区分控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点全 false、时钟与视频（747 个 control step≈7.47 s）一致，限值违规与控制根因有 log 支撑；但断点 ref 取 puck_deep_in_pen 不对：agent 的搬球只是开门前的准备，从未开始任何 DAG 步骤，应断在第一个未达成节点 gate_opened。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点全 false、断点 gate_opened／首步前（已按上轮修正）、违反约束+没尝试、控制根因均与视频（左夹爪只在冰球处合爪、门未动）及 log（episode 4 failed、limit_violation、747 control steps≈7.47 s）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": "2026-10-30T04:38:18Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--s8xnaif/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb3d0e8039b40eccdc5486e88f962a316bbd1ea06f564197a9df0682ca7be766", + "video_sha256": "6f900695cfba6a9d827109aee5393ec4e4113788d3b300e7e09042df4e68d9f4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz.json new file mode 100644 index 0000000000000000000000000000000000000000..8f36ad0855767d1aec668c8aaeb3c7a7b8de3ed1 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 53, + "sim_steps": 2122, + "calls": 44, + "rows": 1422, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 980.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.318, + "peak_processes": 11, + "peak_disk_gb": 1.091, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz/replay.mp4", + "duration_s": 0.6, + "fps": 25.0, + "frames": 15, + "sha256": "aabc952ce90b037355a8371b758d9a6a67e5f2b62a32bd07a34e4eb2f51ae621" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 147, + "text_zh": "观察：视频 0.00–0.56 s 的全部 15 帧中，左臂 panda-0 的张开夹爪始终悬在门把手上方之外，没有下降、夹持或摆门，琥珀色门叶保持初始方向；因此正向开门未达成，亦未实际启动把手操作。log step 147 明确重置到 episode 4，右臂仅执行首次 A-clear 移拍即收到本局结束反馈；log step 137 的上一局开门记录不属于本段评分录像。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": 147, + "text_zh": "观察：视频 0.00–0.56 s 中，冰球从围栏入口附近向右侧球拍方向滑动，未滑向左侧围栏深处；门始终未正向打开，左夹爪未夹门。log step 146 的本局脚本把正式 C-push-deep 排在夹持开门之后，log step 147 已在最前面的 A-clear 移拍时结束；本节点所需的开门后深入击球没有发生。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.56 s 的门叶方向不变，左臂未触及把手，也未出现反向摆门。推断：正向开门及冰球深入两个前置事件均未发生，反向开门并同步触上轨事件未达成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.56 s 只显示开局冰球在右侧入口附近运动、右拍转向下轨端部，没有深入围栏再回到右拍的过程；左夹爪始终未握门。推断：即使开局冰球与右拍可能有短暂接触，也不能作为反向开门阶段之后的截击事件，本节点未达成。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.56 s 未出现冰球离拍后向右侧独立短挡墙前目标通道滑出的过程，左臂未握门，门叶未偏开。推断：截击前置事件及越线所需的持门条件均未成立，本节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 0.52, + "log_step": 147, + "where": "首步前", + "evidence_zh": "观察：视频 0.00–0.56 s 左臂一直未开始抓门；右臂 panda-1 首次移动时转腕，蓝色安装球拍逐渐扫到近侧下轨的入口端，在视频 0.48–0.56 s 与轨端贴靠，随后画面结束。log step 146 将该移拍列为挪球让开门扫掠区之前的 A-clear 准备动作，log step 147 显示本局在该动作内结束，log step 149 的服务状态为 episode=4、control_steps=53、done=true、reason=failed。推断：失败发生在首个必需开门步骤实际启动之前，而非上一局已经开门后的击球阶段。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 0.52, + "log_step": 147, + "evidence_zh": "观察：视频 0.32–0.56 s，右臂转腕使蓝色安装球拍朝近侧橙色下轨的入口端扫去，视频 0.48–0.56 s 拍体与轨端贴靠；log step 147 的 A-clear 动作之后服务即拒绝继续提交，原因为本局已 failed。推断：首次移拍发生了球拍与固定轨道的碰撞；并非冰球击向目标后未命中。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 147, + "evidence_zh": "观察：视频 0.00–0.56 s 左臂夹爪保持初始悬空位置，未接近、夹住或推动把手。log step 146 的夹门、开门指令排在准备性移拍之后，log step 147 显示程序尚在 A-clear 内就遭遇本局结束，因此首个开门步骤未启动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "log_step": 146, + "t": 0.52, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 113 的 Tp(xyz,R=None) 把缺省目标旋转设为单位矩阵；log step 146 继承该函数并以 Tp([0.33,-0.02,0.05]) 执行 A-clear，未传入球拍朝向。log step 147 的本局初始球拍四元数约为 (0,0,0,-1)，对应绕 z 轴旋转 180°，与单位朝向不同；视频 0.00–0.56 s 确实显示右腕转动并把球拍带向下轨。推断：控制代码把原本的短距离移拍附加了不必要的 180° 目标转向，生成的运动扫入固定轨道；根因归为轨迹或逆解。log step 166–167 仅在本局失败后修改朝向并离线计算，不能算作本次轨迹的修复。" + } + ], + "gap_zh": "观察：inputs/ 提供评分录像、完整会话日志与成功参考录像，但没有状态日志或物理接触对记录；服务在 log step 149 仅报告 reason=failed，未报告细分物理失败原因。推断：球拍碰下轨由末段画面与控制代码共同支持，无法进一步核实具体碰撞形状、接触冲量或引擎首先触发的失败规则；未把 agent 在 log step 185 的精确碰撞诊断当作引擎事实。开门和后续步骤均未实际启动，所以没有为这些节点填写计划中的抓握、击球 contact_actual；开门前移拍时的轨道碰撞已记录在失败现象。", + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + } + }, + "summary_zh": "观察：评分录像对应最后的 episode 4，仅持续视频 0.00–0.56 s，五个节点均未达成；此前 episode 3 的开门进展及失败后改写的程序均不计入本次结果。推断：右臂在首个开门步骤启动前的移拍准备动作中，因目标朝向默认值引入不必要转腕而使球拍扫到下轨，随后本局结束；缺少物理接触账本，具体触发规则无法细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅 0.00–0.56 s，五个节点均未达成、断点 gate_opened/首步前与日志 control_steps=53、reason=failed 一致；球拍在 0.48–0.56 s 扫到下轨入口端的画面可见，根因（缺省单位朝向引起的 180° 转腕）有 log step 145/162 支持，且标为推断。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": "2026-10-30T04:26:33Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard--ys7evvz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4eb9b2fe010e12f11afa079960e2953713b57248267b96b4a427e89c95b2a22a", + "video_sha256": "aabc952ce90b037355a8371b758d9a6a67e5f2b62a32bd07a34e4eb2f51ae621", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew.json new file mode 100644 index 0000000000000000000000000000000000000000..de4036a94de56647a2e6525964b0c742e40cbbb5 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew.json @@ -0,0 +1,242 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 1, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 972.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.046, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.188, + "peak_processes": 6, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "4bea762ca3e1360712a6ce2bf07168b26479af8b4cd8ba5a1a350a46dc5d7874" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.00 s（全片唯一帧，亦为末帧）中左夹爪悬在琥珀色门叶上方，未夹住把手，门叶保持初始方向；没有正向开门的画面。log step 4 的机器人服务状态为 control_steps=0、rows=0、running=false，评分字段亦为 n_actions=0、sim_steps=0。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 rows=0、n_actions=0、sim_steps=0；log step 4 只读取冻结观测，log step 38 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "推断：视频 0.00 s 唯一帧为未执行动作的初态，左夹爪尚在门上方、右拍位于围栏入口侧；log step 4 的服务状态 control_steps=0，最终评分字段 n_actions=0、sim_steps=0，机器人未执行击球。正向开门前置事件未发生，故顺序验收的深入围栏事件未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 rows=0、n_actions=0、sim_steps=0；log step 4 只读取冻结观测，log step 38 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "推断：视频 0.00 s 唯一帧显示门叶仍为初始方向、左夹爪未握把手；log step 4 的服务状态 control_steps=0，最终评分字段 sim_steps=0，未发生反向摆门及冰球触上轨的同步事件，且击球深入围栏前置事件未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 rows=0、n_actions=0、sim_steps=0；log step 4 只读取冻结观测，log step 38 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "推断：视频 0.00 s 唯一帧仅保留机器人初态；log step 4 的服务状态 control_steps=0、rows=0，最终评分字段 n_actions=0、sim_steps=0，没有回程运动或截击执行。反向开门前置事件未达成，故本顺序截击事件未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 rows=0、n_actions=0、sim_steps=0；log step 4 只读取冻结观测，log step 38 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "推断：视频 0.00 s 唯一帧为初态，未包含击球或冰球越线运动；log step 4 的服务状态 control_steps=0，最终评分字段 n_actions=0、sim_steps=0。截击前置事件未发生，故本顺序越线事件未达成；不是仅由 success=0 反推。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 rows=0、n_actions=0、sim_steps=0；log step 4 只读取冻结观测，log step 38 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 38, + "where": "首步前", + "evidence_zh": "观察：log step 38 的最终消息为“This request was blocked by Gemini's filters”；此前 log step 4 只调用 seconds=0.0 的冻结观测，服务返回 control_steps=0、running=false。log steps 27–37 为离线脚本编写和数值测试，没有动作提交；评分字段 n_actions=0、rows=0、sim_steps=0，视频 0.00 s 唯一帧仍为初态。提供方阻断发生在任何物理步骤开始及结果完成之前，无法定位机器人操作失败步骤。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 38 记录 Gemini 提供方过滤器阻断，视频仅有视频 0.00 s 的初态帧，总长为视频 0.04 s；inputs/ 未提供状态日志，且评分字段 sim_steps=0、n_actions=0。推断：这是结果固定前的外部中断，按 CASES.md FAIL-5 不归为机器人失败，不标“没尝试”或控制/认知根因，现象及根因层留空；没有已执行的动作可供诊断，断点视频时刻为 null。" + }, + "summary_zh": "观察：本次视频仅含视频 0.00 s 的初态帧，机器人未夹住门把手；服务观测及最终评分字段均显示零控制/仿真步、零动作，五个节点均未达成（0/5）。观察：log step 38 记录 Gemini 过滤器阻断，之前只有冻结观测和离线脚本测试，未提交动作轨迹。推断：属首步前的外部中断，保留 catalog 的 success=0，但断点为 unknown，现象与根因留空；唯一初态帧且无状态日志，无法评价尚未执行的控制方案。", + "conf": 10, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "视频仅一帧初态，评分字段 n_actions=0、sim_steps=0、rows=0，log step 38 为 Gemini 过滤器阻断，此前只有冻结观测与离线脚本，未交付动作。五节点均未达成、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 FAIL-5；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": "2026-10-30T04:35:17Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--3lnijew/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "43f109eddb5521eb75fa19e915e6d4cf20f05d3f7e7fd5e33976ce848fe9b8d7", + "video_sha256": "4bea762ca3e1360712a6ce2bf07168b26479af8b4cd8ba5a1a350a46dc5d7874", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft.json new file mode 100644 index 0000000000000000000000000000000000000000..ec392b93135ce91e71160c23ee91be8f2d472fa0 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 18, + "sim_steps": 3542, + "calls": 62, + "rows": 102, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2831.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 106.185, + "max_lag_s": 0.2864, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 3494, + "late_steps": 0, + "requests_refused": 5, + "request_busy_s": 1.831, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft/replay.mp4", + "duration_s": 0.24, + "fps": 25.0, + "frames": 6, + "sha256": "ab71bd0e6709fa600a38a9d70ef252528cb45dc3489f10a3fd664db19f794b8a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.00、0.04、0.08、0.12、0.16、0.20 s，左夹爪一直悬在门把手上方偏左，未包夹把手，琥珀色门叶保持初始方向，没有正向摆开的可见变化。" + }, + { + "t": 0.2, + "log_step": 53, + "text_zh": "观察：log step 53 的最终回合跟踪输出仍为 LS=pre、q_cmd=0；该步提交的修订代码在回合控制时钟超过 0.4 s 才转入接近把手的 move 状态。log step 54 的服务状态确认最终 episode=4、control_steps=18、reason=failed。这里仅用视频帧时间定位，不将 agent 工作时间或控制时钟直接换算成视频时间。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.08, + "log_step": null, + "text_zh": "观察：视频 0.00–0.08 s 橙色冰球沿前侧橙轨向入口的蓝色右球拍滑动；视频 0.12–0.20 s 冰球在入口轨端与球拍附近部分被遮挡，围栏左侧深处始终未出现冰球。门在全段视频中未打开。" + }, + { + "t": 0.16, + "log_step": 53, + "text_zh": "推断：视频 0.08–0.20 s 冰球进入右拍边缘的遮挡区，结合 log step 53 最终回合跟踪输出中冰球速度由回合控制时钟 0.11 s 的 vx=0.426 降至 0.14 s 的 vx=0.123，支持发生初始挡球接触；这不是开门后的合格击球，亦无脱拍深入围栏的过程。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：视频 0.08–0.20 s 及 log step 53 的最终回合跟踪支持右臂 panda-1 刚性安装球拍接触迎面滑来的冰球；候选：挡球。球拍处于入口等待位置，尚未主动击球深入围栏；既非抓握、托舀，也无可见扫推动作，现有接触方式不足以准确命名，故用其他。左夹爪未同时握门。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频 0.00–0.20 s 琥珀色门叶方向未明显改变，左夹爪未握住把手；没有反向开门或冰球绕至后侧上轨的过程。推断：正向开门及深入围栏两个前置事件也未发生，本事件未达成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：完整六帧视频仅显示冰球从入口附近向右拍滑动，没有深入围栏、碰上轨再回程的过程；右拍一直位于入口附近。推断：初始挡球不属于反向开门阶段完成后的截击，前置事件未达成，本节点为 false。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频 0.00–0.20 s 未见冰球从右拍脱离并滑向右侧独立短挡墙前的目标通道；冰球最后可见位置仍在入口球拍附近，门未打开。推断：此前的合格截击亦未发生，最终越线事件未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 0.16, + "log_step": 53, + "where": "首步前", + "evidence_zh": "观察：视频 0.00–0.20 s 左夹爪始终未夹住或摆动门把手；log step 53 的最终回合控制器仍处于 pre 等待状态，尚未启动 move 接近把手。log step 54 服务确认 episode=4 在 control_steps=18 已 reason=failed，且不能再重置。推断：评分回合在首个开门步骤启动前结束，断点归 gate_opened；视频 0.16 s 为入口接触附近的粗略导航锚点，不宣称它是精确判负物理步。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.16, + "log_step": 53, + "evidence_zh": "观察：视频全部六帧（视频 0.00–0.20 s）中左夹爪保持在把手上方偏左，没有接近夹持或摆门动作。log step 53 的最终回合跟踪仍为 LS=pre、q_cmd=0，且该步代码将 move 启动安排在回合控制时钟超过 0.4 s 后；log step 54 的服务状态显示回合仅执行 18 个控制步即已失败。推断：正向开门尚未启动，未将早先其他回合的抓取或控制错误当作本回合的接触失败。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 中有完整 run.json、六帧 replay.mp4 和成功参考视频，但没有状态日志或逐物理步接触、安全监测记录；log step 54、57 的服务只返回 reason=failed，评分器字段 infra_error、sim_error、sim_crashed_on_call 均为 0，未给出具体物理失败码。视频 0.12–0.20 s 冰球与球拍/前轨相邻区域有遮挡，无法辨别究竟是碰轨、穿透、运动限值还是其他条件触发终止。agent 在 log step 58 自述猜测独立渲染造成步进积压和 excessive_penetration，同时承认未得到确认；该猜测不作为根因。log step 43 的投影错误及 log step 53 修复的状态机错误属于较早回合，不能直接归因于最终回合，因此根因留空。成功参考规则较旧（DAG open_questions_zh），仅用于可见几何对照。" + }, + "summary_zh": "评分对应 log step 53 启动、log step 54 确认失败的最终第 4 回合；视频 0.00–0.20 s 仅见初始冰球滑向入口右拍，门未打开，五个节点均未达成（0/5）。断点为正向打开门／首步前，左臂仍在等待而尚未开始开门；没有状态日志或具体物理失败码，无法证实 agent 关于渲染致穿透的猜测，故根因留空。成功参考来自较旧验收版本，只用来比较门摆动、球路等可见变化。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "最终第4回合仅执行18个控制步（视频0.24 s，6帧）即被服务判 failed，五个节点均未达成、断点 gate_opened/首步前/没尝试、根因留空并写 gap_zh 均与视频帧、log step 53-54 的服务读数相符；无具体失败码，故不应补根因。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": "2026-10-30T04:37:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--kxmfeft/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "84a87379bc68bd26fcccfc586e99a8185dfca1786e2a852ac3dcef5f6d8b4f89", + "video_sha256": "ab71bd0e6709fa600a38a9d70ef252528cb45dc3489f10a3fd664db19f794b8a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb.json new file mode 100644 index 0000000000000000000000000000000000000000..9b26f1e946a96120d50ba2876cf775db3a180bba --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 1, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 280, + "sim_steps": 3849, + "calls": 3863, + "rows": 1895, + "resets": 3, + "reset_budget": 3, + "sim_startups": 2, + "elapsed_s": 2520.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 115.446, + "max_lag_s": 0.2873, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1955, + "late_steps": 1, + "requests_refused": 4, + "request_busy_s": 45.816, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.375, + "peak_processes": 12, + "peak_disk_gb": 1.009, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 1, + "resource_service_oom": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "14f186b862ab4444f8f952dce44750f93ca9c24c6a2c46f8a9b28022c0699f99" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 0.0–1.8 s，左臂夹爪先平移到橙红把手上方，再下降到把手两侧；视频 1.8–2.8 s 夹爪在把手处收拢，琥珀色门叶始终保持初始摆向，未出现正向摆开。" + }, + { + "t": 2.8, + "log_step": 160, + "text_zh": "观察：视频 2.8 s 门仍未打开；log step 160 的最后一局服务状态为 episode=4、control_steps=280、done=True、reason=failed、resets_left=0。log step 164 再次查询仍为该终态，提交被 EpisodeOver 拒绝。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "推断：与参考成功录像视频约 4–6 s 可见的门叶摆向变化相比，本局整段视频 0.0–2.8 s 没有正向开门，故该节点未达成；不依靠零分反推，也无需从画面测量把手冲量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频约 1.8–2.8 s，左臂 panda-0 二指夹爪下降包围把手并合拢，按可见夹持姿态标抓握；对侧指垫部分遮挡，不能据此确认验收要求的双指接触冲量。未见门叶被带动摆开。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.24, + "log_step": null, + "text_zh": "观察：视频 0.0–0.4 s，橙色冰球向右侧蓝色球拍滑近，短暂被前轨端部遮挡后小幅退回；视频约 0.4–1.0 s 右臂将球拍向入口处调整，冰球仍在右侧入口附近。" + }, + { + "t": 2.8, + "log_step": 160, + "text_zh": "观察：视频 1.0–2.8 s 冰球停留在围栏右侧、右球拍内侧附近，未滑到左端远轨一带；门从未正向打开。log step 160 中脚本仍处于 opening 阶段，未报告触发 shotA。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "推断：视频开头冰球与球拍的早期相遇发生在开门完成之前，且冰球未深入围栏；不满足该节点的顺序与深入条件。结合视频 0.0–2.8 s 右臂只作球拍预备定位、未挥拍击球，以及 log step 160 脚本仍处于 opening 阶段，本节点的击球操作尚未执行，故省略 contact_actual，不把早期被动碰拍计作该步骤的操作接触。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.0–2.8 s 门叶始终处于初始摆向，左夹爪仅靠近、下降和收拢，未见反向摆门；冰球也未深入围栏后碰上轨。推断：前置事件未达成，本节点未达成且未开始反向操作。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.0–2.8 s 没有出现冰球深入围栏、碰上轨后返回右拍的过程，后半段冰球仍在右侧入口附近。推断：开头碰拍不属于反向开门之后的回程截击，本节点未达成且未被尝试。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.0–2.8 s 冰球一直在围栏入口内侧附近，未向右侧独立短挡墙前的目标通道滑出，右拍也未执行最终送球。推断：不存在截击之后的正向脱拍越线事件，本节点未达成且未被尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 2.8, + "log_step": 160, + "where": "操作中", + "evidence_zh": "观察：视频约 1.8–2.8 s 左臂夹爪已降到门把手处并收拢，门叶仍保持零位；log step 160 的服务状态确认最后一局 episode=4 在 control_steps=280 时以 reason=failed 结束，log step 164、167 复查终态未变。推断：本局在正向开门的把手夹持准备过程中终止，未进入摆门和后续击球；视频 2.8 s 作为终止附近的粗略导航锚点，具体触发终止的物理事件未记录。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，录像仅有总览视角；已密查视频 1.4–2.8 s（含最后一秒），但把手对侧指垫被部分遮挡，无法核验双指冲量或穿透深度。log step 160、164 的服务只报告 reason=failed，未给出具体安全失败项；agent 在 log step 166、168 将终止归为过度闭合／穿透，这是其推测，不能据此确定接触力异常或控制根因。评分器还记录 infra_error=1、resource_service_oom=1、resource_service_oom_kills=1，但日志未给出该服务内存事件的发生时点，无法确认它与最后一局终止的关系；不将其臆定为本局物理失败原因。故现象与根因层留空。DAG 已注明成功参考录像使用较旧验收版本，本次仅以其比较可见几何变化。" + }, + "summary_zh": "最后评分局为 episode 4：左夹爪下降到门把手处收拢，右拍在入口处准备，门始终未正向摆开、冰球未深入围栏，五个节点最终均未达成（0/5）。断点为正向打开门的操作中；log step 160、164 确认该局已失败终结，但缺少具体接触／安全失败记录，且评分器另有时点不明的服务内存错误，因此不采信 agent 的穿透诊断，现象和根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点全未达成、断点 gate_opened、现象/根因留空并附 gap_zh 均有依据：video 2.84 s 对应最后一局 episode 4（280 控制步），服务只给 reason=failed，无具体失败项，agent 的穿透诊断属推测。仅 puck_deep_in_pen 的 contact_actual 不合规。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点全未达成、断点 gate_opened（操作中）、现象/根因留空并附 gap_zh 均有依据；服务只报 reason=failed，未给出具体失败项，agent 的过度闭合诊断是推测，不采信合理。第一轮 I1 已按要求修正（puck_deep_in_pen 无 contact_actual）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:38:50Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--lakrgdb/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8cc27daafb967a4a0c54dc6c69d383901f84fcc913b928443d240356764bdc3", + "video_sha256": "14f186b862ab4444f8f952dce44750f93ca9c24c6a2c46f8a9b28022c0699f99", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b5f5bcf10a45306a59fae634567b906f50def6 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 3500, + "sim_steps": 5246, + "calls": 3080, + "rows": 40395, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2314.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 157.911, + "max_lag_s": 0.5638, + "stalls": 1, + "stalled_s": 0.564, + "stalled_share": 0.0036, + "held_steps": 494, + "late_steps": 294, + "requests_refused": 3, + "request_busy_s": 19.153, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.899, + "peak_processes": 42, + "peak_disk_gb": 1.852, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m/replay.mp4", + "duration_s": 35.04, + "fps": 25.0, + "frames": 876, + "sha256": "6d493eb3e08c14dec95cc3cc2742b0ffdd03e1f4289cfc0fb904cf0f7a1fcbf7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 7.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 3.5–5.8 s，左臂下降到橙红把手，两指从两侧合拢；其后把手随夹爪运动，未见夹爪脱离。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "推断：视频 7.4–8.4 s 的连续帧中，左夹爪夹着把手使门自由端向右侧摆开，约视频 7.8 s 达到正向开门角度；按门叶方向估计通过 0.5 rad，时间误差约 0.2 s。该事件锁存，后续反向摆门不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂 panda-0 二指夹爪从把手两侧闭合，夹持把手并正向摆门（视频 4.0–9.8 s）。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [ + [ + 12.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.4, + "log_step": null, + "text_zh": "观察：视频 11.0–11.6 s，右臂蓝色球拍向围栏内挥动，橙色冰球从原来的入口附近离开球拍向左滑；左夹爪仍夹着正向偏开的门把手。开门前视频 0–1 s 的来球碰拍不作为本阶段触拍。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "推断：视频 11.8–12.6 s 逐帧可见冰球脱拍后深入左端，并在约视频 12.2 s 进入 x < -0.05 m 的深处；此时门尚在正向偏开、把手仍位于左夹爪中。按远轨和门轴的几何关系判定，时间误差约 0.2 s；没有物理步记录可核验毫秒级同步及接触冲量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：右臂 panda-1 刚性安装的蓝色球拍击打橙色冰球，使其脱拍滑向围栏左端（视频 11.2–11.6 s）；候选“击打”，现有接触方式无对应值，按 S16 用其他。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右拍击球及冰球深入时，左臂二指夹爪同时夹持门把手（视频 11.2–12.2 s）；这是另一条实际接触链。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.0, + "log_step": null, + "text_zh": "观察：视频 12.4–13.4 s，左夹爪继续夹着把手将门摆到零位另一侧；冰球从左端回弹并向后方上轨滑动。" + }, + { + "t": 14.5, + "log_step": null, + "text_zh": "观察：视频 13.2–16.0 s 密集帧中，冰球逐渐停止在上轨前方，冰球与上轨间仍有桌面间隙，未见触轨或由上轨反弹；视频 18–34 s 的间隔帧及视频 34.0–35.0 s 的末秒密集帧中仍停在同处。门反向摆开本身不满足带上轨接触的完整阶段判据。" + }, + { + "t": null, + "log_step": 87, + "text_zh": "观察：log step 87 的 agent 控制器输出自身视觉估计：冰球位置约 [0.0124, 0.1529] m、速度近零、upper=False；这是控制器的估计，作为与视频一致的旁证，不当作评分器阶段账本。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂 panda-0 二指夹爪持续夹住门把手，反向摆门并保持该姿态（视频 12.4–35.0 s）；冰球未接触上轨。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频 12.4–13.6 s，右臂将蓝色球拍退到围栏右侧的接球位置；冰球仍在围栏左半部，没有来到球拍处。" + }, + { + "t": 35.0, + "log_step": null, + "text_zh": "观察：视频 14–34 s 的连续过程抽帧以及视频 34.0–35.0 s 的密集帧中，右拍与停在上轨前的冰球始终相隔，未见第二次触拍；其前置的反向开门与触上轨事件也未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右臂将安装球拍预置到接球位置并等待期间，左臂仍夹持门把手（视频 12.4–35.0 s）；右球拍没有碰到冰球，故不虚记工具与冰球接触。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.0, + "log_step": null, + "text_zh": "观察：视频 14–34 s 的间隔帧及视频 34.0–35.0 s 的密集帧中，橙色冰球一直留在围栏内左半部，未进入右侧独立橙色短挡墙前的目标通道，也未发生最终向右击球越线；前置截击事件未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened_opposite", + "t": 14.5, + "log_step": 87, + "where": "操作中", + "evidence_zh": "观察：视频 12.4–13.4 s 左臂已夹把手反向摆门，但视频约 14.5 s 冰球在上轨前停止，之后到视频 35.0 s 都未补成触上轨事件；这一步的同步验收没有完成。log step 79 确认最后重置为 episode 4，log step 88 的服务状态为 episode 4、control_steps=3500、done=True、reason=failed；前三次重置前的测试不计入本视频进度。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": true, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 14.5, + "log_step": null, + "evidence_zh": "观察：视频 11.2–12.6 s 右拍击球后，冰球深入并从左端回弹；视频 13.2–16.0 s 冰球向上轨滑动却逐渐停在轨道前方，未到达要求的触轨位置。视频 34.0–35.0 s 仍在原位，门保持反向打开，缺的是冰球行程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 75、77 的脚本预设首次击球及随后的退拍接球轨迹；log step 54 的控制器只在来球 x>0.10 m 或静止球 x>0.14 m 时触发常规补击。log step 87 中该控制器已估计冰球静止于 x≈0.0124 m，视频 14.5–35.0 s 也显示冰球停在上轨前而球拍留在右侧，没有形成有效修正。击球及后续控制未维持足够运动或补偿停球，使上轨接触落空；未能确定更细的控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志或评分器五阶段事件账本；门角度、深处界线通过时刻及双指夹持由视频几何和连续随动推断，无法核验 1 ms 同步、2 mm 接触范围及指垫冲量。log step 85–87 的 gate、puck、loop、upper 是 agent 脚本的估计而非评分器遥测；本标注未将其直接当作节点达成。缺乏触拍瞬间速度、接触冲量和滑动阻力记录，不能将行程不足进一步归到具体速度参数、接触传能或阻力估计。成功参考只比较可见几何，DAG 已注明其规则版本较旧，不能替本局证明精确验收。" + }, + "summary_zh": "评分视频对应最后一次重置后的 episode 4：左夹爪正向开门，右球拍将冰球击入围栏深处，按可见几何推断完成前两节点（2/5）。门虽随后反向摆开，但冰球在上轨前停住，未形成第三阶段所需同步触轨，后续截击和越线均未达成；击球及后续控制未有效修正停球。无物理状态或阶段账本，前两阶段精确接触与同步条件只能视觉推断，根因不细分到具体参数。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "对照视频帧：左夹爪夹把手正向开门（约 8 s）、右拍击球使冰球深入（约 12 s）、门反向摆开但冰球在上轨前停住（14–35 s），未见触轨；节点值、断点（gate_opened_opposite）与现象/根因未发现被证据否定的错误。无状态日志，两处视觉推断已标为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:38:24Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--szzxw2m/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd8b8932fe0326273cc35965ce5f8c4cbd35b6c62dee14c4be525cae7257611a", + "video_sha256": "6d493eb3e08c14dec95cc3cc2742b0ffdd03e1f4289cfc0fb904cf0f7a1fcbf7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww.json new file mode 100644 index 0000000000000000000000000000000000000000..fd883f48c298631914fb12197054854cc751aff1 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 411, + "sim_steps": 4410, + "calls": 16, + "rows": 2700, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 592.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 132.246, + "max_lag_s": 0.2662, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 3500, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 1.718, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.22, + "peak_processes": 8, + "peak_disk_gb": 0.481, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww/replay.mp4", + "duration_s": 4.16, + "fps": 25.0, + "frames": 104, + "sha256": "c1f9933bcb26f3e5006f3f9f8b32cb6453af7b28b5fddf5eb73e9e4704c648b8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 3.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.2–2.9 s，左臂二指夹爪在橙红把手两侧收拢；视频 3.2–3.8 s，把手随夹爪向右球拍方向摆动，门叶从初始斜面转为近侧缘朝向镜头，未见脱手。" + }, + { + "t": 3.6, + "log_step": 107, + "text_zh": "推断：视频约 3.6 s，左夹爪夹持把手的正向开门达到判据，时间精度约 0.2 s；log step 107 所读的实际运行脚本设定正向摆门至 0.65 rad，与视频 3.6–4.12 s 的门姿态一致。此处依据可见夹持及摆门推断达成，不声称测得双指接触冲量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 二指在橙红把手两侧合拢夹住把手，并带动琥珀色门叶正向摆开。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.08, + "log_step": 103, + "text_zh": "观察：视频 3.8–4.12 s，右臂蓝色球拍朝入口处橙色冰球推进，冰球只在下轨端部附近小幅移动，随后被球拍局部遮住；围栏左端深处始终没有冰球到达。log step 103 的服务状态为 episode=4、control_steps=411、done=True、reason=failed，与这段末帧一致。" + }, + { + "t": 4.12, + "log_step": null, + "text_zh": "推断：视频 4.00–4.12 s，球拍与下轨末端接触区域重合，击球未形成脱拍后滑向围栏深处的运动，深入围栏条件未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打。右臂 panda-1 的刚性安装蓝色球拍推进接触入口处橙色冰球；球拍同时扫入下轨端部区域。击打没有专用接触方式，故填其他。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右球拍推进期间，左臂二指仍夹持橙红把手，保持门正向偏开。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.12, + "log_step": null, + "text_zh": "观察：视频 3.6–4.12 s，左夹爪一直保持门正向偏开，未摆到零位另一侧；冰球未深入围栏，也未到达后方上轨。反向开门与上轨接触的同步事件未发生。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.12, + "log_step": null, + "text_zh": "观察：视频 0–4.12 s，冰球留在右侧入口附近，末段只有右球拍的首次向内推进；没有绕行围栏、触上轨后回到球拍的过程，且反向开门前置事件未完成。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.12, + "log_step": null, + "text_zh": "观察：视频 0–4.12 s，没有冰球向右侧独立短挡墙前通道滑行越线的运动；末帧冰球所在区域仍是围栏下轨入口、右球拍旁，截击前置事件也未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "puck_deep_in_pen", + "t": 4.04, + "log_step": 103, + "where": "操作中", + "evidence_zh": "观察：视频约 3.6 s 左夹爪已将门正向摆开；视频 3.92–4.12 s 右球拍向冰球推进，进入下轨端部区域，冰球没有脱拍深入围栏。log step 103 确认最后一次 episode=4 在 control_steps=411 后 failed；此后无新的 live episode，log step 109 仅修改脚本，未修复评分尝试。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.04, + "log_step": 103, + "evidence_zh": "推断：视频 3.92–4.12 s，右臂蓝色球拍的靠下轨一端扫入固定橙色下轨末端，接触区域在视频 4.04–4.12 s 重合；冰球仍在入口附近，未形成深入围栏的滑行。log step 103 的服务随即报告该 episode 已 failed，支持此处为中断点；未将服务的笼统 failed 当作具体碰撞对记录。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：log step 98 的击球方案让右球拍保持约 z=0.040 m，从 (x,y)=(0.30,-0.05) 向 (0.17,-0.06) 推进，log step 107 读出的实际运行脚本保留该段；视频 3.92–4.12 s 显示球拍沿此低位路径扫入下轨末端。接触路径没有给球拍自身留出轨道间隙，因此归为击球接触几何设计问题；未在本次运行中验证替代路径。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或原生阶段账本，无法核验毫秒级双指把手冲量、精确门角和终止接触对；正向开门依据可见夹持、门姿态与实际运行脚本联合推断。末段冰球部分被球拍及下轨遮挡，但可见围栏深处始终无球。log step 103 只有笼统 failed，故下轨碰撞及其控制根因是视频与脚本支持的推断，不能确定评分器实际触发的是哪一项物理失败规则。" + }, + "summary_zh": "评分的最后一次 live episode 中，左夹爪夹住把手并正向开门，约视频 3.6 s 达到第一个节点，最终完成 1/5 个节点。右球拍首次向内击球时扫入下轨末端区域，冰球未深入围栏，约视频 4.04 s 断在击球深入围栏；接触路径未留足球拍与轨道的间隙是推断的控制根因。无状态日志和阶段账本，精确夹持冲量及评分器终止接触对无法核验；结束后的脚本修改未在评分 episode 中执行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频时钟与 sim_time(4.11 s, control_steps=411) 一致；第 1 个节点约 3.6 s 达成、断点在击球深入围栏的标注与帧相符，下轨碰撞及根因已明确标为推断，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:35:01Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wmwf3ww/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7c37070d4d2494ef25c5fa45f5f87e7441fa3931b0ba0da5546e989325931d7", + "video_sha256": "c1f9933bcb26f3e5006f3f9f8b32cb6453af7b28b5fddf5eb73e9e4704c648b8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj.json new file mode 100644 index 0000000000000000000000000000000000000000..0a6d5fe57bed7ef2d4d1efa07a67396a9bd049ed --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 132, + "sim_steps": 251, + "calls": 1711, + "rows": 2115, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2149.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 7.506, + "max_lag_s": 0.0023, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 1.342, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.274, + "peak_processes": 8, + "peak_disk_gb": 0.378, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj/replay.mp4", + "duration_s": 1.36, + "fps": 25.0, + "frames": 34, + "sha256": "934262a608da08471094128cedbe876aaffae9f6f10c373a3275924509cd94f1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 门叶处于初始方向，左夹爪在把手上方，尚未开门。" + }, + { + "t": 1.32, + "log_step": 160, + "text_zh": "观察：逐帧检查视频 0.00–1.32 s，左臂夹爪向橙红把手靠近并下降；视频 1.00–1.32 s 手指靠近并局部遮挡把手，但门叶始终未明显摆开。log step 160 的机器人服务状态为 episode=4、control_steps=132、done=true、reason=failed，故本局结束时正向开门未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.00–1.32 s 左臂 panda-0 的二指夹爪向门把手下降；末段手指与把手局部重叠，现有总览不能确定实际接触点或是否已有双指夹持，故接触方式保留未知，不据指令补记抓握。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.16, + "log_step": null, + "text_zh": "观察：视频 0.00–0.16 s 橙色冰球向右侧蓝色球拍滑近；视频 0.20–1.32 s 冰球留在入口球拍左缘附近，没有向左端围栏深处运动，门也始终未正向打开。" + }, + { + "t": 1.32, + "log_step": 161, + "text_zh": "推断：视频 0.12–0.32 s 冰球到达球拍边缘后停止明显前进，与 log step 161 本局脚本在服务仿真 0.91–1.32 s 连续检测冰球 x≈0.261 m 相符，支持发生了早期触拍；该接触在正向开门前，且没有脱拍深入，不能完成本节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：视频约 0.12–0.20 s 来球到达右臂 panda-1 刚性安装的蓝色球拍后停在入口附近，构成早期触拍；候选：击打（含球拍挡球），现有接触方式无击打项，按 S16 标其他。右夹爪没有抓握冰球；此次触拍不满足开门前置条件。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.32, + "log_step": null, + "text_zh": "观察：视频 0.00–1.32 s 门叶一直保留初始方向，没有向零位另一侧摆开；冰球停在右侧入口附近，未出现深入围栏后碰上轨的运动。反向开门同步事件未发生。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.32, + "log_step": null, + "text_zh": "观察：视频 0.00–1.32 s 只有入口处的早期来球与触拍，没有深入围栏、门反向摆开及冰球回程后再次触拍的过程。此前各阶段未完成，早期触拍不能计为本节点。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.32, + "log_step": null, + "text_zh": "观察：视频 0.20–1.32 s 橙色冰球留在右球拍左缘的入口附近，没有脱拍向右侧独立短挡墙前的目标通道滑行或越线；此前截击阶段也未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 1.32, + "log_step": 160, + "where": "操作中", + "evidence_zh": "观察：视频 0.00–1.32 s 左臂正在为正向开门靠近并下降到把手，门叶始终未摆开；视频 1.32 s 仍停在该步骤。log step 161 确认 reset ok 4 后提交了首段双臂程序，log step 160 的本局服务状态在 control_steps=132 报 done=true、reason=failed。推断：这是评分的最后一局，最早未修复的工作步骤为正向打开门，位置为操作中。log step 162 给出 control_dt=0.01 s，132×0.01=仿真 1.32 s，与视频 1.32 s 的末帧对应；没有把 agent 工作时间映射为视频时间。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 没有状态日志，服务在 log step 158、160 只返回 reason=failed，没有具体碰撞对、失败原因或运动限值实测值；总览末段还遮挡左手与把手的部分接触区。视频只确认开门接近动作未完成及早期触拍，不能判定本局由何种接触或运动异常终止，因此现象与根因均留空。agent 在 log step 167、175 自述首行使球拍从初态跳到预备点并触发超速，但 log step 5 的初态球拍工具位置已经是 (0.2999,-0.0799,0.045) m，与 log step 168 的路径首点相同；视频 1.20–1.32 s 也未见其所称的大幅跳变，故不把该自述当作已证实原因。log step 171–174 的修改及离线检查发生在本局结束之后，未重新执行，不能补记进展；成功参考只用于比较可见门摆动，不用于证明本局的接触或当前版本精确同步条件。" + }, + "summary_zh": "评分第 4 局仅完成了左夹爪靠近并下降到门把手、右球拍与来球的早期接触；门始终未摆开，五个顺序节点均未达成。断点为正向打开门的操作中，机器人服务在 control step 132（对应视频 1.32 s）报告失败，之后的脚本修改未重新运行。缺少具体失败事件及接触监测数据，无法确认终止的物理现象与根因，agent 所称的球拍跳变超速也未获证实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "五个节点均为未达成，与视频 0–1.32 s 及服务状态（control_steps=132、done、reason=failed）一致；断点 gate_opened 操作中合理；现象与根因留空并附 gap_zh，因为没有状态日志，agent 自述的球拍跳变超速未被证实，处理谨慎恰当。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": "2026-10-30T04:37:37Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--wnopgvj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "576164fa5f716f712968dbcc6adf3eca41f5fc87136bc162f14a246f3975253f", + "video_sha256": "934262a608da08471094128cedbe876aaffae9f6f10c373a3275924509cd94f1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd.json new file mode 100644 index 0000000000000000000000000000000000000000..91607ad149d295944f5c9f7359e6f69b8e9cb651 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 3500, + "sim_steps": 4540, + "calls": 697, + "rows": 33400, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 891.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 136.187, + "max_lag_s": 0.3525, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1139, + "late_steps": 676, + "requests_refused": 0, + "request_busy_s": 8.761, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 7.783, + "peak_processes": 203, + "peak_disk_gb": 1.562, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd/replay.mp4", + "duration_s": 35.04, + "fps": 25.0, + "frames": 876, + "sha256": "58c290051f6929bbca62732d21537e8109712f5da7f230bad3a1261dd81defb0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [ + [ + 28.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.3, + "log_step": 81, + "text_zh": "观察：视频 27.4–28.0 s 左夹爪位于门把手处，视频 28.12–28.4 s 夹爪带动门叶由初始位置明显向右臂侧摆开，随后保持偏开的门至视频 35.0 s；两指围住把手，门随夹爪运动。" + }, + { + "t": 28.3, + "log_step": 81, + "text_zh": "推断：以可见摆门及夹持判断正向开门约在视频 28.3 s 达成，时间误差约 0.2 s。log step 7 的机器人服务给出 control_dt=0.01 s；log step 81 中 agent 控制器在本局 control step 2823 估计 q=0.533、开口约 0.032 m，对应视频 28.23 s，与视频 28.24–28.32 s 的摆门相符；此为控制器估计，非原生阶段账本，不能据此证明双指冲量阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂 panda-0 两指夹住橙红门把手并带动门叶摆开，随后维持夹持。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 28.7, + "log_step": 81, + "text_zh": "观察：视频 28.4–28.6 s 右臂蓝色安装球拍向围栏内运动，接触橙色冰球并使其向左移动；视频 28.64–29.4 s 冰球停在门叶下端、前侧长轨与球拍之间的入口区域，未滑向左端远轨。视频 30–35.0 s 未见再次击球或冰球深入，围栏左侧深处一直空着。" + }, + { + "t": 28.7, + "log_step": 79, + "text_zh": "推断：本次击球只把冰球送至门附近，未到达 x < -0.05 m 的围栏深处，故本节点未达成。视频 0–1.6 s 的入口附近运动发生在开门之前，不计本阶段。log step 79 的恢复脚本须检测到冰球深入才转向负角度；log step 81 的脚本记录击球后 loop 始终为 False，与画面吻合。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的刚性安装蓝色球拍实际触碰橙色冰球并向围栏内击推，随后停在冰球旁；现有接触方式没有击打，按 S16 使用其他，不虚构右夹爪握拍。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "同次击球期间左臂 panda-0 继续夹住门把手，维持正向偏开的门。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.0, + "log_step": 81, + "text_zh": "观察：视频 28.4–35.0 s 左夹爪一直将门保持在正向打开的位置，没有反向摆门，冰球也未绕行到后侧上轨；本节点未达成。log step 81 的 agent 控制器输出 loop、upper 均为 False，仅用作与画面一致的辅助信息。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.0, + "log_step": null, + "text_zh": "观察：视频 28.4–29.4 s 仅有右球拍第一次向内击推，随后至视频 35.0 s 球拍停在门附近，未见冰球深入后从上轨回程再触拍；门也没有反向打开，故不能把此次入口触拍记为回程截击。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.0, + "log_step": null, + "text_zh": "观察：视频 29.4–35.0 s 冰球留在围栏入口的门叶与球拍附近，右侧独立短挡墙前没有冰球脱拍向右滑过；未出现最终越线事件，且前置截击未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "puck_deep_in_pen", + "t": 28.7, + "log_step": 81, + "where": "操作中", + "evidence_zh": "观察：视频 28.4–28.6 s 机器人右球拍已触球并向围栏内击推；视频 28.64–29.4 s 冰球在门下端与前侧轨道附近停住，没有进入左侧深处，此后至视频 35.0 s 未修复。左臂正向开门已发生，但没有开始反向摆门，故第一个未修复的失败是击球深入围栏。" + }, + "unmet": { + "gate_opened": true, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 28.7, + "log_step": null, + "evidence_zh": "推断：视频 28.48–28.64 s 右球拍把冰球推向门叶下端，视频 28.68–29.4 s 橙色冰球紧邻门叶底部及前侧长轨，向左运动被截住，未沿围栏滑向远端；结合前后帧判断冰球在门附近受到阻挡，而非球拍始终没有触球。具体接触对和力值无物理日志可核验。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频", + "evidence_zh": "推断：视频 28.4–28.8 s 右球拍沿前侧轨道附近向门叶下端击推，左夹爪同时保持当前门角，冰球的实际击出路径在门旁被挡住；这一球拍位置、击球方向与持门几何组合没有形成通往围栏深处的通路。视频 29–35.0 s 两臂继续保持该布置，没有重新对准击球；本局未验证可行替代接触方案。" + }, + { + "cat": "认知", + "item": "感知", + "source_zh": "日志", + "evidence_zh": "推断：log step 81 中 agent 控制器在 control step 2853 仍识别到冰球，随后 control step 2883、2984、3084、3184 全部返回 puck None；按 log step 7 的 0.01 s 控制周期对应视频约 28.83–31.84 s，并已由视频 28.5 s 的击球核对时钟。视频 28.68–29.4 s 仍可见门下端的橙色冰球。log step 79 的代码只有识别到 puck 且 x < -0.055 才更新为反向开门和回拍，识别丢失时保持旧目标；因此跟踪丢失使受阻后的动作没有得到调整，后续阶段也未启动。" + } + ], + "gap_zh": "观察：inputs/ 提供本局和成功参考视频、run.json，但没有状态日志或原生逐阶段事件账本；视频只有总览，手指、门下端和冰球局部相互遮挡。无法直接核验双指把手冲量、毫米级范围及精确门角，正向开门依据可见夹持摆门和控制器估计判定；冰球受阻的具体物理接触对由连续画面推断。DAG 指出成功参考视频来自较旧验收版本，本次只用它比较门摆动和冰球绕行的可见形态，不将其验收结果移用于本局。" + }, + "summary_zh": "观察：本局机器人约在视频 28.3 s 夹持把手正向打开门，完成 1/5 节点；右球拍随后触球，但冰球未进入围栏深处，反向开门、回程截击及目标越线均未发生。推断：视频约 28.7 s 冰球在门下端与前侧轨道附近受阻，击球和持门的接触几何不合适，随后视觉跟踪丢失且控制器维持旧目标，失败停在击球深入围栏。观察：没有物理状态日志，精确双指夹持条件及阻挡接触对无法直接核验，成功参考视频的规则版本也较旧。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（仅 gate_opened 达成，其余未达成）、时间、断点 puck_deep_in_pen 与两条成因与视频和 log step 81 的控制器记录相符；未找到需要改内容的错误。", + "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": "2026-10-30T04:39:49Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-standard-realtime--zhw8hjd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e3ea6acd9d54cb3677eab2d1c0fd1b314e8bdc9981813aa43e04cc1909dcae3a", + "video_sha256": "58c290051f6929bbca62732d21537e8109712f5da7f230bad3a1261dd81defb0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw.json new file mode 100644 index 0000000000000000000000000000000000000000..bad6229d07c278604528ab644123d6865e00a9b7 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1323, + "executed_rows": 1323, + "sim_steps": 1323, + "physics_steps": 13230, + "sim_time_s": 13.23, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 36.4, + "replay_timeout_s": 432.3, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 5, + "agent_resets": 19, + "agent_sim_steps": 2646, + "agent_replays": 18, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.144, + "peak_memory_gb": 1.42, + "peak_processes": 12, + "peak_disk_gb": 0.829, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw/replay.mp4", + "duration_s": 13.28, + "fps": 25.0, + "frames": 332, + "sha256": "4351bbae2e483eff01d811cd8409c55a1b6989febebc3ea815d363afa6ece14e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 0.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频0.00–0.56 s橙球先上升后下落，机械臂抬起前端蓝色浅杯迎球；视频0.60 s球进入杯内，视频0.76–1.20 s球留在杯底并随杯运动。" + }, + { + "t": 0.96, + "log_step": 67, + "text_zh": "观察：log step 67的模拟器事件历史记载首次入杯为仿真0.580 s、initial_catch完成为仿真0.953 s；这些是模拟器阶段读数，不是agent自述。" + }, + { + "t": 0.96, + "log_step": 73, + "text_zh": "推断：log step 66–71连续续跑后保存交付，log step 73的两个新进程均重放1323个控制步并在仿真13.23 s成功，末态哈希一致；100 Hz控制下1323/100=13.23 s，与视频约13.2 s终止及视频0.60 s首次入杯相符，因此采用这条已交付轨迹的阶段记录辅助定位，在已检查的视频0.96 s帧标记接稳完成，约有一帧误差。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda手部固定安装的蓝色浅杯从下方承接橙球，球停留在杯底；张开的两指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频1.50–4.20 s机械臂携杯向桌面中部及轨道箱上方移动；视频3.40–4.20 s逐帧可见浅杯持续向前下方移动，球仍留在杯中，浅杯经适配杆连在张开的手部。" + }, + { + "t": 3.8, + "log_step": 67, + "text_zh": "推断：发射区在画面中没有标记，不能仅从杯箱投影判定0.025米半径；log step 67记录同一交付轨迹前缀的launch_region阶段在仿真3.763 s完成。按已在首次接球和回合末端核对的100 Hz控制时钟，结合已检查的视频3.76–3.84 s杯位置，将完成时刻近似标在视频3.80 s；评分器phases_done=5、success=1支持该阶段通过。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：Panda手部通过固定适配杆支承并移动蓝色浅杯；此节点受评对象是杯的位置，两指保持张开，没有形成夹持。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [ + [ + 7.84, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.6, + "log_step": null, + "text_zh": "观察：视频6.20–6.52 s机械臂带杯向上运动，视频6.56–6.60 s橙球与杯底出现间隙；视频6.64–6.80 s杯向侧下方移动，球重新落到同一杯底。" + }, + { + "t": 7.84, + "log_step": null, + "text_zh": "观察：视频6.80–7.60 s球在杯内滚动，机械臂完成横移并停下；视频7.64–8.40 s球留在杯后侧附近，随后仍随杯搬运。" + }, + { + "t": 7.84, + "log_step": 67, + "text_zh": "推断：log step 67的模拟器事件历史给出self_toss完成为仿真6.594 s、新recatch入杯为仿真6.646 s、displaced_recatch完成为仿真7.814 s；log step 68–71从该段继续搬运并保存，log step 73验证重放一致。与视频离杯、回落及接稳顺序吻合，按已核对的控制时钟在视频7.84 s附近标记整个抛接步骤完成；精确速度、水平位移和0.18秒保持由原生阶段通过支持，未从像素臆测。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda前端同一蓝色浅杯先从下方托球加速送出，短暂离杯后再以杯底承接回落球，并托住球完成侧移；两次工具接触先后发生。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [ + [ + 13.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频8.40–11.20 s机械臂携球移向释放位置；视频11.50–12.32 s浅杯缓慢倾斜，球向敞口滚动，视频12.36 s球已离杯，视频12.40–12.44 s可见球落入沿轨道滑动的深蓝箱内，浅杯上不再有球。" + }, + { + "t": 13.24, + "log_step": 71, + "text_zh": "观察：视频12.48–13.24 s逐帧可见空浅杯停留在上方、接收箱继续沿轨道移动，球被箱壁遮住；log step 71的模拟器状态为success=True、phase=5、valid=True，记录moving_receiver_delivery在仿真13.229 s完成，控制步数1323。" + }, + { + "t": 13.24, + "log_step": 73, + "text_zh": "推断：视频12.40–12.44 s的入箱动作与log step 71的球箱接触记录吻合，log step 73的两次独立交付重放均成功且末态哈希相同，评分器也给出success=1及phases_done=5。因此球离杯后在运动箱内的连续0.7秒验收已通过；按100 Hz控制步与视频末端的核对，将完成锚点放在最后检查的视频13.24 s帧，遮挡不作为未完成证据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda手部安装的浅杯托球搬运后缓慢倾斜，使橙球经敞口滚离并自由落入运动箱；球落箱后由接收箱承接，机器人两指没有抓球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：该交付视频依次呈现首次接球、携杯到发射位置、自抛并移位再接及倾杯送球入移动箱，四个DAG节点最终均完成；评分器success=1、phases_done=5，log step 73的两次独立重放均成功且末态一致。推断：完成时刻约为视频0.96 s、3.80 s、7.84 s和13.24 s，结合已交付轨迹的模拟器阶段记录定位，无失败断点。观察：本目录无状态日志，发射区无可见标记且视频12.48–13.24 s球受箱壁遮挡，精确阈值及末段稳定窗由成功阶段记录支持；评分器未报告DAG所列九项原生指标的独立数值，故保留为null，oracle也是本次运行，未作独立参考。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点均达成，时间与视频和log阶段记录相符，无失败断点；contact_actual与实际一致，时钟说明有核对依据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:28:54Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--6egbqcw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "18ac429b807fdc365c556d43bac1bd62a183f1f214dd6aa1aeabaec4e398fb27", + "video_sha256": "4351bbae2e483eff01d811cd8409c55a1b6989febebc3ea815d363afa6ece14e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c1aac8cccc54b8968fb17b77f2dadaff6ba0f6 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1250, + "executed_rows": 418, + "sim_steps": 418, + "physics_steps": 4180, + "sim_time_s": 4.18, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 12.9, + "replay_timeout_s": 425.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 14, + "agent_resets": 48, + "agent_sim_steps": 80, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw/replay.mp4", + "duration_s": 4.24, + "fps": 25.0, + "frames": 106, + "sha256": "dc8204471c8abffc87cf29e7ca1cb8cd3d7d8c27c13953710f60b907de1d54d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 0.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频 0.60–0.68 s，橙球从机械臂上方落入前端蓝色浅杯；视频 0.80–1.20 s 球留在杯底，随后随杯向桌面中部移动。接稳完成锚点约为视频 0.9 s，精确保持窗不可由画面逐项测量。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.phases_done=2，支持首次接球与后续发射区阶段均已完成；这是交付轨迹的评分结果，不采用会话测试的接球时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.64–1.20 s，Panda 手部固定安装的蓝色浅杯从下方承接并托住橙球；夹爪未直接夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 1.16–1.76 s，机械臂把托球的浅杯移向桌面中部、轨道箱上方附近；发射区没有可见标记。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "推断：评分器 reward.phases_done=2 结合视频 1.60–1.80 s 的杯位置及移动顺序，表明杯已进入发射区；约视频 1.7 s 为可视导航锚点，进入0.025米区域的精确时刻不可从单视角确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.16–1.76 s，Panda 手部通过固定适配杆支承并移动蓝色浅杯；两指张开，未合拢抓杯。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：视频 1.80–2.08 s，球从杯内向敞口边缘滚动；视频 2.16–2.24 s，球越过敞口并向下掉落，视频 2.36–2.60 s 已在箱外桌面附近，浅杯为空；此后至视频 4.20 s 均未再接住。" + }, + { + "t": 2.2, + "log_step": null, + "text_zh": "推断：这次离杯是侧向滚落，未形成有效向上自抛及移位接稳；评分器 reward.phases_done=2 亦表明未完成后续自抛阶段。成功参考视频 6.32–7.60 s 可见杯上送、球与杯短暂分离后回到杯内，与本次侧落过程不同。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.80–2.12 s，安装浅杯仍从下方托球并移动，随后球从敞口滑离；没有发生成功的再接接触。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 2.24–2.60 s，球从较深接收箱旁落向桌面，未进入箱内；视频 3.20–4.20 s，球在箱外向桌沿移动并掉下，箱继续沿轨道运动，浅杯为空。" + }, + { + "t": 4.2, + "log_step": null, + "text_zh": "推断：抛起并再接住的前置步骤未完成，且球从未在移动箱内稳定，因此球入移动箱未达成；未把空杯在箱附近的后续运动计作持球投送。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 2.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.80–2.24 s，机械臂在发射区附近重新移动浅杯时，已托住的橙球逐渐滚到敞口并向下脱杯；视频 2.36–4.20 s 球一直在杯和接收箱外，未修复抛接步骤。评分器 reward.phases_done=2。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 2.2, + "log_step": null, + "evidence_zh": "观察：视频 1.80 s 球仍被浅杯托住，视频 2.08–2.24 s 球从敞口侧滚出并向下掉落，视频 2.40 s 球已在接收箱外；机器人后续没有恢复对球的承托。这不是向上抛出后成功再接。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 1.80–2.24 s 显示机械臂在杯内有球时的移动未能维持承托，球在有效自抛前即滚出；log step 36 的交付生成脚本按预定杯位姿经逆解采样动作，不使用执行中的球位置作反馈，log step 38 仅生成并保存动作，log step 39 中 agent 自述最终组合抛接方案未经实测确认。证据支持控制层面的失效，尚不足以确定接触设计、跟踪误差或具体参数中的哪一项负责。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本目录无状态日志；发射区不可视，前两节点的精确验收时刻依靠视频近似定位并由评分器 phases_done=2 支持。评分字段未给出终止原因或逐项原生指标，不能确定回合结束的具体触发项，也无法从会话中的其他测试量推定交付轨迹的速度、加速度或接触力。" + }, + "summary_zh": "评分轨迹完成首次接球和杯到发射区，最终保留2/4个事件节点。视频约 2.2 s，机械臂移动浅杯时球从敞口侧滚落，抛起并再接住失败，之后球始终未入移动箱；根因可归到控制，但没有状态日志来区分具体控制子类。发射区的精确进入时刻和回合终止触发原因未被逐帧记录。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点与现象与视频一致：球约0.7 s入杯，约1.9–2.2 s侧滚出杯落桌，此后未再接；phases_done=2支持前两节点。控制根因表述保守，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": "2026-10-30T04:17:49Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--eeagsxw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4102f5bf78a808362abdb32e3cc58e846aba09066289c660aa4fa1ebcdc374ee", + "video_sha256": "dc8204471c8abffc87cf29e7ca1cb8cd3d7d8c27c13953710f60b907de1d54d7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf.json new file mode 100644 index 0000000000000000000000000000000000000000..7046ef0ab04c38c9a2a60fab891cc80f7266f571 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1558, + "executed_rows": 1558, + "sim_steps": 1558, + "physics_steps": 15580, + "sim_time_s": 15.58, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 38.3, + "replay_timeout_s": 455.8, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 39, + "agent_resets": 2, + "agent_sim_steps": 3116, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.612, + "peak_processes": 12, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf/replay.mp4", + "duration_s": 15.64, + "fps": 25.0, + "frames": 391, + "sha256": "2b274c728dbf47d3d69b0bf5ba8fced8a0aaf469ef2c7c8d97cf6949ab5a8670" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 0.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.9, + "log_step": 98, + "text_zh": "观察：视频0.56–0.72 s，橙球由空中落到机械臂安装的蓝色浅杯内；视频0.72–1.04 s球留在杯底，随后随杯移动。log step 98的交付轨迹生成记录在仿真1.000 s报告phase1=1，评分字段phases_done=2亦包含首次接球完成。" + }, + { + "t": 0.9, + "log_step": null, + "text_zh": "推断：按入杯后约0.18 s接稳窗口，将首次接球完成锚点估为视频0.9 s；此节点为锁存事件，末段球离杯不撤销它。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.64–1.04 s，Panda手部固定安装的浅杯以杯底承接并托住橙球；张开的两指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.3, + "log_step": 98, + "text_zh": "观察：视频1.04–2.52 s，机械臂带着浅杯和球移向桌面中部、轨道箱上方附近。log step 98的交付轨迹生成记录在仿真2.500 s报告phase2=2、杯原点约(0.298,-0.098,0.300)米；log step 108及126对交付文件的官方回放均保持phase=2、phase_name=self_toss，评分字段phases_done=2。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：结合视频2.20–2.52 s接近并到达该位置的动作及阶段完成记录，将入区时刻估为视频2.3 s，约有0.3 s误差；发射区没有可见标记，精确0.025米边界不能仅从画面测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频1.04–2.52 s，Panda手部通过固定适配杆支承浅杯并带动它到达发射位置；两指保持张开，没有夹持杯体。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 98, + "text_zh": "观察：视频2.60–3.20 s，机械臂抬起浅杯，杯面明显倾斜后下撤，球始终在杯面附近，未形成成功参考中球离底后侧移再接的完整动作。log step 98记录该交付轨迹抬杯后的调平逆解报Unreachable constrained TCP pose，随后在仿真2.880 s报告upz=0.884、phase=2，下撤后仍为phase=2。" + }, + { + "t": 13.2, + "log_step": 108, + "text_zh": "观察：视频3.60–13.20 s，球仍由浅杯托着，机械臂退到侧方等待，没有再次抛接；log step 108及126的交付文件官方回放均报告phase_name=self_toss、phase=2，与评分字段phases_done=2一致。" + }, + { + "t": 3.2, + "log_step": null, + "text_zh": "推断：本次抬杯下撤没有通过自抛阶段，因而未完成带有前置门控的移位再接；不将球仍留杯内视为完成抛接。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频2.52–3.20 s，安装浅杯从下方托着橙球随机械臂上抬和下撤，实际发生杯与球的承托；没有可确认的合格自抛再接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.92, + "log_step": 100, + "text_zh": "观察：视频14.44–14.84 s，机械臂倾杯，球沿杯面向敞口滚去；视频14.92–15.08 s，球离杯、掠过箱边并落到箱外桌面，视频15.16–15.40 s继续向桌边滚动，视频15.48–15.60 s箱内为空。log step 100的交付轨迹生成事件依次记录仿真14.742 s球接触杯、14.973 s球接触箱、15.070 s球接触桌面、15.571 s失败；这些事件顺序与画面相符。" + }, + { + "t": 15.6, + "log_step": 126, + "text_zh": "推断：球未在移动箱内稳定停留0.7 s，且自抛再接前置阶段未完成，因此入箱节点从未达成。log step 126的官方交付文件回放报告end_reason=out_of_bounds、phase_name=self_toss、success=false；这与视频末段球滚出桌面的结果一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频13.20–14.84 s，Panda手部安装的浅杯托球靠近运动接收箱，随后倾杯让球滚离敞口；球擦过箱边后落到箱外桌面，没有留在箱内。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 2.88, + "log_step": 98, + "where": "操作中", + "evidence_zh": "观察：视频2.76–3.20 s，机械臂抬杯时杯面倾斜，随后下撤，未完成真实自抛和侧移再接；log step 98的交付生成记录在抬杯后报调平逆解不可达，phase一直为2。视频3.60–13.20 s机械臂托球等待，未修复抛接步骤；末段倒球后滚出桌面，log step 126的官方回放最终报告out_of_bounds、phase_name=self_toss。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.88, + "log_step": 98, + "evidence_zh": "观察：视频2.76–3.00 s，机械臂上抬和转向下撤时浅杯明显倾斜，球只在杯面附近运动；log step 98的交付生成记录在仿真2.880 s给出杯正轴竖直分量upz=0.884，阶段仍为self_toss。推断：该分量对应倾角约0.49弧度，超过自抛要求的0.35弧度；杯的抛接姿态没有满足要求，随后也未完成合格的侧移再接。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 2.88, + "log_step": 98, + "source_zh": "日志", + "evidence_zh": "观察：log step 96加入抬杯后调平的level函数，该函数在逆解异常时打印错误并返回原关节目标；log step 98缩小抬升量生成1558行动作，仍明确报level IK failed: Unreachable constrained TCP pose，随后upz=0.884、phase=2。log step 100清理诊断输出后保存同一动作结果，log step 108和126官方回放的末态哈希均与log step 98相同，确认这是交付轨迹；视频2.76–3.00 s也显示杯面倾斜。推断：该抬升与回撤轨迹的调平逆解未能求得，脚本沿原目标继续执行，未实现自抛所需姿态与运动配合。" + } + ], + "gap_zh": "没有逐帧状态日志，视频25帧/秒且球很小，无法独立重建自抛分离瞬间的接触、相对速度和持续时间，故不把某个微观阈值断言为唯一未通过项；控制归因限于交付生成记录中直接报告的调平逆解失败。首次接稳和无标记发射区的到达时间按画面及交付阶段记录近似定位，原生连续指标未在评分字段中报告，全部保留null。会话中其他测试的更高抛球、禁触或安全超限不作为本次交付现象。" + }, + "summary_zh": "本次交付完成首次接球（约视频0.9 s）和杯到发射区（约视频2.3 s），最终为2/4节点达成，与评分字段phases_done=2一致。断点是视频约2.88 s的抛起并再接住：抬杯后调平逆解失败，杯面倾斜，未通过自抛且未再尝试修复；随后仍倒球，视频约15.0 s球落到箱外并滚出桌面，官方回放以out_of_bounds结束。无逐帧状态日志，精确分离条件和发射区边界时刻存在证据缺口，未将其他会话测试的结果移入交付轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点、断点和因果与视频及log一致：首次接球、入发射区达成，自抛再接未通过，球最终倾出落到箱外；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": "2026-10-30T04:23:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--gq2fyrf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fa9dae17386b974d14d6df63fa2fa8a635f39f1e6a51d147d7b3ed4d1aaaf060", + "video_sha256": "2b274c728dbf47d3d69b0bf5ba8fced8a0aaf469ef2c7c8d97cf6949ab5a8670", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg.json new file mode 100644 index 0000000000000000000000000000000000000000..abf951f9a032b167dbe97849baab7dc83c62817a --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 289, + "executed_rows": 289, + "sim_steps": 289, + "physics_steps": 2890, + "sim_time_s": 2.89, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 13.0, + "replay_timeout_s": 328.9, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 35, + "agent_resets": 35, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg/replay.mp4", + "duration_s": 2.96, + "fps": 25.0, + "frames": 74, + "sha256": "5dac0dad86eb7b8273f02ac6ac56a5f78b456de8a4e250d40c4074460661a52e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频0.52–0.60 s，橙球从上方落入Panda手部安装的蓝色浅杯；视频0.80–1.08 s球停留杯底，视频1.12–1.80 s随杯一起移动，首次接球成立。" + }, + { + "t": 1.08, + "log_step": 39, + "text_zh": "推断：log step 39是最终交付生成回合，首次接稳后phase变为1，control time为仿真1.06 s；log step 41核验交付有289行，与评分器sim_steps=289、sim_time_s=2.89一致。按100 Hz每行0.01 s映射到视频，已用该回合仿真2.254 s球碰桌与视频2.24–2.28 s落桌核对，首次接稳取邻近视频帧1.08 s；不是采用agent工作时间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda手部固定安装的浅杯从下方承接并托住橙球，视频0.60–1.08 s可见球在杯内；张开的夹爪未夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.08, + "log_step": 39, + "text_zh": "观察：视频1.12–2.08 s，Panda将浅杯从首次接球位置移至桌面中部、轨道箱上方附近；log step 39最终生成回合记录phase:launch_region于仿真2.06 s，随后仿真2.12 s的phase=2，评分器phases_done=2。" + }, + { + "t": 2.08, + "log_step": 39, + "text_zh": "推断：沿首次接球证据中核对过的100 Hz交付回合映射，发射区达到时刻取视频2.08 s。区域无可见标记，精确距离依据该回合原生阶段事件及评分器两阶段完成记录；本节点只检查杯的位置，视频2.04–2.08 s球滑出不撤销杯到发射区这一锁存事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "视频1.12–2.08 s，Panda手部经固定适配杆支承并移动浅杯；杯本身是此节点的空间目标，两指保持张开，没有夹握杯或球。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.04, + "log_step": 39, + "text_zh": "观察：视频1.80–2.00 s橙球仍由杯托着并逐渐移到敞口边缘；视频2.04–2.16 s球从杯侧滑落，未出现向上抛出后侧移接回；视频2.24–2.68 s球在桌面滚向边缘，视频2.72–2.92 s球落到桌外、杯保持空着。" + }, + { + "t": 2.48, + "log_step": 39, + "text_zh": "观察：视频2.12–2.92 s，Panda继续后移、上举空杯，未再承接到球。log step 39最终生成回合在self_toss阶段以out_of_bounds结束，control_steps=289；log step 41核验交付为289行有限动作，评分器只完成两个原生阶段。" + }, + { + "t": 2.04, + "log_step": 41, + "text_zh": "推断：agent在log step 41把滑脱归于后移，但log step 39记录球杯接触于仿真2.001 s时球的世界x速度约0.557 m/s、杯约0.204 m/s，随后才在仿真2.06 s记录发射区、仿真2.12 s结束到区动作。视频2.04 s已见球离杯，故不能把后续后移作为已证实的滑脱起因；滑脱也不是满足任务条件的主动向上自抛。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频1.80–2.00 s，为后续抛接准备的连续移杯过程中，Panda安装浅杯实际仍从下方托着橙球；球随后从敞口滑出。只记录失手前的托球接触，视频2.04 s以后空杯移位和上举未与球再建立接触，没有完成抛出或再接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.92, + "log_step": 39, + "text_zh": "观察：视频2.08–2.92 s，橙球落在移动蓝箱外侧的桌面，滚出桌沿，蓝箱始终未装入球；Panda持空杯继续运动，没有进入再接成功后的送箱动作。log step 39最终生成回合终止于self_toss，评分器phases_done=2，送箱前置未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 2.04, + "log_step": 39, + "where": "操作中", + "evidence_zh": "观察：视频2.00–2.08 s，Panda在到区并准备抛接的连续动作中未托住球，球从敞口滑落；视频2.12–2.92 s机械臂仅移空杯，再未修复接球。推断：杯到发射区随后被log step 39原生事件及评分器phases_done=2确认完成，故未修复的失败步骤是抛起并再接住；视频2.72 s后球落出桌边、该回合仿真2.881 s的out_of_bounds是终止事件，不另作断点。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 2.04, + "log_step": 39, + "evidence_zh": "观察：视频1.12–1.80 s，Panda浅杯已托住球并带球移动；视频1.92–2.04 s球到敞口并滑出，视频2.08–2.28 s下落到箱外桌面，此后再未回到杯中。失去的是已有的托球接触，未形成任务要求的向上自抛和再接。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 39最终生成脚本在运球路径中持续给杯单位姿态四元数、逐点移杯，再向发射点运动；同一回合仿真2.001 s的接触记录中球x速度约0.557 m/s、杯约0.204 m/s，显示球已明显相对杯向敞口滑动。视频1.80–2.08 s对应显示球由杯内滑出，说明这段杯运动未能维持托球稳定，控制失配直接使后续抛接失去球；现有证据不足以细分轨迹、反馈或接触设计。" + } + ], + "gap_zh": "无独立逐帧状态日志；发射区无可见标记，精确阶段时刻依据最终交付生成回合的原生事件、100 Hz控制计数及评分器字段辅助，已与落桌视频事件核对。未报告DAG九项原生指标的数值，故均为null；缺少完整接触力、姿态与控制跟踪记录，根因只到控制层。agent在log step 41、42提出后移致洒及抛球速度不足，但本次视频在后移前已滑脱，不将这些自述当作已证实的具体原因。" + }, + "summary_zh": "本次交付完成首次接球与杯到发射区，最终进展2/4；两者均为锁存事件，球后续滑脱不撤销它们。视频约2.04 s球从浅杯敞口滑落，机械臂此后移空杯，未完成自抛再接及送入移动箱，断点为抛起并再接住，现象为没保持住、根因保守归为控制。无状态日志，精确到区时刻依最终交付回合的阶段事件辅助判断，具体控制子因与九项原生指标数值无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间（首次接球约1.08 s、到发射区2.08 s、球2.04 s滑出杯）、断点（抛起再接）及现象/根因均与视频帧一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:18:34Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--ospyncg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "54d3e1a24b4b88db332c69e394309fc671fc47807fdc4f5480ea262fd19c433d", + "video_sha256": "5dac0dad86eb7b8273f02ac6ac56a5f78b456de8a4e250d40c4074460661a52e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb.json new file mode 100644 index 0000000000000000000000000000000000000000..f06ec411ffd5aaf389ba18243e943225a409d8e5 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 290, + "executed_rows": 290, + "sim_steps": 290, + "physics_steps": 2900, + "sim_time_s": 2.9, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 13.3, + "replay_timeout_s": 329.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 113, + "agent_resets": 184, + "agent_sim_steps": 290, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.451, + "peak_processes": 11, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "70174d274d1f27f13aa679b7be7f79064e4e433a40f4a893775617a6a64b074e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频0.56–0.68 s橙球下降进入机械臂前端浅杯；视频0.72–1.04 s球留在杯底，随后视频1.12–2.36 s随杯向右移动，没有弹出。将首次接稳完成时间约记为视频1.0 s；评分器phases_done=2及交付重放log step 196的phase=2与此一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.68–1.04 s，Panda手部固定安装的蓝色浅杯从下方承接并托住橙球，夹爪未夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.36, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.36, + "log_step": 196, + "text_zh": "推断：视频1.12–2.36 s机械臂把浅杯从首次接球处移到轨道箱上方附近；该发射区域没有可见标记，精确入区由评分器phases_done=2及log step 196交付重放的phase_name=self_toss确认。log step 184中同一tilt034生成脚本在仿真2.35 s报告杯原点约(0.282,-0.084,0.302)米，已进入目标球域，结合视频2.32–2.40 s杯位置，入区约记为视频2.36 s。" + }, + { + "t": 2.88, + "log_step": 196, + "text_zh": "推断：任务控制率为100 Hz，log step 196明确重放所交付文件，290个control_steps对应仿真2.9 s，与视频总长2.92 s及视频2.80–2.88 s杯下降、球在杯侧下落的末段相符；仅用这一回合的仿真计数辅助定位，不把agent工作时间换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频1.12–2.36 s，Panda手部经固定适配杆支承浅杯，把杯向指定发射位置带动；两指保持张开，没有夹持杯体。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 196, + "text_zh": "观察：视频2.40–2.64 s浅杯上提，橙球仍靠近杯底并逐渐向敞口移动；视频2.68–2.80 s杯转而下降，球移至杯口外缘，视频2.84–2.88 s球已在杯右侧下方，未出现向上自由抛出后重新落入杯并接稳的过程。log step 196对所交付290行轨迹的重放仍为self_toss、success=false，未通过自抛及移位再接。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频2.40–2.76 s，Panda固定浅杯从下方托球随杯上提、下降，球沿敞口移出；实际发生了杯底托球，没有完成空中再接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 196, + "text_zh": "观察：视频0–2.88 s接收箱始终未装入橙球；视频2.84–2.88 s球在箱的右侧外部下落，未在箱内随箱稳定移动。log step 195–196确认交付重放只到self_toss；这段下压倾杯属于尚未成功的自抛动作，未进入再接后的送箱操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 2.8, + "log_step": 196, + "where": "操作中", + "evidence_zh": "观察：视频2.40–2.64 s机械臂正在上提浅杯尝试自抛，随后杯下降，橙球在视频2.76–2.88 s从敞口侧落，没有重新接住；log step 196交付重放结束于self_toss，valid=true、failure_reason=null，说明轨迹结束时该步骤仍未通过，而非被记录的违规终止。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.8, + "log_step": 191, + "evidence_zh": "观察：视频2.48–2.76 s橙球沿杯底向敞口移动，视频2.80–2.88 s从杯右侧向下离开，未形成要求的向上离杯抛物线，也没有再入杯。log step 191所保存tilt034轨迹的生成末段记录同样显示球低于杯、竖直速度向下；这是自抛运动结果偏离要求，未将该侧落重复标成再接失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 153、158、164、166、178、183的脚本构造记录显示，agent以短暂上提后下压并倾杯的关节目标序列尝试制造离底；log step 189–191及195–196确认最终仍交付并重放该tilt034脚本生成的轨迹。视频2.40–2.88 s显示球先随杯升降再从敞口侧落，说明该控制序列未实现上升时离底并再接的动态配合；证据支持控制层面失败，但不足以进一步指定参数、轨迹求解或反馈子类。", + "source_zh": "日志", + "t": 2.8, + "log_step": 183 + } + ], + "gap_zh": "没有逐帧状态日志；视频单一总览可见侧落与未再接，但不能精确测定离底速度、接触间隙、杯倾角和各保持窗。发射区无可见标记，入区时间结合已交付脚本的同源诊断、重放阶段与视频估计；根因只能定位到控制，所有原生连续指标在评分器字段中均未报告，故填null。" + }, + "summary_zh": "本次交付完成首次接球及杯到发射区，最终进度为2/4；两步均为完成后锁存的事件，后续落球不撤销。视频约2.8 s的自抛操作中，球随杯升降后从敞口侧落，未完成向上离杯、移位再接和送入移动箱，交付重放也停在self_toss阶段。无逐帧状态日志，发射区时间和具体控制机制的判定精度有限，连续指标未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度2/4与评分器phases_done=2及视频帧一致，断点在自抛、现象与根因有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:23:05Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--rloljeb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "905d445047cce4993a7681dfd09005ed79962bac3ded3dc931fb56c3e262ef72", + "video_sha256": "70174d274d1f27f13aa679b7be7f79064e4e433a40f4a893775617a6a64b074e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks.json new file mode 100644 index 0000000000000000000000000000000000000000..daa9585214afd19163a70e5399e7e711c7b1b36b --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks.json @@ -0,0 +1,313 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 505, + "executed_rows": 505, + "sim_steps": 505, + "physics_steps": 5050, + "sim_time_s": 5.05, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 18.1, + "replay_timeout_s": 350.5, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 39, + "agent_resets": 2, + "agent_sim_steps": 1010, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.586, + "peak_processes": 9, + "peak_disk_gb": 0.045, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks/replay.mp4", + "duration_s": 5.12, + "fps": 25.0, + "frames": 128, + "sha256": "67b2ff665840bf44c3bc01ec9e95a733b6f7f18b862873d4936cf0ceed6bbf05" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 0.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频 0.60–0.68 s，橙球从机械臂前端上方落到蓝色浅杯内；视频 0.72–1.04 s 球留在杯底，并在机械臂开始移杯时随杯移动。" + }, + { + "t": 0.88, + "log_step": 58, + "text_zh": "推断：视频约 0.88 s 已有约0.18秒的杯内停留，首次接稳；起点按视频 0.68–0.88 s 的连续帧近似定位。log step 58 对交付文件的官方重放结果为 phase=5、success=true，支持首次接球阶段已通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda单臂前端固定安装的蓝色浅杯从下方接住橙球，球停留在杯底；张开的两指未夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.36, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.36, + "log_step": null, + "text_zh": "观察：视频 1.00–2.20 s，机械臂把载球浅杯从首次接球处移向轨道箱上方附近；视频 2.24–2.48 s，杯在该处明显上升。" + }, + { + "t": 2.36, + "log_step": 58, + "text_zh": "推断：发射区没有可见标记，无法从画面测出0.025米距离阈值；根据视频 2.32、2.36 s 的上升位置和随后实际抛接，结合评分器 phases_done=5 及 log step 58 的交付重放成功，判定杯到发射区已完成，时间近似标在视频 2.36 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：机械臂手部经固定适配杆支承浅杯，带杯向轨道接收箱上方移动并抬升；受评对象是浅杯自身位置，两指保持张开，没有夹住杯或适配杆。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [ + [ + 3.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.56, + "log_step": null, + "text_zh": "观察：视频 2.24–2.48 s 浅杯托球上升，随后杯下撤；视频 2.52–2.60 s 球与杯底的间距增大，视频 2.64–2.72 s 球回落到同一浅杯内。" + }, + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 2.84–3.04 s，机械臂使浅杯横向移位，球一直留在杯底；视频 3.04–3.24 s 球继续随杯停留，之后机械臂开始倾杯送球。" + }, + { + "t": 3.2, + "log_step": 58, + "text_zh": "推断：视频约 3.20 s 已完成抛出、移位再接及接稳；视觉无法独立量出自由飞行时长、离底速度和水平位移阈值，但交付文件在 log step 58 官方重放中 phase=5、valid=true，且评分器 phases_done=5，支持该合并节点通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂前端浅杯先从下方托球上送，再下撤并横移后承接回落的橙球；短暂飞行时球不再由杯底支承，随后球重新留在杯底。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [ + [ + 5.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.56, + "log_step": null, + "text_zh": "观察：视频 3.32–3.48 s，机械臂倾斜浅杯，橙球滚向敞口；视频 3.52、3.56 s 球已离开杯口，向下落进轨道上的较深蓝色接收箱，浅杯此后为空。" + }, + { + "t": 5.08, + "log_step": 58, + "text_zh": "观察：视频 3.60–5.08 s 接收箱沿轨道继续缓慢移动，球被箱壁遮挡，未见球弹出；末段浅杯保持倾斜且为空。log step 58 官方重放交付文件报告 success=true、phase=5、valid=true、failure_reason=null、control_steps=505、sim_time_s=5.05；评分器另报两次重放均成功且确定性一致。" + }, + { + "t": 5.08, + "log_step": 58, + "text_zh": "推断：结合视频中的实际离杯入箱和交付文件的重放成功，球已在移动箱内满足连续0.7秒稳定验收；由于末段球被箱壁遮挡、没有逐帧状态日志，采用视频末帧 5.08 s 作为完成时间的近似锚点，不把首次落入箱内的时刻当作完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂前端浅杯先托住橙球，再倾斜使球从敞口滚离并落入移动接收箱；球离杯后由接收箱承接，机器人没有用夹爪夹球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：本次评分视频依次显示首次接球、载球移杯并上升、短暂抛出后移位再接，以及倾杯将球送入移动接收箱，四个节点最终均完成；log step 58 的交付重放和评分器两次重放均成功。推断：成功来自浅杯承接、抛接及倾杯释放的连续控制；无状态日志，发射区精确边界、抛接数值阈值和入箱后被箱壁遮挡的稳定保持依赖评分结果确认，节点时刻为视频近似定位，原生指标未由评分器单项报告，均保留为null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，四个节点均达成，视频帧（0.68、0.88、2.4、2.6、2.7、3.2、3.5、5.08 s）与标注一致；节点时间为近似值，在容差内；无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:20:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--zcp3qks/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9c0a496e2f607afc1d8ac6a7d04ecbd6bad5041bd419ab528fb83c99c55dc971", + "video_sha256": "67b2ff665840bf44c3bc01ec9e95a733b6f7f18b862873d4936cf0ceed6bbf05", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm.json new file mode 100644 index 0000000000000000000000000000000000000000..7254048348736ad15bc8a67fd836da6927b8a228 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 149, + "sim_steps": 215, + "calls": 8, + "rows": 207, + "resets": 1, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2810.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm/replay.mp4", + "duration_s": 1.56, + "fps": 25.0, + "frames": 39, + "sha256": "958ac70cd756fb6103f746ba18ee7752aed093fd8c8c5537476e6d4f022aed1a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.68, + "log_step": 77, + "text_zh": "观察：视频 0.60–0.68 s，机械臂带蓝色浅杯向下迎接橙球，球进入杯底并暂时随杯下降；视频 0.80–1.28 s 球持续向敞口滚动，视频 1.40–1.44 s 离开杯底，末帧视频 1.52 s 杯中已无球。" + }, + { + "t": 1.12, + "log_step": 79, + "text_zh": "推断：首次接球要求接触后连续稳定 0.18 秒，不能只算入杯。视频 0.68–1.28 s 的持续相对滚动，与 agent 在 log step 78–79 根据本回合深度图估计的相对速度约 0.107–0.160 米/秒相符，高于 0.09 米/秒；随后球滚出且未再接回，故首次接稳未达成。该估计是辅助推断，不是评分器的阶段标志。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.68–1.36 s，Panda 手部固定安装的蓝色浅杯从下方承接、短暂承托橙球；球随后从敞口滚出，夹爪没有夹住球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.48, + "log_step": 82, + "text_zh": "观察：视频 1.28–1.52 s，机械臂开始带浅杯向接收箱附近移动，但仍停在较低位置并结束，未出现成功参考视频 3.50–4.00 s 中杯移至箱上方发射位置的过程。log step 82 的脚本虽给出发射区目标，现场服务仅执行 21 个控制步便以 forbidden_tool_fixture_contact 终止；此前首次接稳也未完成，故该顺序事件未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.28–1.52 s，Panda 手部通过固定适配杆支承浅杯并开始移杯；两指张开，未抓握杯体。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.4, + "log_step": 82, + "text_zh": "观察：完整视频 0.00–1.52 s 仅有来球入杯后滚向敞口，没有机械臂把杯内球向上抛出、侧移后再接稳的过程；视频 1.40 s 的离杯是滚落，不是自抛。log step 82 的现场提交在到发射区的初段即终止，脚本后段的抛接目标未执行。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.52, + "log_step": 82, + "text_zh": "观察：视频 1.28–1.44 s，球从浅杯敞口滚落到接收箱近侧边缘附近，最后视频 1.48–1.52 s 已不可见；未见球在移动箱内稳定随箱运动的连续保持过程，也未完成前置抛接。现场服务在 log step 82 报告回合失败，故不能把这次意外滚落计为入箱完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 1.12, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：视频 0.68 s 浅杯已承接球，但视频 0.80–1.28 s 球一直向敞口滚动，视频约 1.40 s 滚出，此后没有接回。首次接稳是第一个未修复的失败步骤；log step 82 随后的工具禁触终止不替代这个断点。" + }, + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 1.4, + "log_step": 78, + "evidence_zh": "观察：视频 0.68–0.80 s，蓝色浅杯底已托住橙球；视频 0.92–1.36 s 球相对杯持续向敞口移动，视频 1.40–1.44 s 离杯，视频 1.52 s 浅杯为空。机器人建立了承托接触，但没有保持球并接稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 77 的机械臂控制脚本采用迎球、下沉、固定目标保持的三段关节指令；视频 0.80–1.28 s 杯停止下沉后，球的相对滚动仍未被消除。agent 在 log step 79 对本回合图像的计算也发现球相对杯持续移动，log step 82 随后直接提交移杯指令，视频直到球离杯均未见重新稳球。因此承接后的运动控制未把球稳定在杯内；证据不足以进一步区分具体参数、接触几何或跟踪误差。" + } + ], + "gap_zh": "本目录无状态日志，也没有首次接稳阶段完成标志；首次接稳未达成依据逐帧可见的持续滚动及本回合图像估计推断，不能逐毫秒核实速度与保持窗。发射区无可见标记；末段工具与夹具的精确接触对没有记录，禁触终止依据 log step 82 的现场服务返回。DAG 的九项原生指标未由评分器报告，均留 null。log step 110 的模型过滤提示晚于 log step 82 已结束的评分回合，未作为本次物理失败原因。" + }, + "summary_zh": "评分对象是 log step 77 重置后的最后现场回合：视频约 0.68 s 浅杯承接来球，但球持续滚动并于视频约 1.40 s 离杯，首次接稳未完成，四个节点最终均未达成。断点为首次接球，现象为没保持住，根因归于未能稳定杯内球的控制；随后移杯仅执行短段便由现场服务报工具禁触终止。没有状态日志或阶段标志，首次接稳的精确验收依可见运动和本回合图像估计推断；回合结束后的模型过滤提示不改变已发生的物理失败。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回合为 log step 77 重置后的 episode 2（step 82 返回 control_steps 149、sim_time 1.49 s、reason forbidden_tool_fixture_contact，与 1.56 s 视频吻合）。视频帧显示球约 0.7 s 入杯、持续滚动、约 1.4 s 离杯，四个节点均未达成，断点、现象与根因均有证据支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:26:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--3mhkvwm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8ba8eb950d0faaa4a7d9e7048e6b31a63bc5bb109cc50c888cd1c8654e0b55e3", + "video_sha256": "958ac70cd756fb6103f746ba18ee7752aed093fd8c8c5537476e6d4f022aed1a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd.json new file mode 100644 index 0000000000000000000000000000000000000000..176b7519cbcb7da2bb61926fb453bbe434094d2e --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 937, + "sim_steps": 1559, + "calls": 137, + "rows": 1003, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2185.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.332, + "peak_processes": 16, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd/replay.mp4", + "duration_s": 9.44, + "fps": 25.0, + "frames": 236, + "sha256": "70c9320213e1de1fcec17edc24a33fb5de680833875b925d184d78f7874453cb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": 32, + "text_zh": "观察：视频 0.56 s 橙球仍在浅杯上方，视频 0.60–0.80 s 机器人用蓝色浅杯承接橙球并随球向下运动；球留在杯中，没有落到桌上或进入轨道箱。" + }, + { + "t": 1.4, + "log_step": 32, + "text_zh": "推断：视频 1.20–1.60 s 球在杯底靠闭合侧停留，随后视频 2.00–3.60 s 随杯搬移，首次接球已完成；将含接稳过程的达到时刻估为视频 1.4 s，误差约 0.3 s。无原生阶段标志可确定更精确时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.60–1.60 s，Panda手部固定安装的蓝色浅杯以杯底承接、托住橙球；张开的两指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 3.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.12, + "log_step": 43, + "text_zh": "观察：视频 1.60–3.24 s 机器人把装球浅杯移至桌面中部、移动箱上方附近，视频 3.24–3.60 s 杯基本停住；这一杯位置与成功参考视频约 4.0 s 的发射位置相符。" + }, + { + "t": 3.12, + "log_step": 43, + "text_zh": "推断：log step 43 的脚本根据该回合实测关节位姿计算杯原点，控制回合时钟 3.00 s 得到 (0.275,-0.088,0.288) m、3.25 s 得到 (0.296,-0.098,0.298) m，支持杯在视频约 3.1 s 进入目标半径。log step 29 定义该时钟为 control_steps×0.01 s；log step 68 确认末回合 937 步即仿真 9.37 s，与视频 9.36–9.40 s 终止帧相符，且已在视频 4.72 s 的首次抛接起动处核对。这里仅用日志辅助定位，未把 agent 工作时间换成视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.60–3.60 s，Panda手部通过固定适配杆支承并搬移浅杯；杯的位姿是此节点的目标，两指保持张开，没有抓握杯体。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 61, + "text_zh": "观察：视频 4.72–5.48 s 机器人第一次快速举杯再降杯，橙球在视频约 5.04–5.16 s 仅贴近杯面上方短暂分离，随后回到杯底；视频 5.60–8.68 s 球继续在浅杯内，机器人重新调平并准备下一次抛接。" + }, + { + "t": 9.36, + "log_step": 67, + "text_zh": "观察：视频 8.72–9.04 s 机器人再次举杯，视频 9.12–9.24 s 球与杯面出现较清楚的间隙，视频 9.28–9.40 s 球回到正在快速下降的杯中，回合随即停止。log step 67 的服务返回 done=True、reason=failed、why=limit_violation；log step 68 确认这是 episode 4 的终态。" + }, + { + "t": 9.36, + "log_step": 69, + "text_zh": "推断：第一次抛接的离底幅度很小，未形成符合判据的有效自抛；第二次入杯后至终止不足约 0.18 s，且杯仍在快速运动，未完成移位再接的接稳验收，故此组合节点未达到。agent 在 log step 69 也自述第一次离底不足、第二次再接位移不足，但这些自述及其视觉估值不作为原生阶段通过记录。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 4.72–5.48 s 和 8.72–9.40 s，机器人用同一安装浅杯托球加速，随后以杯底再次承接回落橙球；球离杯期间没有手指夹持。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.4, + "log_step": 67, + "text_zh": "观察：本次视频全程轨道上的深蓝接收箱内未出现橙球；视频 9.28–9.40 s 橙球仍在手部浅杯内，机器人没有把球释放到移动箱。成功参考视频 12.2–12.4 s 可见球离杯入箱，而本次没有该转移；因此此节点未达到、尚未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 9.36, + "log_step": 67, + "where": "操作中", + "evidence_zh": "观察：视频 8.72–9.40 s 机器人执行第二次举杯自抛及降杯再接，球于视频约 9.28 s 回到杯中，但杯尚在快速下行、未接稳，回合便停止；log step 67 服务返回 failed limit_violation，log step 68 确认最后受评的 episode 4 已结束。失败发生在抛起并再接住步骤，尚未转入入箱。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 9.36, + "log_step": 67, + "evidence_zh": "观察：视频 9.12–9.36 s 机器人快速降低浅杯承接回落球，随后停止；同一受评回合的 log step 67 服务明确返回 done=True、failed、limit_violation，表明抛接动作触发任务的安全限值超限。日志未给出超限的具体关节或 TCP 量，不能进一步称为碰撞、接触力异常或失球。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 9.36, + "log_step": 67, + "source_zh": "日志", + "evidence_zh": "推断：log step 67 的 agent 控制脚本按预先排定时刻切换 QT、QC1、QC2 关节位置目标，视频 8.72–9.36 s 显示机器人按此举杯后快速降杯；执行该抛接控制序列期间服务返回 limit_violation，未能在安全限值内完成接稳。因此归为控制；没有具体安全监测量，无法区分轨迹动态、跟踪误差或回落冲击的贡献。" + } + ], + "gap_zh": "没有状态日志或逐阶段通过标志，首次接稳与进入无标记发射区的时刻依据视频及末回合日志辅助估计；首次抛接的毫米级离底高度、无接触持续时间及移位阈值不能由总览逐项精确复核，agent 自算的球坐标不是原生验收值。服务只报告 limit_violation，没有超限量明细，故不细分控制根因，也不推测是冲击力还是加速度超限。" + }, + "summary_zh": "受评的是 log step 32 最后一次重置后的 episode 4；机器人接住来球并把浅杯移到发射区，达到 2/4 个节点。两次抛接均未完成有效自抛与移位接稳，第二次在视频约 9.36 s 的回落承接过程中触发 limit_violation，球仍在浅杯中，尚未尝试送入移动箱。无状态日志和阶段标志，精确接稳时刻及首次自抛阈值有推断成分；具体超限量未知，根因保留为控制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（2/4）、断点（ball_tossed_and_recaught，操作中）、违反约束现象与控制根因均与视频及服务返回的 limit_violation 一致；未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:21:37Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--5sphwsd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dc1aa87a8df83d98ee5252b34daa313b0c7c0c169716ba53b404d798d47f3fe6", + "video_sha256": "70c9320213e1de1fcec17edc24a33fb5de680833875b925d184d78f7874453cb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1b5856f8e22a7b16186a75cd4f36b4a6ce7a5c --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg.json @@ -0,0 +1,313 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 540, + "sim_steps": 1755, + "calls": 58, + "rows": 1705, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1183.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.15, + "peak_processes": 9, + "peak_disk_gb": 0.979, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg/replay.mp4", + "duration_s": 5.44, + "fps": 25.0, + "frames": 136, + "sha256": "a7d4a6ed356875ffba076dd61f0ce923215a2d4ff656850eb5d4a839098c6f59" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频0.60–0.68 s橙球向下落入机械臂前端的蓝色浅杯；视频0.72–0.88 s球在杯内向安装杆一侧移动，视频0.92–1.20 s停留在杯底附近，随后随杯向桌面中部搬运而未弹出。接稳完成时间取视频约1.1 s，包含稳定保持的判读余量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.68–1.20 s，Panda手部固定安装的蓝色浅杯从下方承接并托住橙球；张开的两指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 3.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.5, + "log_step": 76, + "text_zh": "观察：视频1.20–3.88 s，机器人把浅杯和杯内橙球向桌面中部、移动箱上方搬运，视频3.5–3.9 s杯趋于停止，之后才上抬。log step 76的最后回合脚本明确重置后把杯原点目标设为(0.30,-0.10,0.30)米。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "推断：本次视频3.5–3.9 s的杯位置与成功参考视频约4.0 s到达发射位置的外观相符，结合最后回合的搬运目标，判杯已到发射区，首次到达锚点取视频约3.5 s（约±0.3 s）；未用接收箱的位置替代杯的位置。该区域没有可见标记，无法从单目画面独立复测0.025米半径。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频1.20–3.88 s，Panda手部经固定安装杆支承浅杯并搬到桌面中部；两指保持张开，没有抓握杯体。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": 78, + "text_zh": "观察：视频4.40–5.40 s逐帧可见橙球贴近浅杯底面或杯边，随杯上抬再回落；视频5.08–5.40 s球移向右侧杯沿，但没有出现清楚的上抛自由飞行、杯侧移后从上方重新接入并接稳的过程。log step 76、78、80、82是最后回合的上抬、回撤及后续目标指令。" + }, + { + "t": 5.4, + "log_step": 83, + "text_zh": "观察：log step 83读取最后回合final_impact的服务返回元数据，why为limit_violation；视频5.40 s是最后一帧，球仍在浅杯边缘，未完成再接。成功参考仅用于辨识动作外观，不作为本回合已完成的证据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频4.40–5.40 s，固定浅杯继续从下方托球并随机械臂上抬、回撤，橙球向杯边移动；未观察到完成自由飞行后的第二次承接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频全程接收箱沿银色轨道移动，橙球在首次接球后始终位于浅杯处；视频4.40–5.40 s接收箱内可见为空，末帧橙球仍在上方浅杯边缘，没有离杯入箱或随箱稳定移动的过程。前置抛接也未完成，本回合尚未开始送球入箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 5.4, + "log_step": 83, + "where": "操作中", + "evidence_zh": "观察：视频5.08–5.40 s机器人正在上抬后回撤浅杯，球仍贴近杯底并移向杯边，未出现有效自抛与再接；log step 83读取此最后回合服务元数据得到limit_violation，回合在该抛接尝试中终止。log step 76之后没有再次重置，故此前调试回合的动作和结果不计入本视频节点。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没松开", + "t": 5.2, + "log_step": 78, + "evidence_zh": "观察：视频4.96–5.40 s机器人先上抬后回撤浅杯，橙球一直贴近杯面或杯沿而没有清楚离底上飞；没有形成任务要求的先离杯、再从上方接回。这里指浅杯与球未实现所需分离，不是夹爪未张开。" + }, + { + "cat": "约束", + "item": "违反约束", + "t": 5.4, + "log_step": 83, + "evidence_zh": "观察：视频5.40 s抛接尚未完成即结束；log step 83直接打印最后回合返回元数据的why=limit_violation，说明此运动触发安全限值规则。推断：log step 84由该回合实测关节速度和agent自建运动学算出的角速度约2.615 rad/s，高于公布的2.5×1.01 rad/s，支持角速度超限的解释，但具体安全监测通道未直接记录。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 76提交多关节上抬脉冲，log step 78、80提交改变关节2、4、5、6的回撤目标，log step 82又在运动中改目标；本次视频5.08–5.40 s对应先抬杯后快速回撤，球未形成有效离杯飞行。log step 83的最后回合服务元数据为limit_violation，log step 84的运动学诊断给出合成角速度约2.615 rad/s。推断：这组抛球与回撤控制没有实现球杯分离，并在继续调整时突破安全运动范围；现有证据不足以把原因细分为接触设计、轨迹求解或反馈跟踪中的某一项。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或本回合逐帧原生阶段标志；首次接稳和发射区时间由视频估计，发射区无可见标记，无法独立复测其0.025米阈值。视频25 fps不能排除短暂的亚帧离底，但没有完整自由飞行及再接过程；服务元数据只给limit_violation，具体角速度超限的解释来自agent自建运动学诊断，缺少安全监测器的明确分项。本任务九项原生指标均未由评分器报告数值，均保留null。", + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + } + }, + "summary_zh": "本次评分回合完成首次接球和杯到发射区，最终为2/4个节点；随后浅杯上抬、回撤时球没有形成有效自抛再接，移动接收箱始终未收到球。回合在抛接操作中以limit_violation结束，控制未能兼顾有效离杯与安全运动范围；无状态日志，发射区精确到达时间及安全超限分项仍有证据缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（首次接球、杯到发射区已达，抛接与送箱未达）、断点（ball_tossed_and_recaught，操作中）、时钟与 limit_violation 的引用均与视频和 log 一致；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": "2026-10-30T04:32:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--8g9sowg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a42dbeaf5b54d691f9ddff5efc527c2f995425be1caad432a993fe1fb1733cf", + "video_sha256": "a7d4a6ed356875ffba076dd61f0ce923215a2d4ff656850eb5d4a839098c6f59", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin.json new file mode 100644 index 0000000000000000000000000000000000000000..1eee05ecb4190be7cb1681a523f89aee24b7d756 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1109, + "sim_steps": 1513, + "calls": 37, + "rows": 1143, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1837.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.316, + "peak_processes": 10, + "peak_disk_gb": 9.33, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin/replay.mp4", + "duration_s": 11.16, + "fps": 25.0, + "frames": 279, + "sha256": "079ecec5a38ea856bbae99566b056fefd628dd8648e9992ed35c5df077f8e788" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频 0.60–0.68 s，橙球从上方落到机械臂前端的蓝色浅杯内；视频 0.72–1.28 s 球在杯内移动，未把刚触杯直接算作接稳。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.36–2.12 s，橙球靠在浅杯靠近适配杆一侧，持续停留于杯底并随杯一起移动；与此前杯内滚动相比，球与杯的相对位置基本稳定。首次接稳完成时间按视觉估为视频 1.5 s，精确的速度阈值和保持窗无状态日志可核对；该事件完成后锁存，视频 2.6 s 的失球不撤销首次接球。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.68–2.56 s，Panda手部固定安装的蓝色浅杯从下方承接并托住橙球，球也靠到杯壁；张开的两指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": 97, + "text_zh": "观察：视频 1.3–6.2 s，机械臂多次把浅杯向接收箱上方移出，又退回或上抬，没有像成功参考视频 4.0 s 那样把杯底中心送至指定位置。log step 97 的脚本把本段目标设为世界坐标(0.30,-0.10,0.30)米；目标意图不等于实际到位。" + }, + { + "t": 2.4, + "log_step": 10, + "text_zh": "推断：用 log step 10 的总览相机内外参投影，发射点应位于图像约(386,244)像素；视频 2.0–2.4 s 的杯底中心仍在其左侧约30–45像素，超过2.5厘米区域的投影范围。视频 3.2–6.2 s 的往复运动伴随明显高度偏离；视频 7.4–10.8 s 杯在箱上方较近处，杯面四角的投影及尺度也不同于成功参考视频 4.0 s 的发射位置。结合全段检查，未见杯进入发射区；不能拿已经入箱的球替代杯的位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.3–6.2 s，Panda手部经固定适配杆支承并搬动浅杯；两指张开，没有抓握杯体。视频 2.56–2.64 s 球从杯的敞口滑出。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.64, + "log_step": null, + "text_zh": "观察：视频 2.32–2.64 s，球沿浅杯底向敞口滚出并向下落入滑箱，没有随上抛而向上自由飞行。视频 2.72 s 后球留在箱内。" + }, + { + "t": 6.8, + "log_step": 97, + "text_zh": "观察：视频 6.24–7.32 s，机械臂用空浅杯快速上抬、横移再下落；橙球一直在较深的接收箱内，没有从杯中抛出、再进入杯中。log step 97 的脚本包含抛接轨迹，但视频中的动作没有携球，也未修复此前失球；发射区前置节点亦未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 6.24–7.32 s，手部经固定适配杆带动空浅杯升降、侧移；杯没有接触或承接球，不能标为杯对球的托举。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 2.56–2.72 s，橙球已从浅杯直接掉进轨道滑箱；视频 6.0–11.12 s，球在箱内随箱移动，杯基本为空。" + }, + { + "t": 11.12, + "log_step": 123, + "text_zh": "推断：尽管视频 2.72 s 后可见球入箱，之前没有完成自抛及移位再接，故不满足本event节点的前置阶段，不能按最终球位置追认交付成功。视频 8.6–11.12 s，机械臂仍向滑箱移动并倾空杯；log step 123 记录最后回合在倾杯时由服务返回 forbidden_tool_fixture_contact，视频末段也可见浅杯降向箱沿，整局评分为失败。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 10.88–11.12 s，手部安装的空浅杯倾向移动箱沿；log step 123 的服务结果为 forbidden_tool_fixture_contact。候选接触名“碰撞”：杯与箱等夹具发生禁触，未见足以归为推扫或压擦的持续作用；此时杯没有托球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cup_in_launch_region", + "t": 2.6, + "log_step": 123, + "where": "操作中", + "evidence_zh": "观察：视频 1.36–2.12 s 球已在浅杯内随杯移动；随后机械臂把杯向发射位置搬动，杯反复移出和退回。视频 2.32–2.64 s 球滚过杯底并从敞口掉入滑箱；此后再未回杯，杯到发射区及抛接均未修复。最早未修复的步骤为杯到发射区；视频末尾的禁触发生在更晚的空杯入箱动作中，不替代这个断点。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.2, + "log_step": null, + "evidence_zh": "观察：视频 2.0–2.4 s，浅杯向桌面中部移出后仍偏在发射位置左侧，视频 3.2–6.2 s 又多次退回、上抬；与成功参考视频 4.0 s 对照，未见杯底中心到达指定发射位置。目标位置投影的核对采用 log step 10 的相机标定，杯底而非球或滑箱是本步受评对象。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 2.6, + "log_step": null, + "evidence_zh": "观察：视频 1.36–2.12 s，机械臂的浅杯已承托并带着橙球移动；视频 2.32–2.64 s，球沿杯底向敞口滚动、离杯并落进滑箱。此时机器人正在搬杯到发射区，还未完成自抛再接，属于搬运中失去承托。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 2.2, + "log_step": 63, + "source_zh": "日志", + "evidence_zh": "推断：log step 63 中 agent 的 submit_chunk 只提交轨迹和累计控制步，没有把服务返回的关节实测值写回 self.q；hold 又用这个旧 self.q 构造保持命令。log step 97 的 move_to 据旧关节状态反复生成到发射区的路径，log step 122 改写接球部分后仍沿用该控制库；log step 123 执行最后回合。该缺陷可解释视频 0.84–1.36 s 持球杯退回及视频 1.3–6.2 s 的反复移出、退回和高度漂移，导致无法稳定到位并在搬杯中失球。log step 127 才补上提交后更新关节状态，且服务已显示 done=true、episode=4、resets_left=0；此修补没有进入评分视频。" + } + ], + "gap_zh": "观察：inputs/ 内有本次及成功参考视频和完整会话日志，没有状态日志或原生逐阶段完成标志。log step 123 的脚本视觉检测声称球在杯外远处，log step 133 的 agent 自述“最后回合无阶段完成、球撞杯后弹出”，但评分视频显示球在杯内持续随杯移动，后在视频 2.6 s 掉入滑箱；这里以视频判断进度，不采用该自述否定首次接球。发射区无可见标记，其判断由参考视图及相机投影辅助；首次接稳时刻约有0.3秒不确定性，精确接触速度、阶段保持窗及全部原生指标未报告，无法逐项复核。未把脚本自计时或agent工作时间换算成视频时间。" + }, + "summary_zh": "评分视频显示机械臂约在视频 1.5 s 接稳来球，首次接球事件保留；杯到发射区未达成，视频 2.6 s 球在搬杯时从敞口滑入滑箱，之后只有空杯升降和倾倒，抛接及有序交付均未完成。日志中的关节反馈未更新缺陷与视频中的往复偏离相符，最早未修复断点为杯到发射区，随后倾杯还触发禁触终止。无状态日志，视频与agent关于球位置和零阶段完成的自述冲突，按视频给出1/4进度，接稳时间与发射区精确阈值仍有视觉判读误差。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频帧显示球约 0.7–2.5 s 在杯内、2.5–2.75 s 滚入滑箱，之后空杯动作；1/4 进度、断点 cup_in_launch_region、位姿不准与没保持住、反馈控制根因（标为推断）均与证据相符。", + "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": "2026-10-30T04:20:52Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--ep53yin/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e4796bf5264c6fc2d3c5a288da46f7952d906e965ab1296963df9a1da80d26c6", + "video_sha256": "079ecec5a38ea856bbae99566b056fefd628dd8648e9992ed35c5df077f8e788", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc.json new file mode 100644 index 0000000000000000000000000000000000000000..1281a873cbe2a0b2bfab02601302aaa6ba44e16e --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 355, + "sim_steps": 1591, + "calls": 31, + "rows": 932, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 588.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.286, + "peak_processes": 6, + "peak_disk_gb": 0.332, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc/replay.mp4", + "duration_s": 3.6, + "fps": 25.0, + "frames": 90, + "sha256": "5b913df3d36ed633db2a94b67c1407464b0d0b639b71efee4651653f445230fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 0.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.92, + "log_step": 86, + "text_zh": "观察：视频0.64–0.72 s，橙球从上方落入机械臂安装的蓝色浅杯；视频0.76–1.08 s球停在杯底，随后随杯移动。首次接稳约在视频0.92 s，含约0.18秒保持；这是第4回合，log step 86记录最后一次重置及该回合执行。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机械臂固定安装的浅杯以杯底承接并托住橙球，两指保持张开，未夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.08, + "log_step": 86, + "text_zh": "观察：视频1.12–2.12 s，机械臂将装球浅杯向桌面中部伸出；视频2.08 s杯的位置与成功参考视频3.6–4.2 s的发射位置相近。推断：结合log step 81所列发射目标(0.30,-0.10,0.30)米及log step 86最后回合的发射区运动，约在视频2.08 s进入发射区；该区域无可见标记，时间为视觉估计，无法独立量测0.025米边界。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "Panda手部经固定适配杆支承浅杯并向桌面中部移动；两指张开，没有夹住杯。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.44, + "log_step": 86, + "text_zh": "观察：视频2.20–2.44 s，球在浅杯上向右侧敞口移动并越过杯边；视频2.48–2.76 s球从杯旁落到接收箱右侧桌面，视频2.80–3.56 s沿桌面滚向桌沿并掉下，浅杯一直为空，未见向上离杯后重新落入杯内接稳。log step 86的“Phase 3 & 4 done”只是脚本执行完毕，服务仍为done=False，不能据此认定抛接验收完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "浅杯在抛接动作开始时仍从下方托球，随后球从敞口侧滑离；没有完成第二次承接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 86, + "text_zh": "观察：视频2.56–3.56 s球始终在移动箱右侧、随后从桌沿落下，未进入箱内；视频3.00–3.56 s机械臂虽继续将空杯移向箱上方，但杯中没有球。log step 86记录第4回合在control_steps=355以out_of_bounds结束，评分字段live_success=0，与视频末尾相符。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "视频约3.00–3.56 s机械臂执行向接收箱的空杯接近动作；球早已在箱外桌面，送箱过程中未发生浅杯与球或接收箱的目标接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 2.4, + "log_step": 86, + "where": "操作中", + "evidence_zh": "观察：视频2.36–2.48 s橙球从浅杯敞口侧离开，随后落在移动箱外，直到视频3.56 s结束也没有被浅杯再接住。log step 86显示这是最后评分的第4回合；其后虽执行送箱接近动作，但未修复抛接失败，最终服务返回out_of_bounds。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 2.4, + "log_step": 86, + "evidence_zh": "观察：视频2.00–2.20 s橙球仍由浅杯托住；视频2.24–2.48 s球逐渐越过敞口侧并下落，视频2.76 s已在箱外桌面。球没有完成向上抛出并再接稳的过程，是抛接动作中的侧滑脱落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 81列出的控制目标是向上自抛并移位再接，log step 86确认最后回合执行了相应动作段；但视频2.20–2.48 s的实际杯球相对运动是球向敞口侧滑出，后续杯运动没有接回球，说明该抛接控制未实现所需杯球运动。现有证据不足以区分接触设计、轨迹跟踪或参数问题，保留在控制大类。", + "source_zh": "视频" + } + ], + "gap_zh": "没有状态日志，也没有最后回合的原生阶段完成标志、杯球速度及验收距离读数；发射区没有可见边界，其到达及时间依据杯的位置与成功参考对照估计。日志中的最终脚本中段被截断，无法核实实际抛接命令的全部细节或细分控制根因；原生指标均未由评分器报告，保留null。先前回合的测试读数不作为最后回合的节点证据。" + }, + "summary_zh": "评分回合完成首次接球，并据浅杯位置与成功参考对照推断到达发射区，最终完成2/4个节点。视频约2.4 s，抛接动作使球从浅杯敞口侧滑出，此后未再接住或送入移动箱，最终越界终止；根因归为控制，不能细分。缺少状态日志及阶段标志，发射区的精确边界和到达时间存在视觉估计误差。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点2/4、breakpoint ball_tossed_and_recaught、没保持住+控制均与视频一致：视频约2.2–2.5 s球从杯敞口侧滑出落在箱外，之后杯一直为空；log step 86 的控制步数(100+120+76=296步×0.01 s≈视频2.96 s为抛接段结束)与视频事件相符。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": "2026-10-30T04:24:11Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--gbweetc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b6375e338e2afa4ae3804379c04b343090f234bbc33e191949c1106eae4a4e5d", + "video_sha256": "5b913df3d36ed633db2a94b67c1407464b0d0b639b71efee4651653f445230fb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju.json new file mode 100644 index 0000000000000000000000000000000000000000..055673bd3307bd26daac867287862d8fe6bb7c68 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju.json @@ -0,0 +1,335 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1197, + "sim_steps": 1530, + "calls": 31, + "rows": 1414, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 821.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.306, + "peak_processes": 10, + "peak_disk_gb": 1.051, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju/replay.mp4", + "duration_s": 12.04, + "fps": 25.0, + "frames": 301, + "sha256": "6d6e2751d82adb4639cd0a1d2eec5983f82626927c94eac218d126f8beaaa509" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频0.48–0.64 s，橙球由空中落到Panda手部安装的蓝色浅杯内，机械臂向下随球缓冲；视频0.88–1.44 s球停留杯底，随后随杯一起抬升，没有留在原落点。" + }, + { + "t": 1.12, + "log_step": 35, + "text_zh": "推断：视频约0.94 s杯的下降基本停止，至视频1.12 s球已持续留杯约0.18 s，故将首次接稳记在视频约1.12 s（约有0.2 s误差）；log step 35属于log step 33最后一次reset后的final_catch，与这些帧一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频约0.64–1.44 s，固定安装在Panda手部的浅杯从下方承接橙球，杯底托球并随下降动作缓冲，随后携球抬升。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": 37, + "text_zh": "观察：视频3.04–5.60 s，机械臂将装球浅杯从左侧抬高的位置向桌面中部移动，并在轨道箱上方附近停住；log step 37中inspect打印的是服务返回的proprio工具位置，仿真5.94 s杯原点为(0.29980,-0.10000,0.29932)米，距指定点约0.00071米。" + }, + { + "t": 5.0, + "log_step": 36, + "text_zh": "推断：对照视频4.40–5.96 s的连续接近及停留，杯约在视频5.0 s进入发射区，误差约0.3 s；该区域没有可见标记，进入半径的判断由同一现场回合的工具位置辅助，未用球或移动箱代替杯的位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频3.04–5.94 s，Panda手部经固定适配杆支承并移动浅杯；两指保持张开，未夹球，未出现重新抓杯。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.76, + "log_step": 42, + "text_zh": "观察：视频8.56–9.20 s，机械臂快速托杯上升、倾杯并下降，球在视频约8.84–9.00 s与杯底出现可见间隙，随后落回杯内，视频9.24–10.96 s又随杯移动；这是实际抛接动作，不能据此单独确认满足严格自抛验收。" + }, + { + "t": 8.76, + "log_step": 42, + "text_zh": "推断：log step 41–42对本次实拍深度和关节读数的计算显示，球相对杯的高度仍约0.0132米时杯倾角已为0.334弧度，开始明显抬离杯底时估计高度依次为0.0137、0.0158米、杯倾角为0.367、0.380弧度；与视频8.72–8.80 s倾杯离球相符。首次抛出很可能未在杯倾角小于0.35弧度时形成合格分离，故不把视频约9.2 s外观上的再接记为本节点完成；这不是评分器阶段标志的直接读数。" + }, + { + "t": 11.96, + "log_step": 64, + "text_zh": "观察：视频11.52–11.96 s，机械臂第二次向上托球，球离杯后回落，末帧视频12.00 s球刚回到浅杯表面，仍未送入下方箱；log step 64的服务结果为done=True、reason=failed、why=limit_violation，仿真11.97 s结束，无法再完成连续0.18秒接稳。" + }, + { + "t": 12.0, + "log_step": 65, + "text_zh": "推断：最后一次reset见log step 33，其后动作顺序与整段视频一致；log step 65服务状态为episode=4、control_steps=1197，log step 8给control_dt=0.01秒，1197×0.01=仿真11.97 s，与视频11.96–12.00 s最后再接处核对相符。这里只用现场控制步及视频帧定位，未把agent工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频8.44–9.24 s及11.36–12.00 s，固定浅杯两次从下方托球上送，分离后又由同一杯承接回落球；自由飞行期间球不与杯接触，末次接触后回合立即终止。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": 64, + "text_zh": "观察：全段视频0–12.00 s及末段11.00–12.00 s逐帧检查，橙球只在空中或浅杯内，末帧仍位于机械臂浅杯上，深蓝色接收箱为空；机械臂尚未执行向移动箱释放球的动作。log step 64再接时回合已判失败。" + }, + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：对照oracle视频12.00–13.24 s，成功交付时浅杯倾斜且球脱杯进入深箱；本次末帧浅杯上仍有橙球，未出现这种转移，更没有球随箱移动的连续0.7秒稳定窗。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 8.76, + "log_step": 42, + "where": "操作中", + "evidence_zh": "推断：视频8.72–9.24 s第一次抛接虽把球接回，但log step 41–42同回合的相机与关节计算显示离杯附近倾角约0.367–0.380弧度，超过自抛验收0.35弧度，未视为已修复的合格抛接。机器人随后在视频11.52–12.00 s重试同一步，log step 64服务返回limit_violation并终止，球尚未稳留0.18秒；因此最早未修复的步骤为抛起并再接住，视频8.76 s为首次失败的粗略导航锚点。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 8.76, + "log_step": 42, + "evidence_zh": "推断：视频8.72–8.80 s浅杯在上冲末端明显倾斜，随后球离底；log step 42从该段真实关节和深度观测估计，开始明显离底附近杯倾角约0.367–0.380弧度，超过规定0.35弧度，首次抛出姿态未满足自抛验收。球在视频约9.2 s被接回并不能补足先前离杯条件。" + }, + { + "cat": "约束", + "item": "违反约束", + "t": 11.96, + "log_step": 64, + "evidence_zh": "观察：视频11.80–12.00 s球回落到正在下降的浅杯，回合在再接处结束；log step 64的机器人服务返回done=True、failed、limit_violation（安全限值超限），log step 65确认现场episode=4已结束。未记录具体超限量，故不另称接触力异常或碰撞。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 11.96, + "log_step": 64, + "source_zh": "日志", + "evidence_zh": "推断：log step 38–42中agent脚本把离线选出的关节目标用于实际抛球，实测离杯附近杯倾角已超出自抛要求；log step 60–64中脚本又以分段关节目标执行第二次抛接并调整再接倾角，服务在再接动作中明确报告limit_violation。视频8.56–9.24 s及11.52–12.00 s支持这两段实际动作，因此归为抛接控制未满足姿态及安全限值要求；日志不足以细分为轨迹、反馈或某个参数错误。" + } + ], + "gap_zh": "无逐帧状态日志，也无评分器各阶段完成标志、原始接触对或具体安全超限通道。首次抛出的严格分离时刻及杯倾角由视频与log step 41–42对该回合真实观测的计算合推，仍有误差，不能独立逐毫秒复核；第二次终止的limit_violation是服务明确返回，但无法判定是速度、加速度、力矩还是其他限值。发射区无可见标记，进入时刻约有0.3秒误差；原生连续指标未在reward中报告，均留null。" + }, + "summary_zh": "最终评分回合完成首次接球及杯到发射区，完成2/4个节点，未向移动箱交付。第一次抛接虽接回球，但根据视频及同回合观测推断离杯时杯倾角超过验收阈值；第二次再接在视频约11.96 s触发服务报告的安全限值超限，未完成接稳，断在抛起并再接住。无逐帧状态或阶段标志，首次分离验收为推断，具体超限项未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（前两个达成、后两个未达成）、时间、断点（抛起并再接住，操作中）与视频及log step 41–42、64一致；位姿不准+违反约束、根因控制均有证据支持，推断部分已标明。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:27:20Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--ifeciju/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "13798c3566c757abd744ecd5253e03bac1132fb0f067e57d6eb265ceb39ffa46", + "video_sha256": "6d6e2751d82adb4639cd0a1d2eec5983f82626927c94eac218d126f8beaaa509", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x.json new file mode 100644 index 0000000000000000000000000000000000000000..aa40575cb0c6705b9b4739819d861504db5283a1 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 71, + "sim_steps": 469, + "calls": 25, + "rows": 349, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1795.9, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.236, + "peak_processes": 8, + "peak_disk_gb": 0.465, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x/replay.mp4", + "duration_s": 0.76, + "fps": 25.0, + "frames": 19, + "sha256": "41fe2ce5eb3f87107d8327942a58ea4aefb1112957880c554aab55d4a5884c0b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.72, + "log_step": 67, + "text_zh": "观察：已逐帧检查视频0.00–0.72 s的全部19帧；机械臂把蓝色浅杯持续降向桌面，橙球先上升离开画面上缘，随后下降，视频0.64、0.68 s仍在杯上方，视频0.72 s位于浅杯敞口与接收箱侧壁相邻的边缘附近，未见球在杯底停留并随杯移动。log step 67的最后回合提交返回done=True、sim_time_s=0.71，首次接稳所需的连续保持并未出现。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频0.00–0.72 s机械臂以固定安装的浅杯尝试承接橙球，两指未夹球；视频0.72 s球接近浅杯敞口边缘，但仅有总览且此处与箱侧壁投影重叠，无法确认球是否已经接触杯底、杯沿或箱壁，故实际接触双方及方式记未知。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.72, + "log_step": 67, + "text_zh": "观察：视频0.00–0.72 s，机械臂只把浅杯从初始高度向桌面降低，未出现首次接稳后携杯上移并送往指定发射位置的过程；log step 67的末次服务返回杯原点为(0.0156,-0.1588,0.0343)米。推断：该位置远离DAG发射点(0.30,-0.10,0.30)米，且首次接球前置未完成，杯到发射区事件未达成。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.72, + "log_step": 67, + "text_zh": "观察：视频0.00–0.72 s只出现初始来球的一次上升和下降；机械臂持续降杯，未见杯先接稳球、再把球向上抛出、横移并重新接稳的过程。推断：初始来球的自由飞行不是机器人的自抛，前置首次接球和杯到发射区也未完成，本节点未达成。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.72, + "log_step": 67, + "text_zh": "观察：视频0.00–0.68 s橙球仍是空中来球，视频0.72 s仅见橙球到达浅杯与接收箱相邻边缘附近；没有机器人在再接稳后释放球、球在移动箱内随箱稳定移动的过程。推断：即使末帧存在瞬间边缘接触，也不满足本节点的前置阶段及连续0.7秒入箱稳定要求。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 0.72, + "log_step": 67, + "where": "操作中", + "evidence_zh": "观察：视频0.52–0.72 s橙球下降时，机械臂仍在降低浅杯；末帧球到达杯口边缘附近，未接稳，视频随即结束。log step 67明确重置至episode 4并提交低位接球动作，返回仿真0.71 s、done=True、reason=failed；log step 68服务状态确认该回合只执行71个控制步且无剩余重置。推断：首次接球是实际正在进行且未修复的步骤；最后改写的脚本（log step 69）没有再执行。" + }, + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 0.72, + "log_step": 67, + "evidence_zh": "观察：视频0.52–0.72 s来球快速下降，而机械臂同步把浅杯降向桌面，橙球最终到达浅杯敞口边缘附近，没有落入杯底接稳。推断：杯的下降与来球到达没有形成合适的承接时机；该现象不要求断言末帧究竟碰了杯沿还是其他表面。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，评分视频只有总览19帧，末帧视频0.72 s的球、杯口与箱壁局部重叠，无法判定实际接触对、碰撞力或是否发生短暂触杯，因此首次接球contact_actual记未知。视频0.48–0.72 s浅杯远端与接收箱近侧壁持续接近，末帧投影相邻或重叠；终止可能涉及杯与接收箱或桌面接触（forbidden_robot_contact）、安全限值超限或球碰杯沿，现有证据无法区分，均不写成已发生的事实。第4回合的服务只报告failed，未输出具体why或限值监测量；agent在log step 68、70声称球撞杯沿并触发安全限值，属于未核实诊断，log step 27的limit_violation则属于第1回合，不能作为第4回合的终止原因。观察：log step 66计划低位截住落地后的来球，log step 67以经验关节位移矩阵计算杯目标(-0.08,-0.135,0.030)米，一次提交90行线性关节目标；服务在仿真0.71 s结束并返回杯位置(0.0156,-0.1588,0.0343)米。log step 39、50、51另有截住后弹起再从上方接入的计划，该计划内容不证明物理可行。推断：开环提交和未接稳本身不能区分策略、接触设计、运动学近似及跟踪问题；未验证目标与接触方案可行，也没有足够证据证明包含后续弹起再接的整套方案必然不可行，因此根因留空，不再确定归于控制或规划。服务控制步71×0.01秒为仿真0.71 s，视频末帧为视频0.72 s，二者末端一致到一帧量级；所有导航时间直接取视频帧。DAG所列原生指标没有在评分器字段中报告，均填null。" + }, + "summary_zh": "评分对象为log step 67重置后的第4回合：机械臂降低浅杯准备低位接球，来球落到杯口边缘附近时回合结束，首次接球未稳住，四个节点均未完成。视频0.52–0.72 s显示杯的下降与来球到达没有配合好，断点为首次接球；根因证据不能区分规划与控制，故留空。没有状态日志或第4回合的详细终止原因，末帧重叠无法确认接触双方及是否禁触，不能把agent自述的撞沿和安全超限当作事实；因这些归因缺口，置信度由7降至6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（四个节点未达成、断点 initial_ball_caught、视频时间 0.72 s、contact 未知）与视频一致，无需改。问题在根因：把 log step 67 的失败记为“控制”缺乏支持，该回合是按事先定好的低位陷阱方案开环执行，杯位目标本身就落在球落点下方，应归规划类。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点未达成、断点 initial_ball_caught、视频 0.72 s、contact 未知，均与帧一致。第 1 轮意见已处理：根因留空，gap_zh 说明了缺口。没有新的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:31:27Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--udko65x/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "468cb344532a241f6f522548c0a8ba393c4e97aa016194ebe5049a15ff5264b7", + "video_sha256": "41fe2ce5eb3f87107d8327942a58ea4aefb1112957880c554aab55d4a5884c0b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae.json new file mode 100644 index 0000000000000000000000000000000000000000..c599988fd6638f150fbc524fdb9bc32f393a5e90 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 387, + "sim_steps": 1685, + "calls": 23, + "rows": 1603, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1373.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 33.662, + "max_lag_s": 0.2671, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 327, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 0.902, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.202, + "peak_processes": 14, + "peak_disk_gb": 0.426, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae/replay.mp4", + "duration_s": 3.92, + "fps": 25.0, + "frames": 98, + "sha256": "52de4acc69ab7c50081cb6f01eccdd49ecb06390bdecd9f8d0c144aa31b93c9f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.64 s 橙球仍在杯上方，视频 0.68–0.80 s 橙球落入蓝色浅杯并有短暂跳动；视频 0.80–1.12 s 球留在杯底，随后视频 1.20–2.40 s 随浅杯一起移动，没有落回桌面。推断：把接稳及约 0.18 秒保持完成时刻记为视频约 1.00 s，误差约 0.1 秒。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.68–1.12 s，Panda 手部固定安装的蓝色浅杯从下方承接并托住橙球；手指没有夹住球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": 30, + "text_zh": "观察：视频 1.20–2.40 s，机械臂把载球浅杯向桌面中部移出，视频 2.28–2.56 s 杯在最前伸位置短暂停留后回撤；与 oracle 视频 4.00–4.20 s 的发射区杯位置相近。log step 30 的控制脚本设置杯目标为 (0.30,-0.10,0.29) 米，log step 46、51、53 修改后的最后回合仍沿用这一搬运段。推断：结合实际杯位置、停留和目标位姿，记杯到发射区在视频约 2.40 s 达成，时间误差约 0.2 秒；不是只凭脚本目标计入，亦未把移动箱的位置当成杯位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.20–2.56 s，Panda 手部经固定适配杆支承蓝色浅杯并移动杯体；杯的位姿是本节点的受评对象，没有夹爪重新抓杯的动作。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.88, + "log_step": 54, + "text_zh": "观察：视频 2.56–3.60 s 机械臂将载球杯回撤并停稳，视频 3.68–3.88 s 杯快速上升，橙球仍紧邻杯底并随杯升起；逐帧检查视频最后一秒，未见球与杯明显分离后自由飞行、侧移入杯及再次接稳的完整过程。log step 54 的机器人服务状态为 episode=4、control_steps=387、done=True、reason=failed。推断：最后回合已开始自抛动作，但截至视频结束未完成抛起并再接住。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 3.68–3.88 s，Panda 的安装浅杯从下方托着橙球向上加速；本回合未观察到重新承接回落球的第二次接触。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.88, + "log_step": 54, + "text_zh": "观察：视频 0.00–3.88 s，沿轨道移动的深蓝色接收箱内未出现橙球；最后一帧球仍在机械臂浅杯上，机械臂也没有在本回合执行向箱内倾倒或释放。log step 54 的服务状态已结束。推断：入移动箱步骤未开始、未完成，不能把 log step 31 中先前 episode=2 的倾倒动作算入本回合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 3.88, + "log_step": 54, + "where": "操作中", + "evidence_zh": "观察：视频 3.68–3.88 s，Panda 正以浅杯托球上升，尚无完整离杯、移位与再接过程；视频在这段动作中结束。log step 53 最后一次 reset 返回 episode=4、resets_left=0；log step 54 的机器人服务确认该回合在 control_steps=387 结束，reason=failed。推断：不可恢复的中断发生在正在进行的抛起并再接住步骤，随后没有修复；前三回合的调试动作不属于本计分视频。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有状态日志或原生阶段完成记录，首次接稳及无可见标记的发射区到达时间由视频估计，发射区的 0.025 米半径无法精确测量；原生连续指标在评分器字段中均未报告。视频最后一秒及放大图只显示杯托球上升，服务仅给出 failed，未给出碰撞双方、安全监测量或触发原因；没有足够证据区分安全超限、其他失败事件或具体控制问题，因此现象和根因均留空。agent 在 log step 56 自述怀疑 TCP 或关节加速度超限，但明确表示未确认，不能据此标违反约束或参数调试；本回合在预定离杯与再接过程完成前结束，也不足以断言已发生接球错过、失持或释放失败。" + }, + "summary_zh": "观察：最后一次计分回合中，Panda 用安装浅杯接稳来球，随后将杯移到发射区附近，按视频及目标位姿综合判断完成前两节点，最终为 2/4。观察：视频 3.68–3.88 s 机械臂开始托球上抛，服务随即以 failed 结束该回合，完整抛接及送球入移动箱均未完成。推断：断点为抛起并再接住的操作中；缺少具体终止触发项和安全监测明细，不能确认 agent 猜测的加速度超限，故现象与根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（前两节点达成、后两节点未达成，2/4）、断点（抛起并再接住，操作中）与现象/根因留空（服务仅给出 failed，无触发项证据，有 gap_zh）均与视频和 log 一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:33:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--4tuahae/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "28efa9d1502aa78a16f23c1e737ecb39239e4041a8b053332b3089d5fd0a0e30", + "video_sha256": "52de4acc69ab7c50081cb6f01eccdd49ecb06390bdecd9f8d0c144aa31b93c9f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw.json new file mode 100644 index 0000000000000000000000000000000000000000..af48baf9ddb178e91a448046be9e51ac9e7039d9 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw.json @@ -0,0 +1,313 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 13, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1709.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.04, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.191, + "peak_processes": 6, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "ca8c1bb035ddf437f0f0744be02f6d73d1722cd8ca03e6cac74ecf6f10ad6f80" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s（本段唯一帧，片长0.04秒）中，橙球悬在机械臂前端蓝色浅杯的右上方，未进入杯内；评分器记录 n_actions=0、sim_steps=0、clock_s=0.0，未发生落球入杯及接稳过程。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录提交动作数与仿真步数均为0；log step 46 记录模型供应商过滤拦截，未交付执行轨迹，此节点没有实际操作接触可标。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 3, + "text_zh": "观察：视频 0.00 s 的浅杯仍在机械臂初始位置。log step 3 的机器人服务（现场仿真接口）返回 tool_pose 位置约(0.0301,-0.1499,0.2200)米，control_steps=0、running=False。" + }, + { + "t": 0.0, + "log_step": 3, + "text_zh": "推断：log step 3 服务所报杯原点距指定发射位置(0.30,-0.10,0.30)米约0.286米，大于0.025米阈值；结合视频 0.00 s 初始帧、评分器仿真步数为0及首次接球未达，杯到发射区节点未成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录提交动作数与仿真步数均为0；log step 46 记录模型供应商过滤拦截，未交付执行轨迹，此节点没有实际操作接触可标。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 15, + "text_zh": "观察：视频 0.00 s 的橙球在浅杯外，未出现首次接稳、自抛或移位再接；评分器记录 n_actions=0、sim_steps=0，log step 15 的机器人服务仍返回 control_steps=0、running=False。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录提交动作数与仿真步数均为0；log step 46 记录模型供应商过滤拦截，未交付执行轨迹，此节点没有实际操作接触可标。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 的轨道接收箱中没有橙球，球仍悬在浅杯外上方；评分器记录 n_actions=0、sim_steps=0，未发生离杯入箱或随箱稳定移动。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录提交动作数与仿真步数均为0；log step 46 记录模型供应商过滤拦截，未交付执行轨迹，此节点没有实际操作接触可标。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 46, + "where": "首步前", + "evidence_zh": "观察：log step 46 的最终消息为“This request was blocked by Gemini's filters”，且无后续调用；log step 15 中机器人服务仍报告 control_steps=0、running=False。评分器记录 n_actions=0、rows=0、sim_steps=0，视频 0.00 s 只有初始场景；此前没有执行或已固定的物理结果，未能定位到实际操作失败的节点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：视频全段仅有视频 0.00 s 的一个初始帧，无状态日志；log step 46 记录 Gemini 供应商过滤拦截，评分器记录动作数和仿真步数均为0。推断：这是实际执行前的外因中断，依外因规则不归为机器人失败，不标“没尝试”或机器人根因；log step 16—45 的离线运动学与抛接计算属于会话调试，不能替代本次执行的节点或失败现象证据。所有原生验收指标均未由评分器报告，故值为null。", + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + } + }, + "summary_zh": "观察：视频 0.00 s 唯一帧显示橙球仍悬在空浅杯外，评分器记录零动作、零仿真步，四个任务节点均未达到。观察：log step 46 记录 Gemini 供应商过滤拦截，且此前机器人服务在 log step 15 仍报告回合暂停。推断：这是首步前的外因中断，断点记unknown，现象和根因留空；视频没有实际运动段，离线抛接计算不能作为执行证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "整体正确：run 在 Gemini 过滤拦截时 n_actions=0、sim_steps=0、视频仅 1 帧，四节点未达、断点 unknown、现象/根因留空并写 gap_zh，符合外因中断规则。仅有一处引用错误：cup_in_launch_region 证据把 tool_pose 读数标在 log step 3，实际在 step 5。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频仅1帧，评分器n_actions=0、sim_steps=0，log step 46为Gemini过滤拦截且无调用、未交付轨迹；四节点未达、断点unknown/首步前、现象根因留空并写gap_zh，均符合外因中断规则。", + "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": "2026-10-30T04:37:57Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--ajklzmw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4a281e4f36b50a35151bf953572da08b7f09bfc64dd9435267841451b21711fe", + "video_sha256": "ca8c1bb035ddf437f0f0744be02f6d73d1722cd8ca03e6cac74ecf6f10ad6f80", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bd9edf7d3b5410b1eaeeed70b56c7a4e3cfa27 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 63, + "sim_steps": 672, + "calls": 483, + "rows": 714, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 848.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 13.41, + "max_lag_s": 0.0083, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 85, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 2.424, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.179, + "peak_processes": 8, + "peak_disk_gb": 0.45, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi/replay.mp4", + "duration_s": 0.68, + "fps": 25.0, + "frames": 17, + "sha256": "12e54a8a1a4aade9ea3729463a73a0421ce33f42481fd9038580934da5a4cb33" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：已逐帧检查受评视频全部17帧（视频0.00–0.64 s）。橙球先上升并出画，随后回落；机器人把固定安装的蓝色浅杯抬高并向来球方向移动，视频0.52、0.56、0.60 s球仍在杯上方，视频0.64 s球刚到杯后缘附近，画面随即结束，未出现连续0.18秒接稳并随杯移动的过程。" + }, + { + "t": 0.64, + "log_step": 60, + "text_zh": "观察：log step 59记录最后一次reset启动episode 4；log step 60的机器人服务状态为episode=4、control_steps=63、done=true、reason=failed。推断：这是受评的最后现场回合；首次球杯相遇已在视频0.60–0.64 s核对，63个控制步×0.01秒约为仿真0.63 s，与视频结束相符，未把此前episode 1–3的试验计入进度。" + }, + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：成功参考视频0.64–1.20 s显示首次来球进入浅杯后持续留杯并随杯移动；本次视频在来球刚到杯缘时结束，没有该完成线索。参考仅用于比较可见表现，不作为本次完成证据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.00–0.64 s，Panda手部固定安装的浅杯从下方迎接橙球，视频0.64 s球到达杯后缘附近；按实际承接尝试标注，未见持续托稳。夹爪两指张开，未夹球；无状态接触对，末帧不能精确区分球碰杯底还是杯壁。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.64, + "log_step": 59, + "text_zh": "观察：视频0.00–0.64 s机器人始终在首次来球附近抬杯迎接，没有接稳后携杯移向桌面中部发射区的过程；log step 59的最后回合事件只有启动及EpisodeOver，没有后续阶段转换。推断：首次接球前置未完成，本事件未达；不以接收箱的位置替代无可见标记的发射区。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频0.00–0.64 s橙球只有初始来球的上升、出画和回落，机器人未先接稳球，也没有把杯内球抛离后侧移再接的动作。推断：初始飞行不算自抛，抛起并再接住事件未达。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频0.00–0.64 s较深蓝色接收箱沿轨道移动但始终空着，橙球从空中回落到机器人浅杯附近，没有离杯落入接收箱及随箱稳定移动的过程；视频0.64 s末帧接收箱仍无球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 0.64, + "log_step": 60, + "where": "操作中", + "evidence_zh": "观察：视频0.52–0.64 s机器人正把浅杯迎向下降的橙球，视频0.64 s球刚到杯后缘附近即结束，未形成首次接稳保持。log step 60的机器人服务报告最后episode 4在control_steps=63时done=true、reason=failed；log step 64再次确认该回合已结束且不能继续。推断：首次接球是正在执行且未修复的失败步骤，断点锚定视频0.64 s附近，而不是后续未尝试的抛接或入箱步骤。" + }, + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/没有状态日志，受评视频止于视频0.64 s球到杯缘附近，服务在log step 60、64、66只报告reason=failed，未给出禁触、穿透深度、力或安全超限的具体事件。log step 65的视觉检测记录和log step 59的控制器事件显示中段未检测到球、未记录track转换，但不能单独确定物理终止原因；log step 70中agent自述“最符合excessive_penetration”是事后猜测，未获监测字段证实。推断：当前证据能确定首次接球未完成和断点，却不能确定是接触力、动态时机、禁触还是其他机制导致失败，也不足以把检测中断确认为这次判负的根因；现象与根因均留空。" + }, + "summary_zh": "受评的是最后一次现场回合episode 4：机器人抬起固定浅杯迎接来球，视频0.64 s球刚到杯缘附近便结束，首次接稳未完成，四个节点最终均为false。断点为首次接球操作中，杯到发射区、自抛再接和送入移动箱均未开始。服务只报告failed且没有状态或接触监测日志，无法证实agent推测的穿透过深，现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅17帧（0.64 s），球到杯缘附近即结束，四个节点均未达、断点为initial_ball_caught操作中，与帧一致；无状态日志，现象与根因留空并写了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": "2026-10-30T04:33:41Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--aqaxsyi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ccac88b46f809a87d8155a45cdd3e5e022eab1ccb67ebab3a5bb8fb70a7ee986", + "video_sha256": "12e54a8a1a4aade9ea3729463a73a0421ce33f42481fd9038580934da5a4cb33", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9a348de711f89d556e9260b3c1aa1842d5be9d --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 278, + "sim_steps": 278, + "calls": 2, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 928.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 5.549, + "max_lag_s": 0.4797, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 278, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.045, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "31772328e2d338c811d1612e90ebcd97b833b81db693030a05591b2a77540400" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频 0.48–0.88 s 的连续帧中，机械臂与浅杯保持初始姿态；橙球下降，在视频 0.64–0.68 s 从浅杯右侧掠过并落到杯外，随后在桌面滚动，没有入杯停留。" + }, + { + "t": 2.8, + "log_step": 17, + "text_zh": "观察：视频 0–2.80 s 未见机械臂执行接球运动；log step 15 的脚本先调用 get_obs(seconds=2.0) 观察来球，log step 17 返回控制步 200，随后首次 submit 被服务以 episode finished; reason failed 拒绝。接球动作未启动，不记录工具承接球的实际接触。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0–2.80 s 浅杯始终位于机械臂起始位置，没有向轨道接收箱上方的发射位置移动；首次接球也未完成。" + }, + { + "t": 2.8, + "log_step": 20, + "text_zh": "观察：log step 20 服务状态为 episode=1、control_steps=278、done=true、reason=failed；评分器记录 resets=0，未执行后续新回合。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频 0.48–0.88 s 球是初始来球下降至杯外；视频 0–2.80 s 杯始终不动，没有杯托球上抛、侧移或再次接稳的过程。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.68–2.80 s 橙球始终在浅杯及移动箱之外，沿桌面逐渐滚向机械臂底座；移动箱继续沿轨道平移，没有球在箱内随箱运动的结果，也没有机器人送球动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 0.64, + "log_step": 17, + "where": "首步前", + "evidence_zh": "观察：视频 0–2.80 s 机械臂未离开初始姿态；视频 0.64–0.68 s 来球从浅杯旁落下，首次接球未启动且此后未修复。log step 15 的脚本先观察现场2秒仿真时间再准备运动，log step 17 的首次运动提交已被服务以回合失败结束拒绝；log step 43 仍为同一个已失败回合。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.64, + "log_step": 17, + "evidence_zh": "观察：视频 0–2.80 s 机械臂与浅杯始终保持初始姿态，来球下降时没有迎接、跟随或调整杯位置，球从杯旁落到桌面。log step 17 表明脚本先完成观察，首次 submit 时回合已结束；评分器记录 held_steps=278、rows=0、resets=0。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 15, + "source_zh": "日志", + "evidence_zh": "推断：log step 15 的校准脚本将 get_obs(seconds=2.0) 放在任何运动提交之前，并在观察结束后才计算关节轨迹；任务正文说明现场一旦启动就持续运行、来球在最初约1秒仿真时间回落。log step 17 确认已观察至控制步200，首次 submit 则被已结束的回合拒绝；视频 0.64–0.68 s 同时显示球在静止浅杯旁落下。因此先放任来球完整飞行再准备动作的执行顺序错过了首次接球，后续也没有重置修复（评分器 resets=0，log step 43 仍是失败的 episode 1）。" + } + ], + "gap_zh": "没有状态日志或逐阶段监测字段，原生指标均未报告。视频末段 2.60–2.80 s 球滚到机械臂底座附近，但服务在 log step 20、43 仅报告 reason=failed；无法确认最终判负具体由哪一接触或约束触发，不将 agent 在 log step 21 的底座禁触猜测当作事实。此缺口不影响四个节点均未完成及首次接球未启动的判断。", + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + } + }, + "summary_zh": "本次现场回合中机械臂始终保持初始姿态，橙球在视频 0.64–0.68 s 从浅杯旁落下，四个节点均未完成。断点为首次接球的首步前：脚本先启动现场观察来球，再准备提交运动，首次提交时回合已结束；这支持没尝试及推理/规划失误的标注。无状态日志，服务未报告具体终止触发条件及各项原生指标。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "四个节点均未达成、断点在首次接球首步前、没尝试 + 推理/规划（先用 get_obs(2.0) 观察整段来球再规划）与视频和日志一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:34:48Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--eytxzqc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fb4209a7adcfaf85e0bb2f4a3f860d67f440c8ce7bede1927f563b1d9edad52", + "video_sha256": "31772328e2d338c811d1612e90ebcd97b833b81db693030a05591b2a77540400", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9.json new file mode 100644 index 0000000000000000000000000000000000000000..adb74e7953cbad7b0c0aae2084ff933188373a23 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9.json @@ -0,0 +1,370 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1677, + "sim_steps": 4100, + "calls": 1313, + "rows": 2808, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2171.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 81.984, + "max_lag_s": 0.1685, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1854, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 23.958, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.311, + "peak_processes": 9, + "peak_disk_gb": 1.186, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9/replay.mp4", + "duration_s": 16.84, + "fps": 25.0, + "frames": 421, + "sha256": "968e89247b49f7aef512a382478db57d390bb3efb97bced5b4c3fdf91f1b519b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频 0.56–0.72 s，橙球从空中下落，机械臂把安装的蓝色浅杯移到来球下方，球落到杯底。" + }, + { + "t": 1.12, + "log_step": null, + "text_zh": "观察：视频 0.88–1.60 s，球留在浅杯内，随后视频 2.0–4.4 s 随杯向桌面中部移动，没有弹出；以视频约 1.12 s 作为首次接稳的完成锚点，保持窗起止为视觉估计。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂末端固定安装的蓝色浅杯以杯底承接橙球，球留杯随动；张开的夹爪没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 4.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 3.6–4.6 s，机械臂将载球浅杯移至桌面中部、移动箱上方附近，并在视频 4.6–6.24 s 基本停留；此处杯的位置与成功参考视频约 4.0–5.6 s 的发射前位置相近。" + }, + { + "t": 4.6, + "log_step": 95, + "text_zh": "推断：log step 95 的最终脚本先以 (0.30,-0.10,0.30) m 求逆解，再将第一个关节偏转 -0.027 rad，作为 settle_launch 的目标姿态；log step 96 启动使用该脚本的最后第 4 回合。结合视频 4.4–6.2 s 杯在桌面中部基本停留，保留已进入发射区的判断，首次进入约视频 4.4 s（误差约 0.3 s）。受评回合在此停留段没有杯位读数，0.025 m 边界不能独立核实；log step 79 的 0.0231 m 来自离线抛接轨迹首个采样，不作为最终回合发射姿态的距离证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 1.6–4.6 s，Panda 手部经固定适配杆支承并移动浅杯到发射位置；两指保持张开，没有合拢抓住杯。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [ + [ + 8.32, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.76, + "log_step": null, + "text_zh": "观察：视频 6.36–6.76 s，机械臂先上送浅杯再向下回撤，橙球在视频 6.68–6.80 s 高于杯底并出现可见间隙；视频 6.84–6.92 s 球重新落到横向移位后的同一浅杯底部。" + }, + { + "t": 8.32, + "log_step": null, + "text_zh": "观察：视频 6.92–8.0 s，球在杯内滚动但未离杯；视频 8.08–9.36 s，球停在靠近适配杆的一侧，随杯保持稳定。将视频约 8.32 s 作为移位再接稳的完成锚点，而非首次落杯时刻。" + }, + { + "t": 8.32, + "log_step": 98, + "text_zh": "推断：log step 98 对最后第 4 回合相机追踪数据的计算显示，球相对杯底曾升高到约 0.047 m，随后回到约 0.013 m；这与视频 6.68–6.92 s 的离杯再接吻合。结合视频中杯的横移和后续稳定停留，判定抛接完成；精确无接触时长、相对速度和原生阶段标志没有逐帧记录可供复核。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 6.36–6.92 s，安装浅杯先从下方托球加速送出，再以杯底承接回落球；短暂飞行中球与杯底分离，随后球在杯内滚动并停留。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.6, + "log_step": 100, + "text_zh": "观察：视频 12.0–13.96 s，机械臂用浅杯托球向滑轨上的深蓝色移动箱运送；球逐渐从杯内靠后位置滚向敞口。" + }, + { + "t": 14.24, + "log_step": null, + "text_zh": "观察：视频 14.16–14.28 s，橙球从浅杯敞口越出，沿移动箱靠近相机一侧的外侧下落；视频 14.36–14.80 s 球已在箱外桌面上滚动，未在箱内停留。" + }, + { + "t": 16.8, + "log_step": 100, + "text_zh": "观察：视频 15.6–16.32 s，球继续在桌面向画面下方滚离；视频 16.44–16.80 s 球离开视野，浅杯和移动箱均为空，机械臂没有重新取回球。log step 99–100 的第 4 回合服务状态为 done=true、reason=failed，评分器 success=0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 12.0–14.20 s，Panda 的安装浅杯从下方承托并搬运橙球；球在预定倾杯释放前从敞口滑出，随后机械臂仍空杯运动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_delivered_to_moving_cart", + "t": 14.24, + "log_step": 100, + "where": "操作中", + "evidence_zh": "观察：视频 13.6–14.24 s，机械臂正在持杯向移动箱运球，球滚到敞口并滑落；视频 14.36–16.32 s 球在箱外桌面上滚走，直到视频 16.80 s 均未恢复入箱。log step 100 的最后第 4 回合记录将滑落前后归于 delivery_approach，之后才进入 pour，表明这是运送途中失去承托。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 14.24, + "log_step": 100, + "evidence_zh": "观察：视频 13.6–14.20 s，原本由浅杯托住的球逐渐滚到敞口；视频 14.24–14.36 s 球越出杯底并在箱外下落，随后在桌面滚走。log step 100 显示球滑落发生于 delivery_approach，早于脚本的 pour 阶段，因此是搬运途中未保持住球。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 14.24, + "log_step": 95, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 13.6–14.24 s，机械臂向移动箱接近时，球持续向杯口滚动，机械臂未在球越口前恢复稳定承托。log step 30、43、95 显示最终脚本沿用预先生成的搬运轨迹及加速度补偿倾角，球的横向偏移仅用于设置目标位置；log step 100 的现场记录确认球在该搬运段滑落。由此将失败归于运球保持的控制，现有记录不足以确定是接触布局、轨迹补偿还是反馈控制中的哪一子类。" + } + ], + "gap_zh": "没有逐帧模拟器状态日志、接触对或原生阶段完成标志；发射区首次进入时刻及抛接稳定窗依据视频并结合最后回合脚本/追踪输出推断，不能独立复核全部数值阈值。评分器仅给总体失败，未给具体终止原因或 DAG 所列九项原生指标的数值；不将最后的 EpisodeOver 异常当作控制器崩溃，它出现在服务已判回合结束之后。", + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": true, + "ball_delivered_to_moving_cart": false + } + }, + "summary_zh": "受评的是 log step 96 最后重置后的第 4 回合：机械臂完成首次接球、杯到发射区及抛起移位再接，最终保留 3/4 个事件节点。视频约 14.24 s，机械臂向移动箱运球时没保持住，球提前从浅杯敞口滚出并落在箱外桌面，球入移动箱始终未完成；根因归于控制。无逐帧状态和原生阶段标志，发射区边界与接稳时间为结合视频、脚本及追踪输出的估计，具体控制子类不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、断点（球入移动箱，视频约14.2 s 球越出杯口落在箱外）与根因停在“控制”基本被帧和log 100 的现场轨迹支持；只有 cup_in_launch_region 的推断证据引用有误：log step 79 是第3回合后的离线计算，且其“launch”位置是抛接轨迹起点而非最终回合的发射停靠姿态。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽查帧与标注一致：视频约1.0 s 球在杯内、6.6–6.9 s 球离杯后再落入同一杯、8.4 s 球稳定在杯内；14.0–14.3 s 球从杯口滑出落到箱外，15.0 s 球在桌面滚走。前三节点为真、第四节点为假，断点在球入移动箱的运送途中，没保持住 + 控制与证据相符，且已说明子类不确定。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:10Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--iz6d8h9/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "22af82ca97bc584afe5e029b6328d1701a00c74912ade1fd90223b531113329e", + "video_sha256": "968e89247b49f7aef512a382478db57d390bb3efb97bced5b4c3fdf91f1b519b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72.json new file mode 100644 index 0000000000000000000000000000000000000000..1887ab40592f273e020f16500d8a2ba2c1849947 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 558, + "sim_steps": 1728, + "calls": 171, + "rows": 973, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1047.2, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 34.526, + "max_lag_s": 0.0193, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 827, + "late_steps": 5, + "requests_refused": 1, + "request_busy_s": 1.021, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.305, + "peak_processes": 9, + "peak_disk_gb": 0.909, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72/replay.mp4", + "duration_s": 5.64, + "fps": 25.0, + "frames": 141, + "sha256": "f98e013323de31ec123555ed48cd5cd4587462d6b6d033d8138d2009c63c318c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频0.60–0.68 s，橙球从机械臂安装的蓝色浅杯上方下落并落在杯底；视频0.84–1.12 s球留在杯内、位置趋于稳定，之后随杯向前移动。" + }, + { + "t": 1.04, + "log_step": null, + "text_zh": "推断：按入杯后的稳定保持判据，将首次接稳完成时间记为视频约1.04 s（视觉估计，约有0.2 s误差）；后续抛球不撤销此事件节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda手部固定安装的浅杯以杯底从下方承接橙球，球停留在杯底；二指没有夹球。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": 69, + "text_zh": "观察：视频1.20–3.00 s机械臂将载球浅杯向桌面中部移送，在视频2.80–3.08 s附近停留后开始上抬；log step 69中明确属于最终episode 4的记录在control step 301给出杯原点[0.2777,-0.1000,0.2993]米。" + }, + { + "t": 3.0, + "log_step": 69, + "text_zh": "推断：该杯位置距发射点(0.30,-0.10,0.30)米约0.0223米，小于0.025米；结合视频中的杯移送和停留，判定到达。任务文本给定控制步长0.01 s，最终回合control step 301对应视频约3.01 s，已在视频3.00 s的发射前停留处核对；将到达时间记为视频约3.0 s，区域无可见标记，首次入区边界约有0.3 s误差。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：机械臂手部经固定适配杆支承浅杯，将浅杯从接球位置带向发射区域；两指张开，没有抓握杯或球。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.32, + "log_step": 69, + "text_zh": "观察：视频3.12–3.32 s机械臂抬升浅杯，随后降杯并侧移；视频3.32–3.96 s球一直贴近杯底并逐渐滚向敞口，没有出现清楚的向上离杯、自由飞行、从上方再入杯并接稳的过程。" + }, + { + "t": 4.04, + "log_step": null, + "text_zh": "观察：视频4.00–4.24 s球从浅杯敞口掉出，落到接收箱外的桌面；视频4.60–5.60 s球继续滚向桌缘，机械臂没有再次接到球。因此抛起并再接住节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda安装浅杯的杯底托球上升、下降并侧移；球随后沿杯底滚到敞口掉出，未形成接稳的再接。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": 69, + "text_zh": "观察：视频4.24–5.60 s球位于移动接收箱外，在桌面滚动并最终从桌缘附近出画；浅杯为空，机械臂停留，没有把球释放进箱并随箱稳定移动。log step 69的最终episode 4记录显示控制器仍在等待接收箱速度，服务在control step 558报告done=True、reason=failed；这不是此前episode 3的倾杯逆解报错。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "ball_tossed_and_recaught", + "t": 4.0, + "log_step": 69, + "where": "操作中", + "evidence_zh": "观察：视频3.12–3.96 s机械臂正在抬杯、降杯和侧移以完成抛接，球逐渐移向敞口；视频约4.00 s球越过杯口，视频4.24 s已掉在箱外桌面，直至视频5.60 s都未接回。这是首次未修复的失败步骤，后续入箱尚未开始。" + }, + "unmet": { + "initial_ball_caught": true, + "cup_in_launch_region": true, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.0, + "log_step": 69, + "evidence_zh": "观察：视频3.00 s橙球仍由浅杯承托，视频3.32–3.96 s在升降及侧移中持续向敞口滚动，视频4.00–4.24 s脱离杯口掉到箱外桌面，后续未接回；这是已有承托后的滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频3.12–4.24 s表明机械臂确实执行了抛接所需的升降和侧移，但未形成有效向上离底后回落接稳的球杯相对运动，反而让球沿杯底移出敞口；故归于抛接控制失败。log step 66说明agent为最终回合修改了反向触发和再接目标，log step 69确认最终episode 4执行并出现持续横向漂移；没有证据把这次失败归于早先episode 3的逆解异常，也不足以确定某一参数或控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志，评分器未报告各原生阶段及连续指标；首次接稳和首次入发射区的时间为约数，杯入区以最终回合日志中的杯位姿配合视频推断。视频能够确定球滑出且没有再接或入箱，但无法逐毫秒核实离底速度、接触间隔和稳定阈值，也无法将控制根因可靠细分为具体触发参数、轨迹或反馈问题。" + }, + "summary_zh": "观察：最终评分回合完成首次接球和杯到发射区，终态为2/4个节点；此前重置回合的失败不计入本次进度。观察：机械臂尝试抛接时球向浅杯敞口滑动，在视频约4.0 s掉出，此后没有接回或送入移动箱；推断：断点是抛起并再接住，现象为没保持住，根因为控制。无状态日志及原生阶段完成字段，前两步时间和精确抛接动力学阈值存在观测缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（抛起并再接住）、现象（没保持住）和根因（控制）均与视频帧及 log step 69 一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:34:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--jpnwj72/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "257b8a83afd68ee1bea9298b9aeeabeaa8724b352af63c7c0213d71862fb2239", + "video_sha256": "f98e013323de31ec123555ed48cd5cd4587462d6b6d033d8138d2009c63c318c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg.json new file mode 100644 index 0000000000000000000000000000000000000000..46973e3c0493345d4ebd81aa37a1cc9e62c4d9bd --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 278, + "sim_steps": 684, + "calls": 76, + "rows": 274, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1524.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 13.68, + "max_lag_s": 0.1665, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 589, + "late_steps": 118, + "requests_refused": 3, + "request_busy_s": 1.644, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.358, + "peak_processes": 10, + "peak_disk_gb": 1.12, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "31772328e2d338c811d1612e90ebcd97b833b81db693030a05591b2a77540400" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频 0.00–0.68 s，Panda机械臂及前端蓝色浅杯一直保持初始姿态；橙球从空中落在浅杯旁边，视频 0.72–0.92 s 球已在桌面上，未进入浅杯停留。" + }, + { + "t": 2.8, + "log_step": 135, + "text_zh": "观察：视频 0.96–2.80 s，橙球沿桌面滚向机器人基座，浅杯始终空置，机械臂没有追球或补接动作；log step 135 的机器人服务状态为 episode=4、done=true、reason=failed、control_steps=278。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.00–2.80 s，蓝色浅杯始终停在机器人基座前方的初始位置，未向桌面中部移动；参考成功视频 3.36–4.32 s 可见杯被明显移到轨道接收箱上方附近，本次没有该动作。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "推断：本次首次接球从未完成，且杯未离开初始位置，带首次接球前置的发射区事件未达到；没有以球或接收箱的位置代替杯的位置。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.00–2.80 s，只有场景初始来球的上升、下落与桌面滚动；Panda没有托球上抛、侧移浅杯或重新承接橙球。最初的自由飞行不是机器人自抛，前置接球与移杯事件亦未完成。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.72–2.80 s，橙球位于移动深蓝箱外的桌面，逐渐滚向机器人基座；接收箱沿轨道移动但始终未容纳橙球，Panda没有从浅杯释放球入箱的动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 0.0, + "log_step": 133, + "where": "首步前", + "evidence_zh": "观察：视频 0.00–2.80 s，Panda保持初始姿态，浅杯未开始拦截来球；视频 0.68 s 球从杯旁落下，视频 0.72 s 已到桌面。log step 133 记录 agent 控制程序重置到 episode 4 后，在调用 self.filter_path(pos) 时发生 AttributeError；log step 135、137 均确认 episode 4 已失败且无剩余重置。首次接球动作未启动，此后也未修复。" + }, + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 133, + "evidence_zh": "观察：视频 0.00–2.80 s，Panda机械臂及浅杯一直停留初态；来球飞起、从杯旁下落并在桌面滚走，机器人没有向拦截位置移动。log step 133 的最后回合控制器在发送接球轨迹前报缺少 filter_path 方法，评分回合没有启动首次接球动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 133, + "source_zh": "日志", + "note_zh": "候选名称：控制脚本异常；依 DECISIONS.md D38 归入控制。", + "evidence_zh": "观察：log step 131 的 agent 代码补丁加入 self.filter_path(pos) 调用，其检查输出只有调用行而没有方法定义；log step 133 在最后一次重置启动 episode 4 后给出完整 AttributeError 回溯，明确 Runner 没有 filter_path，控制程序因此退出。log step 135、137 确认该回合已经失败；log step 141 才补入方法定义，log step 143 仅做离线函数检查并保存程序，没有产生新的评分回合。视频 0.00–2.80 s 机械臂不动与此一致。" + } + ], + "gap_zh": "本目录没有状态日志；机器人服务仅报告 reason=failed，没有给出该回合的底层终止原因。视频末尾 2.64–2.80 s 可见球滚至基座边缘，但无法精确确认碰撞对与接触力，因此不把 agent 最终自述的“球撞基座导致终止”（log step 146）当成已验证的终止机制；九项原生验收量均未由评分器字段报告，保留 null。上述缺口不影响四个节点未达成及控制程序异常的判定。" + }, + "summary_zh": "本次评分为最后现场回合 episode 4：视频 0.00–2.80 s，Panda与浅杯始终保持初态，橙球落到杯旁桌面后滚向基座，四个节点均未完成。断点为首次接球的首步前，log step 133 的完整回溯证实 agent 自己的控制程序因缺少 filter_path 方法崩溃，后续修补未进入新的评分回合。无状态日志及精确终止原因，不能独立确认末尾基座接触的具体判负机制。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频 0.00–2.80 s 机械臂与浅杯始终静止，球落桌后滚向基座，四个节点均未达成；断点 initial_ball_caught/首步前、没尝试、控制（按 D38 的 Now 文本）均有 log step 133 的回溯与 135/137 的服务状态支持。无状态日志，gap_zh 已说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:32:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard-realtime--qt8rmmg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b4d225fbdd4a8085c1fdc0d04343a2fc434450ff72588b9b54a5bbdb281c0029", + "video_sha256": "31772328e2d338c811d1612e90ebcd97b833b81db693030a05591b2a77540400", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm.json new file mode 100644 index 0000000000000000000000000000000000000000..003499926b0cc32d5156b8056d014c3aaf068a0b --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1787, + "executed_rows": 1787, + "sim_steps": 1787, + "physics_steps": 17870, + "sim_time_s": 17.87, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 44.5, + "replay_timeout_s": 478.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 4, + "agent_resets": 4, + "agent_sim_steps": 3574, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.096, + "peak_memory_gb": 0.982, + "peak_processes": 11, + "peak_disk_gb": 0.827, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm/replay.mp4", + "duration_s": 17.92, + "fps": 25.0, + "frames": 448, + "sha256": "d94b9c7b9df7715dc3e1b3d533426f9ce8af8e18cbe98e6766d1197bcea56153" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 0.6–1.2 s，Panda 将蓝色浅托盘开口移至橙色高架滚道末端，橙色圆柱离开滚道后进入盘内；视频 1.4–2.0 s 圆柱横躺于盘内同一位置，视频 2.2–3.0 s 随托盘被抬离滚道。" + }, + { + "t": 1.6, + "log_step": 33, + "text_zh": "推断：结合视频 1.4–2.0 s 的连续静置、随后携物抬升及评分器 phases_done=5、success=1，将含对齐与 0.3 s 稳定窗口的首次接稳记在视频约 1.6 s，误差约 0.2 s；log step 33 的已交付轨迹独立回放也报告 phase=5、valid=true。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端固定安装的蓝色浅托盘以盘底承接从滚道离开的橙色圆柱，盘壁使其停稳，随后承托抬升；夹爪未直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 10.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 6.4–7.2 s，Panda 携圆柱将浅托盘倾斜；视频 7.4–8.4 s 圆柱由托盘开口落至银灰导槽靠橙色挡板的一端，浅托盘移向出口；视频 8.6–10.32 s 圆柱沿导槽向远端滚行。" + }, + { + "t": 10.4, + "log_step": 33, + "text_zh": "观察：视频 10.16–10.32 s 圆柱到达导槽远端，视频 10.40–10.56 s 越过该端进入外侧托盘；导槽入口已空。" + }, + { + "t": 10.4, + "log_step": 33, + "text_zh": "推断：视频中圆柱完成整段导槽路线，结合评分器 phases_done=5 及 log step 33 的交付回放成功，判定其满足入口接触及越过出口时无托盘接触的原生条件；完成时刻取视频约 10.4 s，逐帧接触边界无法由本视角精确量化。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 用固定安装的蓝色浅托盘承托并搬运圆柱至导槽入口，再倾盘让圆柱离盘；圆柱随后沿银灰导槽自行滚向出口，托盘绕到出口外侧。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 11.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 10.40–10.80 s，圆柱从导槽远端滚入 Panda 已停在出口外侧的蓝色浅托盘，继续向盘壁移动；视频 11.0–11.8 s 圆柱横躺在盘内且位置稳定，视频 12.0–13.0 s 随托盘离开出口。" + }, + { + "t": 11.0, + "log_step": 33, + "text_zh": "推断：结合视频中圆柱已离槽、在盘内停稳及评分器全部五阶段完成，含沿世界 y 轴对齐与 0.2 s 静置窗口的出口接稳约在视频 11.0 s 达到，误差约 0.2 s；log step 33 的交付轨迹回放确认最终 phase=5。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 将固定安装的浅托盘置于导槽出口外侧，以盘底和盘壁承接、减速并托稳圆柱，再携圆柱转向移动盒。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 17.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.8, + "log_step": null, + "text_zh": "观察：视频 13.0–16.0 s，Panda 用浅托盘将圆柱搬至靠前的深蓝轨道盒旁并降低高度；视频 16.2–16.8 s 圆柱向浅托盘开口滚动，视频 17.0–17.2 s 已离盘落入深蓝盒中，浅托盘内原有位置变空。" + }, + { + "t": 17.88, + "log_step": 33, + "text_zh": "观察：视频 17.2、17.4、17.6、17.8、17.88 s，橙色圆柱保持横躺在深蓝盒内，盒沿轨道缓慢移动，浅托盘在其右上方；评分器 reward 报告 success=1、phases_done=5、deterministic=1、replays=2，log step 33 的已交付文件独立回放报告 success=true、phase=5、control_steps=1787。" + }, + { + "t": 17.88, + "log_step": 36, + "text_zh": "推断：末段画面与最终成功判决共同支持整体入盒、非浅托盘承托、沿世界 y 轴对齐、随移动盒相对静止并满足 0.7 s 窗口；完成时间取视频末帧 17.88 s 附近，而非初次入盒时刻。log step 36 验证两次独立回放成功且终态哈希一致；无逐帧状态日志，盒速、相对速度和包络尺寸阈值未作视觉数值测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 以固定安装的浅托盘从下方承托圆柱，将其送至移动盒旁上方并倾盘，圆柱沿开口离盘落入盒内；此后由移动盒承托随行，夹爪不直接抓握圆柱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "最终交付回放按顺序完成首次接稳、通过导槽、出口接稳和圆柱入移动盒，四个 DAG 节点最终均为真。视频约 1.6 s 首次接稳、约 10.4 s 越过导槽出口、约 11.0 s 再次接稳，视频 17.88 s 末帧圆柱已在移动盒内；评分器两次独立回放均成功且终态一致。无逐帧状态日志，精确接触边界、速度和持续窗口以可见动作结合原生成功判决推断，九项原生指标未单独报告数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，四个节点均为真且顺序合理；抽查视频帧（0.4、1.2、1.6、2.6、7.8、10.4、11.0、13.0、17.0、17.88 s）与各节点时间、托/舀接触标注一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:30:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--545ippm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac680c82bef0fafd8d00cb9d345806c35c8910673bc8dd2e754a6918145c7902", + "video_sha256": "d94b9c7b9df7715dc3e1b3d533426f9ce8af8e18cbe98e6766d1197bcea56153", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a5cf6bb09cc7a8ef8adeef261f5a6a2e7bdf9b --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1800, + "executed_rows": 1504, + "sim_steps": 1504, + "physics_steps": 15040, + "sim_time_s": 15.04, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 40.5, + "replay_timeout_s": 480.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 62, + "agent_resets": 7, + "agent_sim_steps": 3008, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx/replay.mp4", + "duration_s": 15.08, + "fps": 25.0, + "frames": 377, + "sha256": "5d2bfc72dcb1568ee11e9bc3d50c3497a6768073c56bd9821079e0babd856ee1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.08, + "log_step": null, + "text_zh": "观察：视频 0.84–1.20 s，橙色圆柱离开橙色滚道并滚入 Panda 机械臂携带的蓝色浅托盘；视频 1.32–1.80 s，圆柱沿盘外侧壁横躺，位置基本不再变化。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "推断：视频 1.32–1.80 s 的稳定承托及随后视频 2.0–3.5 s 的随盘抬升搬运支持首次接稳已完成，含 0.3 s 持稳窗口，达到时刻取视频约 1.6 s。评分器 phases_done=5、success=1 支持该前置阶段通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端固定安装的蓝色浅托盘从下方承接离开滚道的橙色圆柱，盘底及外侧壁使其停稳；夹爪没有直接夹持圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 7.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 4.44–5.28 s，Panda 机械臂倾斜浅托盘，橙色圆柱向靠橙色挡板的导槽入口滚出；随后托盘向导槽远端移动。" + }, + { + "t": 7.32, + "log_step": null, + "text_zh": "观察：视频 6.96–7.44 s，橙色圆柱沿银灰导槽向远端滚行并越出，随后视频 7.60 s 已进入出口托盘。" + }, + { + "t": 7.3, + "log_step": null, + "text_zh": "推断：结合视频 6.96–7.60 s 的连续滚行及评分器 phases_done=5，圆柱已按序经过入口并越过无托盘承托的出口线；取视频约 7.3 s 为通过时刻，视觉定位误差约 0.2 s，不能从画面精确测量世界 x 坐标或瞬时接触。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 携带的浅托盘承托圆柱送至导槽入口并倾斜送出，之后圆柱离盘沿银灰导槽自行滚动；托盘移向出口等待。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.44–7.80 s，圆柱离开导槽滚入出口外的浅托盘，并在盘外侧壁处减速；视频 7.92–8.16 s 保持横躺且位置稳定。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "推断：视频约 8.0 s，圆柱在出口托盘内稳定承托已持续约 0.2 s；随后视频 8.5–11.5 s，机械臂带圆柱离开导槽并向前方轨道盒搬运，支持出口接稳已完成，评分器五阶段完成与此一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端浅托盘在导槽远端外从下方接住圆柱，以盘底和侧壁承托减速，再托着圆柱离开导槽。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 15.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.84, + "log_step": null, + "text_zh": "观察：视频 12.24–12.60 s，Panda 机械臂倾斜托盘使圆柱滚向开口；视频 12.72–13.08 s，圆柱已离开浅托盘，整体横躺在下方深蓝色轨道盒内，机械臂随后抬起空托盘。" + }, + { + "t": 15.04, + "log_step": null, + "text_zh": "观察：视频 14.28–15.04 s，深蓝色盒沿轨道移动，圆柱持续躺在盒内并随盒移动，浅托盘保持在盒上方且已不再承托圆柱；视频末帧 15.04 s 仍保持该状态。" + }, + { + "t": 15.04, + "log_step": 152, + "text_zh": "观察：log step 152、log step 159 对交付文件的两个独立进程回放均报告 success=true、phase=5、control_steps=1504、sim_time_s=15.04、valid=true、failure_reason=null，末态哈希相同；评分器 reward 同样报告 all_success=1、deterministic=1。" + }, + { + "t": 15.04, + "log_step": 152, + "text_zh": "推断：交付轨迹的 1504 个控制步、每步 0.01 s（log step 140 的动作生成脚本）对应仿真 15.04 s，与已检查的视频 15.04 s 末帧及录像总长 15.08 s 一致。结合视频中入盒、托盘撤离和末段随盒运动，取视频 15.04 s 为含 0.7 s 移动持稳窗口的验收时刻；精确速度、轴角及盒内余量由成功评分支持，未从像素反推。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端浅托盘从下方托着圆柱运至轨道盒上方，倾斜使其离盘落入盒内，然后抬起撤离；最终由轨道盒承托圆柱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：本次交付录像依次显示首次接稳圆柱（视频约 1.6 s）、通过导槽（视频约 7.3 s）、出口接稳（视频约 8.0 s），以及圆柱落入轨道盒、托盘撤离后随盒移动，四个节点最终均达成。观察：评分器报告 success=1、phases_done=5，log step 152、log step 159 的两个独立回放均成功且末态哈希一致，最终移动持稳验收定位在视频 15.04 s，无失败断点。推断：没有状态日志，首次接稳和过槽等时刻按视频估计，连续接触、精确速度、轴角及 0.7 s 窗口的数值验收依赖成功评分，原生连续指标未报告故保留 null；已对照参考成功视频中的接收、过槽及入盒外观。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，四个节点的时间与接触（托/舀）与视频一致，无失败断点，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": "2026-10-30T04:26:55Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--9hlynsx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "81bc66b1ef6fca79e2498e834c7509c4ea5fa1fd7ca1f337b144b5cc14391bfe", + "video_sha256": "5d2bfc72dcb1568ee11e9bc3d50c3497a6768073c56bd9821079e0babd856ee1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt.json new file mode 100644 index 0000000000000000000000000000000000000000..095b07c77814940880ee7432576be8d60fb5af80 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 859, + "executed_rows": 859, + "sim_steps": 859, + "physics_steps": 8590, + "sim_time_s": 8.59, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 25.5, + "replay_timeout_s": 385.9, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 13, + "agent_resets": 2, + "agent_sim_steps": 1575, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.572, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt/replay.mp4", + "duration_s": 8.64, + "fps": 25.0, + "frames": 216, + "sha256": "05bf0a58e2d2fe155e3b9d759b087a689d258e8ff985984c2167795ea61df536" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.6, + "log_step": 33, + "text_zh": "观察：视频 0.88–1.20 s 橙色圆柱从橙色滚道落入 Panda 携带的蓝色浅托盘，视频 1.28–1.84 s 已横躺在盘内并随托盘平稳上升，未再留在原滚道。最终交付文件的回放结果（log step 33）为 phase=2、phase_name=guide_rail_traverse，评分器 reward.phases_done=2，与首次截获及轴向接稳完成相符。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "推断：结合视频 1.28–1.84 s 盘内相对位置与朝向稳定，以及最终原生阶段结果，将首次接稳的完成锚点取视频约 1.6 s；无逐帧状态量，0.3 s 窗口的精确边界不能从画面直接量得。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 固定安装的蓝色浅托盘从下方接住橙色圆柱，盘底承托、盘壁限制滚动；夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.08, + "log_step": 33, + "text_zh": "观察：视频 1.84–7.96 s Panda 用浅托盘承托并搬运圆柱，转向后在入口挡板上方倾盘；视频 8.00–8.08 s 圆柱离盘并落到导槽内较靠中段的位置，视频 8.12–8.44 s 翻滚、弹动并越过远端，视频 8.60 s 已落到桌面。log step 33 对最终 859 行文件的回放仍报告 phase=2、phase_name=guide_rail_traverse、failure_reason=cylinder_left_route_or_receiver，未完成该原生阶段。" + }, + { + "t": 8.08, + "log_step": 3, + "text_zh": "推断：log step 3 保留的任务源码要求先接触 guide 且世界 x<0.02 m，再越过世界 x>0.24 m 且无托盘接触。视频虽显示圆柱沿槽面滚过远端，但结合偏内的首次落点及最终仍处 phase=2（log step 33），判断完整入口—出口过程未被满足，最可能漏掉入口接触；不能仅凭越过槽端给此节点记完成。成功参考视频 7.20–8.80 s 的圆柱先在挡板旁进入槽口，供比较入口位置。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 的浅托盘实际承托圆柱升高、转向并运到导槽入口上方，再倾斜盘底使圆柱滚出；随后圆柱离盘自行落向导槽。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.44, + "log_step": 33, + "text_zh": "观察：视频 8.28–8.60 s 圆柱滚出导槽远端后下落到桌面，Panda 的空浅托盘一直停在入口挡板上方，没有移到出口承接；未见出口接住或盘内再次躺稳。最终回放（log step 33）仍为 phase=2，未进入 exit_reception。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.6, + "log_step": null, + "text_zh": "观察：视频全程 0.00–8.60 s 前方深蓝色轨道盒内未出现圆柱；圆柱从滚道进入浅托盘，最后从导槽远端落到盒外桌面，Panda 未把它送入轨道盒。成功参考视频 16.80–17.88 s 可见圆柱在前方盒内随盒移动，本次没有出现这一关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 8.08, + "log_step": 33, + "where": "操作中", + "evidence_zh": "观察：视频 8.00–8.08 s Panda 倾盘送出的圆柱离盘，落到导槽内较靠中段的位置，随后弹滚并从远端落向桌面；Panda 未改正入口送入过程。log step 32 保存最终 859 行文件，log step 33 回放该文件仍为 guide_rail_traverse（phase=2），以 cylinder_left_route_or_receiver 结束；较早 log step 31 的 716 行托盘碰挡板试验不是此次交付。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 8.08, + "log_step": 33, + "evidence_zh": "观察：视频 7.92–8.08 s 圆柱从高于导槽的倾斜浅托盘滚出，离盘后才落到槽内偏离入口的位置，视频 8.12–8.44 s 随即翻滚、弹动越过远端。推断：结合最终回放仍停在 phase=2（log step 33），倾倒落点没有形成要求的入口接触及通过过程；这次入槽动作未到要求位置，随后触桌终止。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 8.08, + "log_step": 32, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的生成脚本（log step 30，最终修改在 log step 32）把末端倾倒位姿的高度从 0.315 m 改为 0.335 m、俯仰从 0.349 rad 改为 0.314 rad，随后固定保持该姿态让圆柱自行滚出。视频 7.92–8.12 s 显示这种高位倾倒让圆柱经过一段离盘下落才接触导槽，落点偏向槽内，未建立完整入口送入关系；证据指向托盘与导槽交接的释放几何不合适。成功参考视频 7.20–8.80 s 的低位槽口交接及随后出口承接，验证存在可行替代。" + } + ], + "gap_zh": "无逐帧状态日志；首次接稳时刻约为视频 1.6 s，连续保持窗口只可由画面与最终原生阶段结果联合判断。视频无法精确量取圆柱首次触槽的世界 x 和接触标志，漏掉入口条件是由视频落点、越过远端及最终 phase=2 联合推断，不能确认毫米级接触或具体离盘速度。", + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + } + }, + "summary_zh": "评分尝试完成首次接稳圆柱（约视频 1.6 s），之后用浅托盘升高、转向并尝试倾倒送入导槽，最终完成 1/4 个语义节点。视频 8.00–8.60 s 圆柱离盘落向槽内、弹滚越过远端并触桌，而最终回放仍停在 guide_rail_traverse；推断高位倾倒的释放几何使入口接触条件未满足，出口接稳和移动盒交付均未开始。没有状态日志，首次接稳窗口及入口坐标只能结合视频与原生阶段结果估计。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "首次接稳完成、入槽/出口/入盒未完成，与视频和最终回放 phase=2（cylinder_left_route_or_receiver）一致；断点 guide_traversed、位姿不准及推断性根因可接受，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": "2026-10-30T04:30:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--a6wnuyt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3d17d9c3ed96c2d206181afba1c2e50f7d9d16716dd34d5dec15c966848d1642", + "video_sha256": "05bf0a58e2d2fe155e3b9d759b087a689d258e8ff985984c2167795ea61df536", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8eb235fd7f29c040c38dd6755a3cfb375027e1 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1623, + "executed_rows": 1623, + "sim_steps": 1623, + "physics_steps": 16230, + "sim_time_s": 16.23, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 57.3, + "replay_timeout_s": 462.3, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 45, + "agent_resets": 10, + "agent_sim_steps": 10885, + "agent_replays": 7, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.708, + "peak_processes": 12, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83/replay.mp4", + "duration_s": 16.28, + "fps": 25.0, + "frames": 407, + "sha256": "9593699b3a9e4ecd06aa59bca67c628e9b7b471597298b77f97780a21a07a9a5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 0.8 s 圆柱仍在橙色滚道末端，视频 1.2 s 已进入 Panda 携带的蓝色浅托盘，原滚道上不再有圆柱。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 1.4、1.6、1.8 s 圆柱沿同一长轴方向躺在浅托盘外侧盘壁旁，基本不再相对盘滑动；视频 2.0 s 随托盘抬起。首次接稳取约视频 1.6 s，连续速度及角度阈值由最终五阶段成功评分佐证。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 末端固定安装的蓝色浅托盘从橙色滚道出口下方承接圆柱，盘底承托、盘壁使圆柱停下；夹爪未直接夹住圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 6.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：视频 3.4–4.4 s 机器人将载有圆柱的浅托盘移至银灰导槽入口上方并倾斜，圆柱离盘落到橙色挡板旁的导槽入口；视频 5.0–5.6 s 圆柱沿槽向远端滚动，浅托盘已移往出口外侧。" + }, + { + "t": 6.52, + "log_step": null, + "text_zh": "观察：逐帧检查视频 6.08–6.56 s，圆柱从机械臂遮挡后出现，滚到银灰导槽远端并向出口浅托盘滚落；视频 6.8 s 已进入浅托盘。" + }, + { + "t": 6.5, + "log_step": null, + "text_zh": "推断：结合视频 6.4–6.6 s 越过槽端的画面及 reward.phases_done=5，按判据的出口线及该瞬间无托盘接触，首次通过记约视频 6.5 s，时刻误差约 0.2 s；无逐帧接触日志可精确定位。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 的浅托盘承托圆柱搬到导槽入口，并倾斜让圆柱离盘入槽；随后托盘撤离到出口，圆柱自行沿导槽滚行。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 7.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 6.4–6.8 s 圆柱越过导槽出口并进入出口外侧浅托盘；视频 7.0 s 滚到盘壁旁，导槽末端已无圆柱。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "观察：视频 7.0、7.2、7.4 s 圆柱沿同一长轴方向躺在出口浅托盘内并停稳，随后视频 8.0–10.0 s 机器人携盘将其运向前方移动盒。接稳取约视频 7.2 s，精确持续窗口由五阶段成功评分佐证。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 将蓝色浅托盘放到导槽出口下方，盘底接住滚出导槽的圆柱，圆柱在盘内滚至盘壁旁并停稳。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 16.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.36, + "log_step": null, + "text_zh": "观察：视频 14.4–15.2 s 机器人倾斜浅托盘使圆柱向开口滚动，视频 15.36 s 圆柱已落在深蓝轨道盒中；视频 15.52–15.84 s 空托盘抬起撤开，圆柱整体留在盒内。" + }, + { + "t": 16.2, + "log_step": null, + "text_zh": "观察：视频 15.52–16.24 s 深蓝盒沿轨道远离橙色滚道移动，橙色圆柱横躺于盒底、相对盒基本不动；视频 16.20、16.24 s 末帧仍保持入盒状态。" + }, + { + "t": 16.2, + "log_step": null, + "text_zh": "推断：入盒后随盒稳定移动的画面与 reward.success=1、phases_done=5、valid=1 及两次确定性回放成功一致，因此完整的 0.7 s 验收窗口完成于末段，节点起点取约视频 16.2 s；画面不能独立量测精确速度和毫米级容纳余量。" + }, + { + "t": null, + "log_step": 134, + "text_zh": "观察：log step 118 对最终 1623 行交付文件的两次新进程回放均报告 success=True、仿真终时 16.23 s 且末态哈希相同；log step 134 最后检查仍为同一文件和成功哈希，后续另存试验未替换该交付。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 的浅托盘承托圆柱搬到前方深蓝轨道盒上方，倾斜后让圆柱从开口滚落入盒，随后空盘抬起撤开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分轨迹依次完成首次接稳、通过导槽、出口接稳和圆柱入移动盒，四个节点最终均成立；末段视频 15.52–16.24 s 可见圆柱留在盒内随盒移动、空托盘撤开。评分器记录五个原生阶段完成、两次回放均成功且确定一致，无失败断点。没有状态日志，过槽瞬间接触及精确速度、角度和保持窗口不能由画面独立量测，节点时刻为视频近似锚点，连续验收由成功评分佐证；九项原生指标未在 reward 中报告数值，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，四个节点均达成，抽帧核对与标注一致：圆柱约 1.2–1.6 s 进入托盘，6.0–6.8 s 过槽入出口托盘，7.2 s 停稳，15.4 s 入盒，末帧仍在盒内。contact_actual 为手持工具·托/舀，符合实际；无失败断点；校验器通过。", + "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": "2026-10-30T04:21:33Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--baoup83/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3bb8179de34d6175b1c5a1b18b4e03d4674614534908d07a2b4da8c43d731491", + "video_sha256": "9593699b3a9e4ecd06aa59bca67c628e9b7b471597298b77f97780a21a07a9a5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3.json new file mode 100644 index 0000000000000000000000000000000000000000..f331873580b0182c2afb99c2988a4a660046f93b --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1650, + "executed_rows": 1650, + "sim_steps": 1650, + "physics_steps": 16500, + "sim_time_s": 16.5, + "phases_done": 3, + "valid": 1, + "replay_wall_s": 42.0, + "replay_timeout_s": 465.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 93, + "agent_resets": 3, + "agent_sim_steps": 39189, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.595, + "peak_processes": 11, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3/replay.mp4", + "duration_s": 16.52, + "fps": 25.0, + "frames": 413, + "sha256": "abbac6fdd97e9683bbd48f270ff202c27e675c0d12c0c03e0da9e8a2f15e1650" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 0.8–1.2 s，橙色圆柱从橙色滚道进入机械臂安装的蓝色浅托盘；视频 1.2–1.8 s 圆柱沿横向躺在盘内、相对盘的位置基本不变，随后随盘抬升。首次接稳约在视频 1.6 s 完成，时刻误差约 0.2 s。" + }, + { + "t": null, + "log_step": 184, + "text_zh": "观察：最终交付文件的新进程回放在 log step 184 返回 phase=3、phase_name=exit_reception；评分器 reward.phases_done=3，与首次截获、对齐和过槽三个原生阶段完成相符，前两阶段合为本 DAG 的首次接稳节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.2–1.8 s，Panda 末端固定安装的蓝色浅托盘从下方承接并承托橙色圆柱，圆柱停在盘壁内侧；二指夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 16.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频 13.6–15.2 s 圆柱在机械臂的浅托盘中向开口滚动；视频 15.4 s 圆柱已离盘并落到靠橙色挡板的银灰导槽入口，视频 15.6–16.2 s 沿槽滚向远端。" + }, + { + "t": 16.3, + "log_step": 184, + "text_zh": "观察：视频 16.28–16.36 s 圆柱越过导槽远端，托盘仍悬在导槽上方，与圆柱明显分离；越过时刻约为视频 16.3 s。log step 184 对最终保存的 1650 行文件回放返回 phase=3（exit_reception），也确认导槽阶段已完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂的蓝色浅托盘承托圆柱抬高、转向并送到导槽入口上方；视频 15.2–15.4 s 圆柱滚出托盘落入导槽，之后自行沿槽滚行，越过远端时未与托盘接触。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.32, + "log_step": null, + "text_zh": "观察：视频 15.6–16.32 s 机械臂携空托盘开始向出口方向运动，但圆柱越过远端时，托盘仍在出口上方、没有处在圆柱下方；视频 16.36–16.48 s 圆柱从导槽外下落，未进入托盘。" + }, + { + "t": 16.48, + "log_step": 184, + "text_zh": "观察：视频末帧 16.48 s 圆柱与浅托盘分离且仍在下降；log step 184 的最终文件回放停在 phase=3、success=false、failure_reason=null，未进入接稳后交付阶段。进入 exit_reception 是开始出口验收，不能据此记为已经接稳。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 15.6–16.48 s，Panda 携蓝色浅托盘向导槽出口移位，尝试从下方承接圆柱；圆柱越过出口时托盘仍在上方，实际未建立这次托盘—圆柱承托接触。此项记录未接到的承接尝试。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.48, + "log_step": 184, + "text_zh": "观察：本次视频中深蓝色移动盒始终没有接到橙色圆柱；视频 16.48 s 圆柱正在导槽出口外下落，浅托盘仍在高处，机器人尚未开始把圆柱送到移动盒。最终文件回放在 log step 184 仍为出口接收阶段，未进入最后交付阶段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "exit_reception", + "t": 16.3, + "log_step": 184, + "where": "操作中", + "evidence_zh": "观察：视频 16.28–16.48 s，圆柱滚出导槽远端并向下坠落，机械臂的空托盘仍在上方移动，未截获圆柱；此前首次接稳及导槽通过均已完成。log step 184 对最终文件的回放停在 exit_reception 阶段，success=false。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": true, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 16.3, + "log_step": null, + "evidence_zh": "观察：视频 15.4 s 圆柱已进入导槽；视频 15.6–16.32 s 圆柱向出口滚动时，机械臂才开始把浅托盘由入口上方移向出口；视频 16.36–16.48 s 圆柱已从出口下落，托盘还没有降到承接位置，错过运动圆柱的接收时机。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：释放圆柱与随后移盘接收之间的跨阶段时间安排不匹配。log step 146 将释放后的固定等待设为 250 个控制步，并保留随后 1.2 s 的关节移位；log step 171 恢复该出口移位路线，log step 177 再将 tilt_hold 改为 250 步。视频 15.4–16.48 s 可见圆柱已在导槽滚行并越过出口，而托盘尚在高处移位；该等待后再移盘的安排未给出口承接留下足够提前量。log step 183 的 agent 也自述圆柱早于接收器到达；其关于触桌的自述未被末帧或最终回放字段确认。" + } + ], + "gap_zh": "没有状态日志，首次接稳的相对速度、轴向误差和持续窗口只能由视频稳定承托表现与最终阶段反馈联合判断，原生连续指标均未报告。agent 在 log step 183 自述圆柱触桌，但视频 16.48 s 末帧只显示圆柱下落，log step 184 返回 failure_reason=null；不把触桌或碰撞终止当作已证实事实。" + }, + "summary_zh": "本次交付完成首次接稳和圆柱通过导槽，最终为 2/4；出口接稳及入移动盒均未完成。视频约 16.3 s 圆柱越过出口时，机械臂的浅托盘仍在上方移位，错过承接时机，日志中的固定等待后再移盘安排支持跨阶段时间规划不匹配的判断。无状态日志，连续验收量不能精测，且末帧未证实 agent 所述的触桌事件。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、contact_actual、断点（exit_reception，圆柱越过出口时托盘仍在上方）与视频及 log step 184（phase=3）一致；动态时机现象和规划根因有证据支持，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:21:17Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--fwmrhn3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2fdb2bc33541316c113cbedebf4259ac51489641aae20c4decf25861e674c461", + "video_sha256": "abbac6fdd97e9683bbd48f270ff202c27e675c0d12c0c03e0da9e8a2f15e1650", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5.json new file mode 100644 index 0000000000000000000000000000000000000000..5ca21ec88599d28e9f909ac9395b56e7619fb891 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1504, + "executed_rows": 1504, + "sim_steps": 1504, + "physics_steps": 15040, + "sim_time_s": 15.04, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 48.9, + "replay_timeout_s": 450.4, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 22, + "agent_resets": 16, + "agent_sim_steps": 4889, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.191, + "peak_memory_gb": 3.206, + "peak_processes": 25, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5/replay.mp4", + "duration_s": 15.08, + "fps": 25.0, + "frames": 377, + "sha256": "52e801fba9279ff28366a708664e7f69597522a9d0c325a289d6afbf74704f04" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 0.8–1.2 s，橙色圆柱离开橙色滚道，进入机械臂携带的蓝色浅托盘；视频 1.2–1.6 s 圆柱横躺在盘内靠远侧盘壁处，位置基本不再变化，之后随托盘抬升。" + }, + { + "t": 1.6, + "log_step": 25, + "text_zh": "推断：视频 1.2–1.6 s 的盘内停稳及随后持续承托，与评分器 phases_done=5、log step 25 对交付文件的两次完整成功回放一致，首次承托、沿世界 y 轴对齐及持续窗口已完成；节点时间取视频约 1.6 s，数值阈值未由逐帧状态独立复测。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂末端安装的蓝色浅托盘从下方承接并托住橙色圆柱（视频 0.8–1.6 s），圆柱由盘底和盘壁接稳；夹爪未直接夹持圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 7.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 4.4–5.0 s，机械臂倾斜浅托盘，橙色圆柱从盘内滚落至靠橙色挡板的银灰导槽入口；视频 5.4–7.2 s 托盘移往出口外侧，圆柱沿导槽向远端滚行。" + }, + { + "t": 7.3, + "log_step": 25, + "text_zh": "观察：视频 7.20–7.44 s，圆柱从银灰导槽远端滚出并下落至出口外的浅托盘，视频 7.28–7.36 s 可见圆柱高于托盘盘底。" + }, + { + "t": 7.3, + "log_step": 25, + "text_zh": "推断：入口装入、出口越过及先脱槽后落盘的图像顺序，结合评分器 phases_done=5 和 log step 25 的交付文件成功回放，支持通过导槽及出口过线当步不接触托盘的验收已成立；过线时间取视频约 7.3 s，瞬时接触条件没有独立状态记录。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂安装托盘先承托圆柱并在导槽入口上方倾斜送出（视频 4.4–5.0 s）；之后圆柱离盘沿导槽滚行，托盘转移至出口外侧。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.44, + "log_step": null, + "text_zh": "观察：视频 7.36–7.68 s，圆柱落到出口外侧的蓝色浅托盘并向远侧盘壁滚动；视频 7.76–8.08 s 圆柱横躺在盘内，位置基本稳定且已离开导槽。" + }, + { + "t": 8.0, + "log_step": 25, + "text_zh": "推断：视频 7.76–8.08 s 的盘内停稳和视频 8.2–10.4 s 随托盘离开出口的承托结果，与评分器 phases_done=5、log step 25 的两次成功回放一致，出口再次接稳及持续窗口完成；节点时间取视频约 8.0 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂将已安装的蓝色浅托盘置于导槽出口下方，从下方接住橙色圆柱，盘底及远侧盘壁承托圆柱直至停稳（视频 7.36–8.08 s）。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 15.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频 12.4–13.0 s，机械臂在深蓝轨道盒上方倾斜浅托盘，圆柱由托盘开口滚出；视频 13.2–13.4 s 圆柱已在深盒内，浅托盘随后升起离开，盘内不再有圆柱。" + }, + { + "t": 15.04, + "log_step": null, + "text_zh": "观察：视频 14.08–14.32 s，圆柱横躺在深蓝盒底；视频 14.40–15.04 s 深盒沿轨道逐渐远离橙色滚道，圆柱随盒移动且相对位置基本稳定，浅托盘停在盒外上方。末帧视频 15.04 s 圆柱仍整体位于盒内。" + }, + { + "t": 15.04, + "log_step": 25, + "text_zh": "推断：log step 24 保存最终交付轨迹，log step 25 对该文件的两次新进程回放均报告 success=true、phase=5、valid=true、control_steps=1504，末态哈希相同；评分器也给出 success=1、phases_done=5。任务控制率为 100 Hz，1504/100=15.04 s，与视频末帧及视频 14.4–15.04 s 的盒运动核对一致，故把含 0.7 秒持续窗口的完整入盒验收记于视频 15.04 s；不把视频约 13.2 s 的初次落盒直接计作节点完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂安装的浅托盘承托圆柱移到深蓝轨道盒上方，再倾斜使圆柱离盘落入盒内（视频 12.4–13.4 s）；随后托盘抬离，圆柱由轨道盒承托。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：评分视频中机械臂用安装托盘依次完成首次接稳、送圆柱通过导槽、出口再次接稳及倒入深蓝轨道盒，四个节点末态均为真；评分器给出 success=1、phases_done=5、两次回放成功且确定性一致。推断：三个前序节点的完成时间约为视频 1.6 s、7.3 s、8.0 s，最后入移动盒的完整验收锚定视频 15.04 s，圆柱留在盒内随盒运动而浅托盘已抬离。无状态日志，瞬时接触、角度、速度及连续窗口无法逐帧独立复测，精确达标由最终成功记录支持；DAG 所列原生连续指标未在评分器字段报告，均留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，四个节点全部达成且 final=4，帧与标注一致：约1.6 s托盘接稳、约7.3 s圆柱出槽、约8.0 s出口接稳、15.04 s入移动盒（1504步/100 Hz 与视频末帧吻合，末帧圆柱仍在盒内且盒在移动）。contact_actual 为托/舀，符合实际；无失败层，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:24:18Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--qdsqwm5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "aa9fcd649454303473905019c2fae14c4e803ae04bdc3e631852f058abdc2ead", + "video_sha256": "52e801fba9279ff28366a708664e7f69597522a9d0c325a289d6afbf74704f04", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm.json new file mode 100644 index 0000000000000000000000000000000000000000..6fe907d6f054a21182278459308c9321820cdc9c --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm.json @@ -0,0 +1,328 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1504, + "executed_rows": 1504, + "sim_steps": 1504, + "physics_steps": 15040, + "sim_time_s": 15.04, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 40.9, + "replay_timeout_s": 450.4, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 5, + "agent_resets": 19, + "agent_sim_steps": 6166, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.239, + "peak_memory_gb": 0.984, + "peak_processes": 10, + "peak_disk_gb": 0.052, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm/replay.mp4", + "duration_s": 15.08, + "fps": 25.0, + "frames": 377, + "sha256": "643e3c0376dea57fd5a6e4eef204bc77b94a118f4b92433fc8d180fa67a3cd1b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.68, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.04, + "log_step": null, + "text_zh": "观察：视频 0.80–0.96 s 橙色圆柱从橙色滚道末端滚向 Panda 安装的蓝色浅托盘；视频 1.04–1.28 s 圆柱完全离开滚道，在盘底上向远侧盘壁滚动，夹爪没有夹住圆柱。" + }, + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 1.36–1.68 s 圆柱横躺于浅托盘远侧盘壁旁，随托盘抬起而基本保持盘内位置；视频 1.76–2.00 s 继续由托盘承托。" + }, + { + "t": 1.68, + "log_step": null, + "text_zh": "推断：结合视频 1.36–1.68 s 的连续停稳外观及 reward.phases_done=5、success=1，首次接稳（含对齐与保持窗口）约在视频 1.68 s 完成，时间误差约 0.2 s；相对速度与轴向阈值不能从画面直接测出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.04–1.68 s，Panda 末端固定安装的蓝色浅托盘从下方承接橙色圆柱，并以盘底、盘壁承托使其停稳。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 6.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.16, + "log_step": null, + "text_zh": "观察：视频 2.00–3.84 s Panda 用浅托盘托着圆柱抬高并送至银灰导槽橙色挡板一端；视频 4.00–4.48 s 圆柱离开倾斜托盘落到导槽入口，随后在槽内朝另一端滚动，浅托盘移向出口。" + }, + { + "t": 6.44, + "log_step": null, + "text_zh": "观察：视频 6.32–6.56 s 圆柱沿导槽远端向外滚出，浅托盘在出口外侧等待，圆柱随后进入浅托盘。" + }, + { + "t": 6.44, + "log_step": null, + "text_zh": "推断：导槽出口越线约在视频 6.44 s；结合 reward.phases_done=5、success=1，确认入口接触和出口越线时无托盘接触的原生条件已被接受。画面可确认滚行与转移，但不能分辨越线瞬间的微小间隙，时间误差约 0.2 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 2.00–4.00 s，Panda 安装的浅托盘从下方托运圆柱并倾斜送入导槽；之后圆柱离盘沿固定导槽自滚，托盘提前移到出口。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 7.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.88, + "log_step": null, + "text_zh": "观察：视频 6.48–6.88 s 圆柱由银灰导槽远端滚进出口外侧的蓝色浅托盘，继续向盘内滚动；原导槽逐渐与圆柱分离。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "观察：视频 7.04–7.36 s 圆柱横躺于托盘远侧盘壁旁，盘内位置基本稳定；视频 8.00–9.00 s Panda 已托着同一圆柱离开导槽并搬向轨道盒。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "推断：结合视频 7.04–7.36 s 的停稳外观与 reward.phases_done=5、success=1，将包含对齐及 0.2 s 保持窗口的出口接稳记为约视频 7.20 s；精确速度与接触阈值未逐帧记录，时间误差约 0.2 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 6.48–7.20 s，Panda 安装的浅托盘在导槽出口外从下方接住圆柱，并以盘底和远侧盘壁承托、减速。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 15.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.68, + "log_step": null, + "text_zh": "观察：视频 9.96–10.56 s Panda 将承托圆柱的浅托盘置于深蓝轨道盒上方并倾斜，圆柱向开口滚动；视频 10.68–11.28 s 圆柱落入盒内，浅托盘移开，盒内仍可见圆柱。" + }, + { + "t": 15.04, + "log_step": null, + "text_zh": "观察：视频 11.40–14.24 s 圆柱横躺在深蓝盒内；视频 14.32、14.48、14.64、14.80、14.96、15.04 s，盒沿轨道逐渐远离橙色滚道，圆柱随盒移动且相对盒位置基本稳定，浅托盘已在旁侧。" + }, + { + "t": 15.04, + "log_step": 47, + "text_zh": "观察：log step 47 的新进程回放输出为 success=true、phase=5、phase_name=complete、valid=true、failure_reason=null，执行 1504 个控制步；评分 reward 同时报告 all_success=1、deterministic=1、replays=2、phases_done=5。" + }, + { + "t": 15.04, + "log_step": null, + "text_zh": "推断：视频 10.68 s 的入盒尚不等于最后节点完成；结合视频末段恢复移动并保持圆柱的画面及评分器全阶段成功，将包含移动速度、完整入盒、轴向及 0.7 s 窗口的达成锚点记在视频 15.04 s。无状态日志，窗口起点及精确速度、几何余量无法独立测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 8.00–10.56 s，Panda 安装的浅托盘从下方承托圆柱搬到轨道盒上方并倾斜送出；视频 10.68–11.28 s 圆柱离盘进入深蓝盒，托盘撤离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：评分回放中，Panda 使用安装托盘依次接稳圆柱、送圆柱通过导槽、在出口再次接稳并将其送入轨道盒，四个节点最终均达成；评分器报告两次回放全部成功且结果一致。观察：视频末段圆柱在盒内随盒沿轨道移动，浅托盘已撤离。推断：无逐帧状态日志，接触间隙、相对速度、轴向误差和连续保持窗口不能独立精测，节点时间为画面近似锚点，最终精确验收由成功评分结果佐证；原生连续指标未在评分字段中逐项报告，数值保留为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，四个节点均达成；抽查视频 1.0/1.7/6.4/7.2/11.0/15.0 s 与标注一致，接触标签（手持工具·托/舀）合理，时间为近似锚点并已说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:23:43Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--xkp4tqm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c7646b1b0c9a1e1447d6573be5e8014bf639a227204b4d57b07148b189150983", + "video_sha256": "643e3c0376dea57fd5a6e4eef204bc77b94a118f4b92433fc8d180fa67a3cd1b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0871d61c4713bdfbc57acde430eb6877d1e929 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g.json @@ -0,0 +1,308 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1115, + "sim_steps": 1600, + "calls": 37, + "rows": 1345, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 810.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g/replay.mp4", + "duration_s": 11.2, + "fps": 25.0, + "frames": 280, + "sha256": "a4938ffaea286dd93b49d520cae98256d4acefdd997d0b842481a15097f5d15c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.3, + "log_step": null, + "text_zh": "观察：视频 0.9–1.2 s，橙色圆柱离开橙色滚道进入机械臂安装的蓝色浅托盘；视频 1.3–1.6 s，圆柱沿盘侧壁横躺，长轴方向与世界 y 轴一致，已无明显相对滚动。视频 1.7–2.8 s，机械臂抬盘时圆柱随盘升高，原滚道上已无该圆柱。" + }, + { + "t": 1.6, + "log_step": 73, + "text_zh": "推断：依据视频 1.3–1.6 s 的连续稳定承托，将首次接稳记于视频约 1.6 s（视觉估计，误差约 0.2 s）；log step 72 是最后一次重置后的接取动作，log step 73 的服务读数为仿真 1.6 s、done=false，与视频停稳后开始抬盘相符。该节点为锁存事件，后来离盘不撤销。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.0–1.6 s，Panda 末端固定安装的浅托盘以盘底和侧壁承接并托稳圆柱；二指夹爪未直接夹持圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": 76, + "text_zh": "观察：视频 2.8–4.3 s，机械臂用浅托盘携圆柱移向高架导槽；视频约 4.4–4.5 s，圆柱从托盘开口侧离盘，落在橙色入口挡板旁。视频 4.6–9.6 s，圆柱一直停在入口附近，没有沿银灰导槽到远端；视频 9.8–10.3 s 暂被下降的浅托盘遮挡，视频 10.4–11.16 s 托盘抬起后圆柱仍在同一入口位置，未越过出口。" + }, + { + "t": 11.16, + "log_step": 93, + "text_zh": "观察：视频 11.16 s 的末帧中圆柱仍在入口、出口为空。log step 93 的服务记录明确为 episode=4、control_steps=1115、sim_time_s=11.15、done=true、why=limit_violation；与 log step 93 中 agent 最初自述的工具碰夹具原因不同，以服务字段为准。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.7–4.3 s，机械臂安装的浅托盘从下方承托圆柱，抬高并搬向导槽；视频约 4.4 s 圆柱滑出开口侧，随后由导槽入口承载。视频 9.5–10.3 s 托盘下降靠近入口，但遮挡使是否再次触及圆柱不能确定，不另臆测推压接触。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": 80, + "text_zh": "观察：视频 5.2–7.5 s，机械臂把空浅托盘移到导槽远端上方作接收准备，但圆柱仍在入口，未进入出口托盘；视频 8.0 s 后机械臂又返回入口，至视频 11.16 s 均未发生出口接稳。成功参考视频 10.4–11.6 s 可见圆柱在远端托盘中停稳，本次相同视角未出现这一结果。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 5.2–7.5 s 仅有机械臂空盘移往导槽远端上方的预置动作；圆柱始终留在入口，未发生出口托盘与圆柱的承接接触。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.16, + "log_step": null, + "text_zh": "观察：视频全程未见机械臂把圆柱送往前方深蓝移动盒；视频 10.0–11.16 s，圆柱仍在高架导槽入口，前方深蓝移动盒为空。因此没有整体入盒或在移动盒内相对静止的区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 4.4, + "log_step": 76, + "where": "操作中", + "evidence_zh": "观察：视频约 4.4–4.5 s，机械臂向导槽搬运时圆柱从浅托盘开口侧滑出并落在入口挡板旁，此后始终未通过导槽；视频 8.0–11.16 s 的返回、下降及抬盘补救没有修复该步。log step 76 是携物横移命令，log step 78 才称发现托盘已空；最终 log step 92 的转盘命令在 log step 93 被服务以 limit_violation 终止。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.4, + "log_step": 76, + "evidence_zh": "观察：视频 3.4–4.3 s，圆柱在机械臂携带的浅托盘内向开口侧滚动；视频约 4.4–4.5 s 脱离盘底承托，落在导槽入口并停止。log step 76 仅提交高位横移，log step 78 中 agent 随后才发现盘空；推断：这是搬运阶段未保持住圆柱，尚未执行受控倾盘送入导槽的动作。" + }, + { + "cat": "约束", + "item": "违反约束", + "t": 11.15, + "log_step": 93, + "evidence_zh": "观察：log step 92 提交将托盘转向约 180°的补救命令，log step 93 的同一最终现场回合服务结果为 episode=4、executed_rows=25、why=limit_violation、done=true，说明触发机械臂超限而终止。推断：log step 8 给定 control_dt=0.01 s，log step 93 的 1115 个控制步对应视频约 11.15 s；已用 log step 83 的 750 个控制步对应视频 7.5 s 空盘停在导槽远端上方这一事件核对，末段视频 11.0–11.16 s 也可见托盘开始转向后停止。未将 agent 在 log step 93 的碰撞猜测当作服务判负原因。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 3.4–4.5 s 显示机械臂搬运过程中未能维持圆柱在开口托盘内的承托，圆柱在 log step 76 的高位移送中滑出；其后 log step 88–92 的返回、下降和转盘动作仍未使圆柱沿导槽前进，且 log step 93 的服务结果证实最后转盘动作触发 limit_violation。证据支持搬运及补救动作的控制失败，但不足以在承载接触设计、轨迹生成和反馈跟踪之间确定子类。" + } + ], + "gap_zh": "没有状态日志，也没有原生阶段、接触对、相对速度与连续保持窗口的逐帧记录；首次接稳时刻和阈值满足情况由视频估计。日志中的控制器编辑正文未保存为可读实现，超限字段未细分具体关节或运动量，故根因停留在控制大类；入口补救时部分接触被浅托盘遮挡，不能确认是否推到圆柱。成功参考只用于辨认完成形态，不作为本次进度证据。", + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + } + }, + "summary_zh": "本次评分视频对应 log step 72 最后一次重置后的第 4 回合：机械臂约在视频 1.6 s 首次接稳圆柱，完成 1/4 个节点。视频约 4.4 s 向导槽搬运时圆柱滑出托盘并停在入口，导槽通过、出口接稳及移动盒交付均未完成；补救转盘最终在视频约 11.15 s 被服务以 limit_violation 终止，根因归为控制。没有状态日志，首次接稳的精确窗口、离盘的具体控制机制和超限量无法进一步确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "时钟（1115 控制步=11.15 s，已用 750 步=7.5 s 核对）、节点（仅首次接稳达成，约 1.6 s；4.4–4.6 s 圆柱滑出托盘落在导槽入口且此后未前进）、断点（guide_traversed，操作中）与现象均有帧与日志支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:26:51Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--bciur2g/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "95125f465674e0dd9073c471a1b9388523acb19c53bc059bfe97034657e04233", + "video_sha256": "a4938ffaea286dd93b49d520cae98256d4acefdd997d0b842481a15097f5d15c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae.json new file mode 100644 index 0000000000000000000000000000000000000000..efc2941daf46f3d0d53dcc9402aa11af89a3b25d --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1852, + "sim_steps": 3574, + "calls": 50, + "rows": 3188, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1215.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.21, + "peak_processes": 8, + "peak_disk_gb": 0.289, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae/replay.mp4", + "duration_s": 18.56, + "fps": 25.0, + "frames": 464, + "sha256": "85b9ccee9b48fe28152879d76e16d79466b67214a282ecfdfac49c1ef5495adb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.6, + "log_step": 58, + "text_zh": "观察：视频约 1.0–1.2 s 橙色圆柱离开橙色滚道进入蓝色浅托盘，视频 1.3–1.8 s 圆柱沿盘内同一方向横躺并相对盘基本不动；随后视频约 2.0–4.8 s 机械臂携盘和圆柱一起抬高、移到导槽上方。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "推断：以视频约 1.3 s 开始的稳定横躺及随后持续承托，计入约 0.3 s 稳定窗口，首次接稳约在视频 1.6 s 达成，时间精度约半秒；该事件锁存，之后倒入导槽不撤销。成功参照视频中首次接稳也表现为圆柱在浅托盘内横躺后随盘搬运；本次未直接测得轴角与相对速度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频约 1.0–1.8 s，Panda 末端固定安装的蓝色浅托盘从下方接住并承托橙色圆柱；二指夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.8, + "log_step": 66, + "text_zh": "观察：视频约 5.6–6.8 s 机械臂倾斜浅托盘，圆柱从开口侧落入银灰导槽入口；视频 8.6–9.2 s 浅托盘离开，圆柱仍在导槽靠入口一侧，未滚过远端。" + }, + { + "t": 16.0, + "log_step": 69, + "text_zh": "观察：视频约 13.0–16.0 s 机械臂将倾斜托盘的边缘贴近圆柱并沿槽推动，圆柱向远端移动；视频 16.2–18.52 s 托盘撤离并移到出口下方，圆柱仍停在导槽末端以内，没有越出导槽。" + }, + { + "t": 18.52, + "log_step": 70, + "text_zh": "观察：最后一帧视频 18.52 s 圆柱仍由银灰导槽承托，蓝色浅托盘为空。参照成功视频 10.0–10.8 s 可见圆柱越过导槽端部进入浅托盘，本次没有出现该越出过程；log step 73 的 agent 最终报告亦自述导槽阶段未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频约 1.8–6.8 s，Panda 的安装托盘承托圆柱搬至导槽入口上方并倾倒，使圆柱离盘落入导槽。" + }, + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 13.0–16.0 s，Panda 用倾斜托盘的端缘沿导槽推动橙色圆柱；这是入槽承托之后发生的补救接触，夹爪未夹持圆柱。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": 66, + "text_zh": "观察：视频约 9.0–11.0 s 机械臂把空浅托盘移至导槽出口外侧等待，圆柱仍停在槽内靠入口一侧；没有圆柱离槽进入托盘的过程。" + }, + { + "t": 18.52, + "log_step": 70, + "text_zh": "观察：视频约 17.2–18.52 s 机械臂再次将空托盘移到出口下方；圆柱保持在导槽末端以内，最后一帧仍未进入托盘，出口接稳未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频约 9.0–11.0 s 及 17.2–18.52 s，Panda 将安装托盘移至出口外下方尝试承接；圆柱没有离开导槽，出口承接并未建立圆柱与托盘的接触。此项记录可见的承接尝试，不表示实际接住。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.52, + "log_step": null, + "text_zh": "观察：视频全程未见机械臂把圆柱送到靠前的深蓝移动盒，视频 17.5–18.52 s 盒内为空、圆柱仍在银灰导槽内；没有入盒及随盒稳定运动的过程，该节点从未成立，也未开始交付尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 9.0, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频约 8.6–9.2 s，机械臂倒出圆柱后转去出口接收位置，圆柱却留在导槽靠入口处；视频约 13.0–16.0 s 用托盘补推后，视频 16.2–18.52 s 圆柱再次停在槽内，直到末帧也未越过出口。通过导槽这一最早未修复步骤始终未完成。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 9.0, + "log_step": 66, + "evidence_zh": "观察：视频 8.6–9.2 s 圆柱在导槽入口侧停滞；机器人用托盘补推后，视频 16.2–18.52 s 圆柱仍停在出口线内侧，未到达槽外接收区域。可见结果是沿规定路线移动距离不足，未出现掉落或出口接住后丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "t": 16.0, + "log_step": 69, + "evidence_zh": "推断：视频约 6.8–9.2 s 的倾倒入槽未使圆柱持续滚出；log step 67–69 的脚本随后以托盘端缘推动，明确将圆柱推送目标设为世界 x=0.21 m，log step 70 再把托盘撤到出口接收位。视频约 13.0–16.0 s 的推送及视频 16.2–18.52 s 的槽内停滞与该操作相符，说明释放和后续推送产生的运动不足以让圆柱自行完成余下槽段；归为控制层面的送出失败，缺少接触力与速度记录，不能再确定控制子类。" + } + ], + "gap_zh": "本工作目录无状态日志，评分器 reward 未报告原生阶段或各连续验收量；首次接稳的精确轴角、速度及窗口边界只能由画面近似判断。圆柱入槽后局部曾被托盘或机械臂遮挡，但前后画面及视频 18.52 s 末帧足以确认未通过；缺少接触力、摩擦和圆柱速度记录，不能确定槽内停滞的具体动力学原因，故根因只标控制。log step 69–70 的坐标由 agent 自写视觉脚本估计，不当作评分器真值或原生指标；未将此前回合的碰撞、限位失败或 log step 73 自述剩余时间作为本次失败原因。", + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + } + }, + "summary_zh": "评分视频对应 log step 58 重置后的最后一个现场回合：圆柱约在视频 1.6 s 首次接稳，四个节点仅完成这一项。机械臂倒入导槽后圆柱停滞，随后用托盘补推仍未越过出口，断点为圆柱通过导槽；出口托盘虽已就位但未接到圆柱，移动盒交付未尝试。无状态日志及原生阶段数值，接稳时刻为视觉近似，送出控制的具体动力学缺陷无法细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 1.0–18.5 s：圆柱约 1.6 s 在托盘内接稳，随后倒入导槽、补推后到末帧仍停在槽内靠出口端，托盘空、移动盒空，节点值、断点与现象均与画面相符，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:27:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--hkddwae/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "70669eddeb5714f8e63a9619563a60dc987ad6ec376021daca0188430e6d782d", + "video_sha256": "85b9ccee9b48fe28152879d76e16d79466b67214a282ecfdfac49c1ef5495adb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc.json new file mode 100644 index 0000000000000000000000000000000000000000..4844a8e0ead36d353fe12b2a7c9ab34d5c6ef0f5 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc.json @@ -0,0 +1,293 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 502, + "sim_steps": 502, + "calls": 13, + "rows": 502, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 960.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc/replay.mp4", + "duration_s": 5.08, + "fps": 25.0, + "frames": 127, + "sha256": "692e8595cb1db6fa4ee5ceb1684d00688dff6f127306a70bc9ed3e043715df49" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.7, + "log_step": 17, + "text_zh": "观察：视频 0.96–1.28 s 橙色圆柱从橙色滚道滚入蓝色浅托盘；视频 1.36–1.84 s 圆柱沿盘的一侧横躺、相对托盘基本不动，随后在视频 2.0–3.2 s 随托盘升高并移到导槽上方，原滚道已空。推断：首次接稳约在视频 1.7 s 完成，含约 0.3 s 静置窗口，时间精度约半秒；无逐帧速度和阶段标志，不能精确核对阈值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.04–1.84 s，Panda 固定安装的蓝色浅托盘从下方承接橙色圆柱，盘底和侧壁使圆柱停稳；二指夹爪没有直接夹住圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.64, + "log_step": 25, + "text_zh": "观察：视频 3.2–4.16 s 机器人倾斜浅托盘，圆柱向橙色挡板一侧滚出；视频 4.40–4.84 s 圆柱出现在银灰导槽入口附近并向槽内移动。检查至视频 5.04 s，未见圆柱越过导槽远端；此时托盘仍在导槽上方，圆柱没有到达出口外侧。推断：只完成送入入口，没有完成整段通过；成功参考视频 8.8–10.4 s 中的沿槽到远端再出槽现象尚未出现。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 2.0–3.84 s，机器人用安装托盘承托圆柱搬至导槽入口上方，再倾斜盘面使圆柱向入口滚出；视频 4.40–4.84 s 圆柱落在导槽内，托盘移开。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": 28, + "text_zh": "观察：视频 4.2–5.04 s 机器人把空托盘向导槽远端移动并降低，未见圆柱离开导槽后进入托盘或停稳；末帧浅托盘为空。log step 28 的现场服务返回 done=true、reason=failed、why=forbidden_tool_fixture_contact，回合在 control_steps=502 结束。推断：机器人已为出口接收移动托盘，但未完成出口接稳。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 4.2–5.04 s，机器人空载托盘向导槽出口定位；视频 5.00–5.04 s 托盘与导槽端部区域贴合，log step 28 的现场服务确认 forbidden_tool_fixture_contact。候选接触名“碰撞”：实际发生的是安装托盘碰到固定设施，没有再次托住圆柱，抓握、托/舀及有意推/扫均不能描述这一实际接触；具体碰撞几何体未报告。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.04, + "log_step": 28, + "text_zh": "观察：视频 0–5.04 s 靠前轨道上的深蓝盒始终未接收到橙色圆柱，机器人没有把圆柱送到盒上方；末帧圆柱尚在后方导槽区域，浅托盘也停在导槽上方。推断：未开始最终入盒操作，整体入盒及相对静止窗口均未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "exit_reception", + "t": 5.0, + "log_step": 28, + "where": "操作中", + "evidence_zh": "观察：视频 4.2–5.04 s，圆柱仍在导槽内滚行，机器人正在把空托盘移向出口并下放，为同一圆柱的再次接收定位；视频 5.00–5.04 s 托盘与导槽端部区域贴合后动作停止。log step 28 的现场服务在 control_steps=502、sim_time_s=5.02 报告 forbidden_tool_fixture_contact、done=true。推断：此前导槽滚行尚在进行，没有更早可确认且未修复的失败；故断点是正在执行的出口接收定位，而非尚未完成的导槽通过节点。时钟映射用 log step 4 的 control_dt=0.01 s，502×0.01=仿真 5.02 s，对应视频约 5.0 s；已用 log step 23 的 control_steps=320 与视频 3.2 s 托盘携圆柱到导槽上方核对，未使用 agent 工作时间。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.0, + "log_step": 28, + "evidence_zh": "观察：视频 4.88–5.04 s，机器人下放的蓝色托盘仍覆盖导槽远端，随后停止；log step 28 的现场服务明确返回 why=forbidden_tool_fixture_contact，且只执行了本段 82 个控制步即终止。推断：出口接收定位中的托盘与固定设施碰撞阻断了后续接收；没有另将同一碰撞重复标为违反约束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 5.0, + "log_step": 28, + "evidence_zh": "观察：log step 28 的脚本提交一整段逆解关节轨迹：先向工具目标世界坐标 (0.320,0.180,0.275) m 移动，再按预定时序降至 (0.320,0.180,0.212) m，中途没有检查实测工具是否已移出导槽；log step 30 在该回合失败后读取的实测工具位置为 (0.2329,0.1950,0.2548) m。视频 4.88–5.04 s 也显示托盘尚未完全越过导槽就下降，现场服务报告禁触。推断：出口定位的控制执行没有保证托盘先获得足够间隙，再下降；命令目标与实测位置有明显差异，但缺少中间关节与伺服记录，不能区分逆解轨迹问题和跟踪滞后，保留在控制大类。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs 中无状态日志；现场服务未报告各阶段完成标志、连续验收量或具体碰撞几何体，视频末段夹爪也部分遮挡导槽内圆柱。推断：首次接稳时间按可见静止窗口估计，不能精确核对速度及轴角阈值；控制根因的逆解与跟踪子类无法区分。log step 31 的模型过滤提示发生于 log step 28 已报告物理回合失败之后，不改变该回合的失败归属。" + }, + "summary_zh": "观察：圆柱先从滚道进入安装托盘并停稳，首次接稳约在视频 1.7 s 达成；随后被送入导槽，但至视频 5.04 s 未越过出口，最终完成 1/4 个节点。观察：机器人为出口接收移动空托盘时碰到固定设施，log step 28 的现场服务以 forbidden_tool_fixture_contact 终止回合；推断：定位控制未保证下降前的间隙，断点为出口接稳圆柱。观察：无状态日志和阶段标志，接稳时刻及控制子类有不确定性；末条模型过滤提示出现在物理失败之后。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅首次接稳达成，导槽/出口/入盒未达成）、断点（出口接收定位，forbidden_tool_fixture_contact 终止）、被挡/碰撞与控制根因均与视频及 log step 28 的现场服务读数一致；时钟映射（502 步=5.02 s）可核对，未发现需改动内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:30:32Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--k3y5elc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a7a0e2a0d39636636a10dbe2dda5076a473f71a4d0a6e85777cdc16f1dd537d7", + "video_sha256": "692e8595cb1db6fa4ee5ceb1684d00688dff6f127306a70bc9ed3e043715df49", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3b7942214f755a2b476d7d50fb6beeed9d87e8 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy.json @@ -0,0 +1,279 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 227, + "sim_steps": 513, + "calls": 6, + "rows": 227, + "resets": 1, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2878.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy/replay.mp4", + "duration_s": 2.32, + "fps": 25.0, + "frames": 58, + "sha256": "c604a89b81331f49de14149dceba425613f5709adfcf623f9c3842e374e42178" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.08, + "log_step": null, + "text_zh": "观察：视频 0.00–0.96 s，机械臂将安装的蓝色浅托盘移向橙色滚道出口下方；视频 1.08–1.28 s，橙色圆柱离开滚道进入托盘，滚向托盘右侧封闭壁。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧查看视频 1.28–2.00 s，圆柱始终躺在盘底、靠近封闭壁，长轴沿场景世界 y 方向，位置和朝向基本不变。推断：盘内承托、对齐和减速持续超过 0.3 s，首次接稳约在视频 1.7 s 达成（目测时间误差约 0.2 s）；成功示例的相同总览视角可见同类接稳外观。" + }, + { + "t": 2.28, + "log_step": 47, + "text_zh": "观察：视频 2.04–2.28 s，机械臂开始携盘移动，圆柱仍在托盘内；log step 47 的机器人服务返回 episode=2、control_steps=227、done=True、reason=failed，未报告原生阶段值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.08–2.28 s，Panda 末端固定安装的蓝色浅托盘从下方接住并承托橙色圆柱，封闭盘壁使圆柱停下；夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": 46, + "text_zh": "观察：视频 2.04–2.28 s，机械臂刚开始带着盘内圆柱略微上移、转动；至末帧圆柱仍在源滚道旁的浅托盘中，后方银灰导槽全程为空，未见入口装入或出口越线。log step 46 的执行脚本在接收停留后安排携盘向导槽入口运动，log step 47 的服务在本次动作块尚未完成时返回 failed。推断：本节点已开始执行携物转运，但未通过导槽。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 2.04–2.28 s，机械臂开始移动时，安装的浅托盘继续从下方承托橙色圆柱；尚未把圆柱送入导槽。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：视频 0.00–2.28 s，圆柱仅由源滚道进入源滚道旁的浅托盘，未到过银灰导槽；导槽出口外也没有托盘承接圆柱的动作。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：视频 0.00–2.28 s，前方轨道上的深蓝色盒内始终没有橙色圆柱；末帧圆柱仍在机械臂的浅托盘中，未向移动盒交付。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 2.28, + "log_step": 47, + "where": "操作中", + "evidence_zh": "观察：视频 1.7–2.00 s 圆柱已在浅托盘内停稳，视频 2.04–2.28 s 机械臂开始携盘向后上方移动并转动，圆柱仍留在盘中，未进入后方导槽；此后录像结束。log step 46 的脚本安排接稳后携盘前往导槽入口，log step 47 的机器人服务在第 2 回合返回 done=True、reason=failed、control_steps=227。推断：断点在携物送入导槽的操作初段，首次接稳已完成，导槽通过始终未完成。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 没有状态日志；log step 47 及 log step 52 所保留的机器人服务结果仅给出通用 failed，没有具体碰撞对象、原生 failure_reason、阶段或安全监控数值。视频 2.04–2.28 s 中托盘和适配杆靠近源滚道，但单一总览投影不能可靠确认哪两个实体发生了阻断接触，也未见圆柱脱盘、落桌或明显失稳，因此失败现象和根因均留空，不能据通用失败判决猜为碰撞或超限。首次接稳时间由盘内静置外观估计，无法精确核对朝向、相对速度及计时器阈值；DAG 所列九项原生指标均未在评分字段中报告。log step 20、22–23 描述的第 1 回合自由滚落是重置前的会话测试，不属于本视频的第 2 回合；log step 52 的 agent 自述“接住成功”也不代替帧证据。" + }, + "summary_zh": "本次评分为重置后的第 2 回合：机械臂用安装托盘接住圆柱，约在视频 1.7 s 首次接稳，最终完成 1/4 个节点。视频 2.04–2.28 s 刚开始携盘送往导槽时回合失败终止，圆柱仍在盘内，尚未进入导槽，出口接收和移动盒交付均未开始。服务只返回通用 failed 且无状态日志，不能确定触发终止的具体接触或控制故障，故现象和根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 2.32 s（第 2 回合，sim 2.27 s 与 227 control_steps 对应）。逐帧核对：圆柱约 1.1–1.3 s 入托盘，1.7–2.28 s 静卧盘内，机械臂 2.04 s 起携盘移动，导槽始终为空，故首次接稳达成、其余三节点未达成、断点 guide_traversed 与托/舀接触均成立。服务仅返回通用 failed、无状态日志，现象与根因留空并给出 gap_zh 是合理的，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": "2026-10-30T04:33:53Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--t5z53dy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "937a7485d4e18da77b511fd4b88230ad8c1d9d42dd8e888720f9dbc365993ab6", + "video_sha256": "c604a89b81331f49de14149dceba425613f5709adfcf623f9c3842e374e42178", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s.json new file mode 100644 index 0000000000000000000000000000000000000000..127cc5cd4bf95e690c5dce51af0928eda76b5c0a --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 151, + "sim_steps": 626, + "calls": 9, + "rows": 340, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 603.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.208, + "peak_processes": 7, + "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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s/replay.mp4", + "duration_s": 1.56, + "fps": 25.0, + "frames": 39, + "sha256": "53c9ec94c3e723ecf4ac4c184a626fd52da1aa1a336eade920865f3fb15db38c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": 94, + "text_zh": "观察：视频 0.00–0.80 s，Panda 移动安装的蓝色浅托盘，橙色圆柱仍在橙色滚道上；视频 0.96–1.12 s，圆柱越过滚道边缘后出现在托盘靠安装杆一侧的下方，未见进入盘内并躺稳。" + }, + { + "t": 1.52, + "log_step": 95, + "text_zh": "观察：视频 1.12–1.52 s，圆柱持续位于浅托盘下方，末帧落在桌面附近；托盘没有带着圆柱离开滚道。log step 94–95 的第 4 回合服务返回 done=true、why=self_collision；该回合未进入后续动作块。首次接稳的承托及连续静置验收未成立。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–1.04 s，Panda 用固定安装的蓝色浅托盘移向滚道出口，从下方尝试承接橙色圆柱，夹爪没有直接夹圆柱；圆柱从靠安装杆的一侧落至托盘下方，未建立有效承托。此项记录实际承接尝试，短暂盘沿擦碰无法辨明。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.52, + "log_step": 94, + "text_zh": "观察：视频 0.00–1.52 s，后方银灰导槽始终没有圆柱进入或沿槽通过；圆柱从前方滚道掉到浅托盘下方。log step 94 的控制程序在首次截获动作块结束后立即返回，未执行导槽装入动作。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.52, + "log_step": 94, + "text_zh": "观察：视频 0.00–1.52 s，机器人浅托盘始终在前方滚道附近，没有移至银灰导槽远端承接，圆柱也未进入该导槽；没有发生出口接稳。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.52, + "log_step": 95, + "text_zh": "观察：视频 0.00–1.52 s，沿前方轨道移动的深蓝盒内始终没有圆柱；视频 1.12–1.52 s 的橙色圆柱位于浅托盘下方、盒外，未形成整体入盒并随盒静置的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_reception", + "t": 1.04, + "log_step": 94, + "where": "操作中", + "evidence_zh": "观察：视频约 0.96–1.12 s，橙色圆柱离开滚道后从蓝色浅托盘旁向下落，未在托盘内被接稳；视频 1.12–1.52 s 未修复。log step 94 明确重置后执行最后的第 4 回合，仅提交首次截获动作块即终止；log step 95 的该回合服务元数据报告 self_collision。log step 100–107 的脚本修改未再次执行，log step 109 仍为第 4 回合 done=true。" + }, + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.04, + "log_step": 94, + "evidence_zh": "观察：视频 0.80–1.12 s，圆柱滚到滚道末端后落至蓝色浅托盘下方，之后直到视频 1.52 s 都未在盘内被承托；首次接住所需的有效承托接触没有建立，不能视作先接稳后滑落。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.52, + "log_step": 95, + "evidence_zh": "观察：log step 94–95 中，机器人服务对评分所用第 4 回合首次截获动作块返回 why=self_collision、done=true、control_steps=151；视频 1.52 s 在相同首次承接姿态附近结束。该自碰使机械臂动作终止，服务没有给出具体相撞连杆，不能从画面指定碰撞对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 0.80–1.12 s 显示托盘未及时形成覆盖圆柱落点的承接关系；log step 98 记录所执行脚本计划用关节插值在 0.60 s 内到达承接位姿，而实际圆柱仍从盘旁落下，说明所提交的控制轨迹未实现有效截获。log step 99 还显示该回合将夹爪开度命令设为 0，log step 95 的服务实际报自碰；后续 log step 100 才改为 0.04，未执行验证。综合归于控制，不能确定截获偏差由轨迹跟踪、时机还是接触几何主导，也不能确认自碰的具体链路。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，画面无法排除圆柱离开滚道时曾短暂擦到盘沿或安装杆，也不能给出接触力、连续验收量或自碰连杆对。首次接稳失败和后三步未发生可由全段逐帧画面判定；控制根因只保留大类，未把 agent 事后更改开度的推测当作已验证的自碰机制。" + }, + "summary_zh": "评分采用最后第 4 回合：Panda 尝试用浅托盘承接，但圆柱在视频约 1.04 s 从盘旁落下，首次接稳未完成，最终为 0/4，导槽通过、出口接稳及入移动盒均未启动。该回合随后由服务以 self_collision 终止；事后修改的脚本未再次运行，不能计作评分动作或修复。没有状态日志，短暂擦碰及具体自碰链路不明，根因仅标为控制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "0/4、断点 initial_reception（视频约 1.04 s，圆柱从托盘旁落下）与帧一致；第 4 回合为评分回合，事后改脚本未执行，处理正确。根因标为控制且明确为推断，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:24:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--trk9p5s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a7c204a4b383f4de8cdaefe0090daf84df8e36d2b0d1b697a9fcfca2b2145080", + "video_sha256": "53c9ec94c3e723ecf4ac4c184a626fd52da1aa1a336eade920865f3fb15db38c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb.json new file mode 100644 index 0000000000000000000000000000000000000000..72b2f0a223f08da2ec7afca28234dc162da44d0e --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb.json @@ -0,0 +1,301 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 286, + "sim_steps": 942, + "calls": 23, + "rows": 856, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1989.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "aeca6062ac1ffed1ee96907eaf6a9a312769f9f72739033c363845cb34306a58" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.08, + "log_step": 139, + "text_zh": "观察：视频 0.64–1.20 s 机械臂携带蓝色浅托盘向滚道末端移动；视频 1.04 s 橙色圆柱在手部与托盘开口附近露出，视频 1.08–1.44 s 已在托盘底面下方、桌面上向外滚动，盘内始终未见圆柱停稳。log step 139 为最后一次 reset 后的回合，脚本仅执行接收阶段 A 即返回 done=True、reason=failed；未把此前测试计入进度。" + }, + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 1.60–2.52 s 圆柱在桌面上远离空托盘，视频 2.60–2.80 s 越过桌边下落，视频 2.84–2.88 s 已离开画面；机械臂未再次拦截。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.40–1.20 s Panda 用固定安装的蓝色浅托盘向圆柱滚出位置做承接尝试，夹爪没有闭合夹持圆柱；视频 1.08 s 后圆柱从盘下方滚走，未形成可见的盘内承托。此处记录实际承接尝试的作用端和方式，不表示接住成功；手部遮挡期间是否有瞬时擦碰无法判清。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 后方银灰导槽一直为空，机械臂只在前方滚道末端移动浅托盘；视频 1.60 s 圆柱已在桌面上滚离托盘，未被送入导槽或沿槽越过远端。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 机械臂未把托盘移到后方导槽出口承接，视频 2.00 s 圆柱在前方桌面上、托盘为空；没有圆柱出槽后在盘内停稳的过程。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 轨道上的深蓝盒内始终未见圆柱，机械臂未向该盒交付；视频 2.60 s 圆柱位于桌面右前缘，随后掉下桌边，未出现入盒并随盒移动的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_reception", + "t": 1.08, + "log_step": 139, + "where": "操作中", + "evidence_zh": "观察：视频 1.04–1.12 s 圆柱从手部附近落到浅托盘下方的桌面，而托盘仍在向接收位置移动；此后一直未接回，视频 2.60–2.80 s 圆柱滚出桌边。log step 139 的最后现场回合仅到阶段 A 就结束，返回 done=True、reason=failed。" + }, + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 1.08, + "log_step": 139, + "evidence_zh": "观察：视频 0.80–1.20 s 托盘持续移向滚道末端；圆柱在视频 1.04 s 出现在托盘开口旁，视频 1.08 s 已低于盘底并滚到桌面，托盘随后才停止移动。推断：承接运动未赶上滚动物体的下落窗口，圆柱没有进入盘内停稳。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 1.08, + "log_step": 139, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 104 的脚本用关节位移、速度项及加速度项的最大值生成首段计划时长；log step 137 把接收目标改为托盘位置 (0.32,-0.072,0.1035)，agent 同步自述圆柱约在仿真 0.84 s 离开滚道末端，该数值仅作为其计划依据，未当作独立测量。log step 138 的检查只计算速度项并输出 dur@1.35 0.83，未计入上述加速度项；log step 139 最后 reset 后实际生成并执行的首段计划时长为 1.17 s，阶段 A 返回 done=True、reason=failed。视频 1.04 s 圆柱出现在手部及盘口旁，视频 1.08 s 已落到盘底下方的桌面，托盘到视频约 1.20 s 才停止移动。推断：所选接收目标与首段运动时序未满足承接窗口，完整计划时长在执行前即可由脚本算出，属于拦截计划的时序可行性判断错误，依 docs/03_trajectory.md Step 3.3 归认知·推理/规划。goto err 是逆解残差，并非实际轨迹跟踪误差；本判断不依赖“已证明无跟踪误差”。" + } + ], + "gap_zh": "没有状态日志或逐帧接触对；视频约 0.80–1.04 s 圆柱部分被手部和适配杆遮挡，无法排除漏接前的瞬时擦碰，但后续盘下滚动足以判定从未接稳。最终回合 log step 139 只报告 failed；out_of_bounds 是 agent 在 log step 141 的自述，log step 125 的同名原生原因属于此前回合，未将它当作最后回合的直接监控证据。没有原生阶段、相对速度及连续保持窗口数值，九项 native_metrics 均未报告；根因由脚本计划时长、检查遗漏及视频中的错过窗口推断；没有实际轨迹跟踪误差记录，不能仅凭 goto 的逆解残差排除跟踪偏差，也不能确定遮挡期间的接触细节。" + }, + "summary_zh": "最后评分回合只尝试了首次接稳圆柱，四个节点均未达到（最终 0/4）；视频约 1.08 s 圆柱从仍在移动的托盘旁落至桌面，随后滚出桌边，断点为首次接稳圆柱，现象为动态时机不匹配。日志中的完整首段计划时长为 1.17 s，执行前的时长检查遗漏加速度项，结合托盘到视频约 1.20 s 才停止的表现，支持将根因推断为认知·推理/规划中的拦截时序判断错误。没有状态接触日志或实际跟踪误差记录，遮挡期间是否有瞬时擦碰无法确定；成功参考录像仅用于比较接稳等节点的可见表现。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（四节点均未达、最终 0/4、断点 initial_reception、动态时机、视频 1.08 s 圆柱落到盘下桌面并滚出桌边）与视频和 log 一致。问题在根因：标成泛化的“控制”，但证据显示是计划本身不可行（运动时长 1.17 s 已知晚于圆柱离开滚道末端的约 0.84 s），按判别次序应归认知·推理/规划，而非控制。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四节点均未达、0/4、断点 initial_reception（视频约1.0–1.1 s圆柱落到盘下桌面并滚出桌边）、动态时机、认知·推理/规划根因与视频和 log step 104/137–139 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": "2026-10-30T04:37:27Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--y2bj5bb/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "29cf0d9c0f321f031ee295e85602ebe63bd4af4fde466e76660bb186a3ddb7f3", + "video_sha256": "aeca6062ac1ffed1ee96907eaf6a9a312769f9f72739033c363845cb34306a58", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx.json new file mode 100644 index 0000000000000000000000000000000000000000..15ef4474c56d6c1dd94ae4737404318227d4e298 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx.json @@ -0,0 +1,314 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1504, + "sim_steps": 1504, + "calls": 104, + "rows": 2400, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 372.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 45.102, + "max_lag_s": 0.2158, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.907, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 4.015, + "peak_processes": 42, + "peak_disk_gb": 1.688, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx/replay.mp4", + "duration_s": 15.08, + "fps": 25.0, + "frames": 377, + "sha256": "08a95c41bc89f6a79803e44458fd38f6b61aece7904a6d3c900f5abcb93b5f0c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 0.84–1.20 s，橙色圆柱从橙色高架滚道末端滚落到 Panda 携带的蓝色浅托盘；视频 1.32–2.16 s，圆柱留在盘内靠外侧，长轴方向稳定，滚道原位置已无圆柱。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "推断：视频约 1.8 s 首次接稳，依据视频 1.44–2.16 s 的连续稳定承托外观并计入 0.3 s 窗口，时刻约有 0.3 s 不确定度；评分器 success=1 支持对齐和相对速度的精确验收已通过。该事件随后锁存。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.08–2.16 s，Panda 末端固定安装的蓝色浅托盘从下方承接橙色圆柱，盘底及侧壁承托并限制其滚动；夹爪没有直接夹住圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 8.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.56, + "log_step": null, + "text_zh": "观察：视频 6.08–6.88 s，Panda 将载有圆柱的浅托盘在银灰导槽入口上方倾斜，圆柱离开浅托盘进入靠橙色挡板的槽端；视频 7.20–8.52 s，圆柱沿槽向远端滚行，浅托盘移向出口外侧。" + }, + { + "t": 8.6, + "log_step": null, + "text_zh": "推断：视频约 8.6 s 圆柱越过导槽出口；视频 8.52 s 圆柱已到槽末端，视频 8.68–8.88 s 它出现在出口外的浅托盘入口处。越线瞬间局部被机械手和适配杆遮挡，精确无托盘接触条件由评分器 success=1 及后续再次接稳支持，时刻约有 0.2 s 不确定度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 3.36–6.24 s，Panda 用固定浅托盘从下方托住圆柱并送到导槽入口；视频 6.40–7.56 s 圆柱离盘进入导槽，随后自行沿导槽滚行。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 9.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.48, + "log_step": null, + "text_zh": "观察：视频 8.68–9.36 s，圆柱从银灰导槽远端进入 Panda 的蓝色浅托盘并滚向盘内外侧；视频 9.48–9.96 s，圆柱已完全离开导槽，沿与首次接稳相同的方向躺在盘内，相对盘的位置基本稳定。视频 10.56–12.48 s，Panda 仍用浅托盘携带圆柱离开出口。" + }, + { + "t": 9.7, + "log_step": null, + "text_zh": "推断：视频约 9.7 s 完成出口接稳，计入视频约 9.48 s 后可见稳定承托的 0.2 s 窗口；精确角度、相对速度及接触窗口由评分器 success=1 支持，时刻约有 0.3 s 不确定度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 8.68–9.96 s，Panda 末端固定浅托盘在导槽出口外承接橙色圆柱，以盘底承托、盘壁限制滚动；没有夹爪合拢夹住圆柱。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 15.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 12.96–13.44 s，Panda 用浅托盘将圆柱运到前方轨道盒上方；视频 13.92 s 圆柱正在离盘下落，视频 14.00–14.32 s 圆柱进入深蓝色盒内并躺下，浅托盘内已空。视频 14.40–15.04 s，盒沿轨道位移，圆柱一直留在盒内，相对盒的位置基本稳定，浅托盘位于其上方。" + }, + { + "t": 15.04, + "log_step": 36, + "text_zh": "观察：log step 36 中机器人服务返回 episode=1、control_steps=1504、done=True、reason=success；评分器字段 live_success=1、replay_success=1、deterministic=1、resets=0。log step 7 的服务规格给出 control_dt=0.01 s。" + }, + { + "t": 15.04, + "log_step": 36, + "text_zh": "推断：同一现场回合的 control step 1504×0.01=视频 15.04 s，与已检查的视频 15.04 s 最末帧相符；另以 log step 36 的 control step 1425（工具降至 z≈0.182 m）对应视频约 14.24 s 的下降姿态核对。将最后的 0.7 s 连续验收完成点标在视频 15.04 s；精确相对速度、盒速度和整体包容条件依据服务成功判定，未从画面估算数值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 12.96–13.44 s，Panda 固定浅托盘从下方承托圆柱并运向轨道盒；视频 13.92–14.00 s 圆柱离盘落入深蓝色盒，随后由盒承托，夹爪未直接抓取圆柱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：本次单一现场回合依次完成首次接稳、通过导槽、出口再接稳和圆柱入移动盒，四个节点最终均达成；视频末段圆柱已离开浅托盘并留在移动盒内，机器人服务在 log step 36 返回 success，现场与回放评分均成功。推断：首次接稳、过槽和出口接稳分别约在视频 1.8 s、8.6 s、9.7 s，最后连续验收完成于视频 15.04 s。证据缺口：没有状态日志，导槽越线瞬间部分遮挡，精确接触、角度、速度和保持窗口依据成功判定确认；九项原生指标均未报告数值，保留为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功回合，四个节点的时间与视频一致（接稳约1.8 s、过槽约8.6 s、出口接稳约9.7 s、入盒至15.04 s），contact_actual 为托/舀符合画面，无失败层，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": "2026-10-30T04:37:58Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--5oqlqqx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2dc6ec48762795d45d0b7e2297380ab51ce222177b5f6105f07ba4bc019f1ff6", + "video_sha256": "08a95c41bc89f6a79803e44458fd38f6b61aece7904a6d3c900f5abcb93b5f0c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb.json new file mode 100644 index 0000000000000000000000000000000000000000..cbb2bc382ad608bc2b1a64890bedf3096c6bf00a --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 286, + "sim_steps": 1144, + "calls": 7557, + "rows": 7546, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2326.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 34.243, + "max_lag_s": 0.0299, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 337, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 3.051, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "e39f416fb585a4f4eec6f6aaf94236dd32c4ddcfff4189d252502f27c1b0fdae" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.12, + "log_step": 47, + "text_zh": "观察：视频 0.76–1.40 s 逐帧检查显示，橙色圆柱由橙色滚道末端落下，从蓝色浅托盘旁下方穿过；视频 1.44–2.52 s 圆柱在桌面向右滚动，浅托盘始终空着，没有离开滚道后在盘内沿 y 轴躺稳的阶段。" + }, + { + "t": 2.88, + "log_step": 47, + "text_zh": "观察：视频 2.60–2.84 s 圆柱越过桌边向下落，视频 2.88 s 已不在画面内；机械臂仍停留在滚道附近。log step 47 明确执行最后现场回合 reset -> 4 0，并在观测结束时报 DONE failed；此前回合及 log step 52–54 的事后代码修改不计入本轨迹。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.00–1.40 s，Panda 移动末端安装的蓝色浅托盘尝试从下方承接橙色圆柱；圆柱从盘旁下落，未见盘底成功承托或夹爪直接抓握。此项记录托盘承接尝试，不能据此认为已建立承托接触。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.4, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 后方银灰色高架导槽始终没有橙色圆柱，机器人没有将圆柱送到导槽入口；视频 1.40 s 起圆柱在桌面滚动，随后落出桌边。因此圆柱未进入并通过导槽，首次接稳前置也未完成。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.04, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 机器人携带的浅托盘始终在橙色滚道附近，没有移到银灰色导槽远端承接；视频 2.04 s 圆柱位于右侧桌面，未出现出槽后进入浅托盘并躺稳的过程。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": null, + "text_zh": "观察：视频 0.00–2.88 s 深蓝色轨道盒内未见橙色圆柱；视频 2.52 s 圆柱仍独自在右侧桌边附近，视频 2.60–2.84 s 从桌边落下，没有整体躺入移动盒并相对盒静止的阶段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_reception", + "t": 1.12, + "log_step": 47, + "where": "操作中", + "evidence_zh": "观察：视频 0.92–1.24 s，橙色圆柱滚出滚道，浅托盘未跟到其下落位置，圆柱从盘旁下方落向桌面；视频 1.44–2.52 s 圆柱继续在桌面滚动，直到视频 2.60–2.84 s 滚落桌边，首次接稳始终未修复。log step 47 的最后现场回合随之结束为 failed。" + }, + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 1.12, + "log_step": 47, + "evidence_zh": "观察：视频 0.76–1.40 s 连续帧中，运动中的圆柱滚出高架滚道并下落，机器人浅托盘仅在原位附近小幅运动，没有及时跟到圆柱下面；视频 1.20–1.40 s 圆柱已位于托盘下方外侧，随后在桌面滚动。该现象是对运动目标的接收未跟上。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 47, + "evidence_zh": "推断：log step 47 的接收轨迹要求托盘在仿真 1.02 s 到达世界坐标 (0.150,-0.054,0.075) m，但该回合打印的仿真 1.04 s 托盘实测位置为 (0.216,-0.178,0.131) m，仍接近初始位置；仿真 1.70 s 实测为 (0.233,-0.159,0.120) m，也远未跟到该阶段规划的前移位置。视频 0.76–1.40 s 证实托盘小幅移动而圆柱从旁边落下，支持闭环跟踪失败。log step 51–52 将其解释为在线雅可比估计退化，但该具体机制及事后修复未经过再次运行验证。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或逐帧接触对，圆柱被滚道边缘短暂遮挡时是否擦过托盘边缘不能精确核实，但连续帧明确显示没有成功承托或接稳。现场服务在 log step 47 只报告 failed，未给出细分终止原因；不能仅凭圆柱落桌、落出桌边反推具体终止规则。原生验收量未在评分器字段中报告，native_metrics 均为 null；在线雅可比退化的具体内部原因只有 agent 在 log step 51–52 的事后自述，未获数值诊断验证。" + }, + "summary_zh": "评分对象为 log step 47 的最后现场回合 episode 4：机器人尝试用浅托盘接收圆柱，但圆柱在视频约 1.12 s 从盘旁下落，四个节点均未完成。托盘实际运动明显滞后于脚本的接收轨迹，首次接稳失败后圆柱沿桌面滚动，并在视频 2.60–2.84 s 滚落桌边。缺少接触日志和具体终止原因，反馈跟踪失败有日志与视频支持，但 agent 自述的雅可比退化机制未被验证。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和日志一致：最后现场回合（log step 47）中圆柱从橙色滚道滚出后未被浅托盘承接，四个节点均未达成，断点在 initial_reception，反馈控制根因有 log 托盘实测位置支持且已标明为推断。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--ijd59zb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe5ebe138ffecfca917d55c8ec5879ce78d04411ba1b2112607f72371a2b657b", + "video_sha256": "e39f416fb585a4f4eec6f6aaf94236dd32c4ddcfff4189d252502f27c1b0fdae", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab7cecbf598397032038e5b24dde2ad4d638eb9 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1413, + "sim_steps": 2437, + "calls": 65, + "rows": 2110, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1988.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 73.049, + "max_lag_s": 0.1659, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 629, + "late_steps": 0, + "requests_refused": 10, + "request_busy_s": 0.684, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.363, + "peak_processes": 15, + "peak_disk_gb": 1.038, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk/replay.mp4", + "duration_s": 14.2, + "fps": 25.0, + "frames": 355, + "sha256": "8515a555f3c9b19ee1ddb7602bb4d29c1ec29419ef7ed3bd1972d1f8273a1599" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.04–1.20 s，橙色圆柱离开前方橙色滚道，落入 Panda 机械臂携带的蓝色浅托盘；视频 1.28–2.00 s 圆柱横躺在盘内，位置基本不变。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "推断：视频 1.28 s 后圆柱在盘内减速并保持横躺，结合视频 1.60–2.16 s 的持续承托，将首次接稳记在约视频 1.6 s；长轴方向与成功参考视频的接稳姿态一致。到达时间按画面估计，误差约 0.2 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 机械臂以固定安装的蓝色浅托盘从下方接住橙色圆柱，盘底承托、盘壁阻止继续滚出；夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 7.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 2.40–4.40 s，Panda 机械臂用托盘携带圆柱升到后方导槽入口上方并倾盘；视频 4.80–5.20 s 圆柱离盘进入橙色挡板旁的银灰导槽，空托盘向出口移动。" + }, + { + "t": 7.4, + "log_step": null, + "text_zh": "观察：视频 5.20–7.20 s 圆柱沿银灰导槽向远端滚行；视频 7.28–7.44 s 圆柱越过槽端并进入出口外侧的浅托盘，导槽随后为空。" + }, + { + "t": 7.4, + "log_step": null, + "text_zh": "推断：连续画面显示先从入口装入、再沿槽自行滚出，没有由托盘直接搬越导槽；据此将通过导槽记在约视频 7.4 s，误差约 0.2 s。槽端越线瞬间的精确接触对及世界坐标无状态日志可核对。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 机械臂以安装托盘承托并运送橙色圆柱至导槽入口，倾盘使圆柱离盘进入导槽；之后圆柱沿槽自行滚行，机械臂将空托盘移向出口。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 8.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.44–7.80 s，圆柱由导槽出口进入 Panda 机械臂的蓝色浅托盘，继续在盘内滚向远侧盘壁。" + }, + { + "t": 8.2, + "log_step": null, + "text_zh": "观察：视频 7.92–8.80 s 圆柱已离开导槽，横躺在托盘内，圆柱相对托盘的位置基本不变；视频 9.20–10.88 s 机械臂随后抬起托盘，圆柱随盘升高。" + }, + { + "t": 8.2, + "log_step": null, + "text_zh": "推断：圆柱在约视频 8.0 s 已减速横躺，并持续保持超过所需的 0.2 s，故将出口接稳记在约视频 8.2 s。此节点为锁存事件，后来搬运中滚出不撤销已完成的接稳。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 机械臂把安装托盘停在导槽出口外侧，从下方承接滚出的橙色圆柱，盘底承托并由盘壁减速；夹爪未直接抓握圆柱。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.88, + "log_step": null, + "text_zh": "观察：视频 9.20–10.88 s，Panda 机械臂持盘抬起圆柱并向工作区内侧移动，开始后续交付搬运；随后托盘停在导槽上方的高位。" + }, + { + "t": 14.16, + "log_step": null, + "text_zh": "观察：视频 11.52–14.16 s，托盘停在高处，橙色圆柱逐渐向托盘开口滚移，视频 14.12–14.16 s 在开口处翻落、可见轮廓下沉；前方轨道上的深蓝色盒始终为空，没有圆柱入盒。" + }, + { + "t": 14.16, + "log_step": null, + "text_zh": "推断：本次视频没有成功参考视频 16.80–17.80 s 所示的圆柱离盘落入深盒的过程，故圆柱入移动盒从未成立；这一判断来自目标盒和圆柱的可见位置，不由零分单独推出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "出口接稳后，Panda 机械臂仍用安装托盘从下方承托橙色圆柱，抬高并向内侧搬运以继续交付；随后停在高处，未把圆柱送入移动盒，圆柱最终从开口失去承托。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cylinder_in_moving_pocket", + "t": 14.1, + "log_step": 154, + "where": "操作中", + "evidence_zh": "观察：视频 9.20–10.88 s，Panda 机械臂在出口接稳后抬盘搬运圆柱；视频 11.52–14.16 s 托盘停在导槽上方，未到前方移动盒，圆柱向开口滚移并在视频 14.12–14.16 s 翻落。log step 154 显示 agent 自编控制程序在提交后续轨迹时抛出 ValueError，log step 170 的第 4 回合记录只成功提交到 S11a high，没有 S11b topock 及入盒轨迹；log step 156 的服务状态为 episode=4、done=True、reason=failed。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": true, + "exit_reception": true, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 14.1, + "log_step": null, + "evidence_zh": "观察：视频 7.92–8.80 s 圆柱曾在出口托盘内停稳，视频 9.20–10.88 s 也随盘升高；视频 11.52–14.08 s 托盘停在高位时圆柱逐渐滚向开口，视频 14.12–14.16 s 圆柱在开口处翻落、轮廓降到盘面下方，未进入前方深蓝色盒。这是已承托后失去保持，尚无在目标盒上方的计划释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 154, + "source_zh": "日志", + "note_zh": "候选：控制脚本异常。按 DECISIONS.md D38，agent 自编控制器误用服务提交 API 导致异常退出，使用控制总类。", + "evidence_zh": "推断：log step 8 的服务规格规定 max_ahead_steps=1000，且已提交计划结束后保持最后目标；log step 154 的原始异常为“at = 1070 is more than max_ahead_steps = 1000 control steps ahead of the next one (54)”。log step 170 显示第 4 回合仅有 15 个成功提交段，最后为 S11a high，后续送盒段未提交；这与视频 11.52–14.16 s 机械臂停在高位、圆柱继续滚向开口相符。因此自编控制脚本过早提交远期段并未处理拒绝，造成后续交付与纠偏中断。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，reward 没有原生阶段计数、接触对、轴向角误差、相对速度或保持计时数值；前三节点的到达时刻依画面估计，误差约 0.2–0.3 s，无法独立核验槽端越线瞬间的无托盘接触条件。视频仅到 14.16 s 的末帧，可见开口处翻落，但未显示圆柱落到桌面的完整过程；agent 在 log step 191 自述“rolled out ... onto the table”，具体触发的原生失败码未由服务记录提供，故不把落桌当作已观察事实。" + }, + "summary_zh": "观察：评分视频对应最后的第 4 回合，Panda 机械臂约在视频 1.6 s 首次接稳圆柱，视频 7.4 s 让圆柱通过导槽，视频 8.2 s 在出口再次接稳，最终保留 3/4 个锁存节点；移动盒始终为空。推断：log step 154、170 显示 agent 自编控制脚本超出允许的提前提交步数而异常退出，后续交付轨迹未提交，托盘在高位停住后圆柱向开口滚移并失去承托，断在圆柱入移动盒。观察：无状态日志及原生分阶段数值，接稳窗口与越线接触只能结合连续画面估计，末帧没有显示完整落桌过程。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（cylinder_in_moving_pocket，约视频 14.1 s）与 D38 规定的 控制 根因及 接触·没保持住 现象均与视频和日志一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:36:17Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--jmjrxkk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7085679b9e4e16e6141f27afb4da66c46e051fda72d8d3e48ade758f8af71454", + "video_sha256": "8515a555f3c9b19ee1ddb7602bb4d29c1ec29419ef7ed3bd1972d1f8273a1599", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5d9dff642461f8cf41f87b2eb3e9b25208863e --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1005, + "sim_steps": 4880, + "calls": 35, + "rows": 434, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 660.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 146.325, + "max_lag_s": 0.2683, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4540, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 1.226, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.323, + "peak_processes": 9, + "peak_disk_gb": 0.865, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq/replay.mp4", + "duration_s": 10.12, + "fps": 25.0, + "frames": 253, + "sha256": "684cabef54adfa4394fffa4aba45cb776b645ffb38fc9226317e0662bf240622" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 0.96–1.24 s 橙色圆柱离开橙色滚道进入 Panda 安装的蓝色浅托盘；视频 1.48–2.40 s 圆柱沿盘边横躺且相对托盘基本不动，视频 2.50–7.00 s 仍保持该姿态。推断：按约 0.3 s 稳定窗口将首次接稳记在视频约 1.8 s，时间精度约 ±0.3 s；此事件锁存，后来搬运失物不撤销。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.96–1.48 s Panda 末端安装的蓝色浅托盘从下方接住橙色圆柱，随后由盘底和盘壁承托；二指夹爪未直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.88, + "log_step": 59, + "text_zh": "观察：视频 7.50–9.40 s Panda 托盘载着圆柱抬高并向银灰导槽入口搬运；视频 9.60–9.84 s 圆柱向托盘开口侧滚动，视频 9.88–10.08 s 已脱盘下落在入口外侧，未进入导槽并滚过远端。log step 59 记录 lift_from_source、guide_entry_high 两段运动；log step 60 显示服务已失败，place_at_guide_entry 与后续释放命令被拒绝。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 7.50–9.80 s Panda 的安装托盘仍从下方承托圆柱，搬向导槽入口；随后圆柱从开口侧滚出，未完成向导槽的移交。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.08, + "log_step": 60, + "text_zh": "观察：视频 0–10.08 s 未出现圆柱沿导槽越过远端后被托盘再次接住；末段圆柱从入口上方的托盘掉下，托盘没有到出口接收。log step 60 的 exit_high、exit_reception 命令均被已结束的服务拒绝，不能计作执行。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.08, + "log_step": null, + "text_zh": "观察：视频 0–10.08 s 前方深蓝轨道盒内未见圆柱，Panda 未向该盒交付；视频 9.88–10.08 s 圆柱在导槽入口外侧下落，没有进入移动盒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 9.88, + "log_step": 60, + "where": "操作中", + "evidence_zh": "观察：视频 9.60–9.84 s，Panda 向导槽入口搬运时，圆柱沿托盘向开口侧滚出；视频 9.88–10.08 s 圆柱已在托盘下方自由下落，导槽通过始终未完成且未修复。log step 60 的服务状态为 episode=4、control_steps=1005、done=true、reason=failed，后续装槽动作被拒绝；此前回合不计入本视频进度。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 9.88, + "log_step": null, + "evidence_zh": "观察：视频 7.50–9.40 s Panda 的托盘确实载着橙色圆柱；视频 9.60–9.84 s 圆柱滚向开口，视频 9.88 s 已失去盘底承托并下落，视频 10.08 s 托盘为空。这是送往导槽途中失物，尚未执行计划的入槽释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 1.80–7.00 s 圆柱在静止托盘内稳定，Panda 抬起并搬向导槽后，视频 9.40–9.88 s 圆柱持续相对托盘滚动直至从开口脱落；结合 log step 59 的抬升及入口高位运动、log step 60 显示入槽释放尚未执行，说明搬运控制未能维持承托稳定。现有证据不能将原因细分为承载布局、运动轨迹或反馈控制。" + } + ], + "gap_zh": "无状态日志；首次接稳的轴向角、相对速度及连续窗口只能由画面估计，视频约 1.8 s 为近似达成时刻。log step 60 的服务仅返回通用 failed，未给出碰撞、超限或圆柱离开路线的具体原生原因，不能确定最终触发条款；log step 52 的控制器中段在输入记录中截断，亦不足以确定造成失物的具体控制子类。原生连续指标均未报告数值。" + }, + "summary_zh": "本次评分视频对应最后的第 4 回合：首次接稳圆柱在视频约 1.8 s 达成，四个节点最终完成 1 个。Panda 向导槽入口搬运时，圆柱在视频约 9.88 s 从托盘开口侧滚出，断在圆柱通过导槽，后续出口接收和移动盒交付均未执行；根因仅能定位到搬运控制未保持稳定。无状态日志及具体原生失败码，不能判定终止条款或更细控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（guide_traversed，视频约9.9 s 圆柱从托盘开口滚落）、现象与根因与画面一致，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": "2026-10-30T04:37:37Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--t7nvetq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "33548b86e877d6ec302e6f8bb4dcb5971b350ac4b1d27a551efc3849dfddc3e5", + "video_sha256": "684cabef54adfa4394fffa4aba45cb776b645ffb38fc9226317e0662bf240622", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd.json new file mode 100644 index 0000000000000000000000000000000000000000..9259d9469428674fc1a821b5c4e74b6278f03193 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 286, + "sim_steps": 903, + "calls": 1310, + "rows": 872, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 896.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 27.012, + "max_lag_s": 0.0009, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 675, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 0.944, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.189, + "peak_processes": 9, + "peak_disk_gb": 0.48, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "5016eecb4331d922539fe4e665c33c8108ffadc0176561ed41e9796948415456" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.6, + "log_step": 77, + "text_zh": "观察：视频 0.0–0.6 s，Panda 移动安装在末端的蓝色浅托盘，橙色圆柱仍在橙色高架滚道上；视频 0.6–1.44 s 的逐帧画面显示圆柱滚出滚道后从浅托盘下方掉落，没有在盘内停稳。" + }, + { + "t": 1.44, + "log_step": null, + "text_zh": "观察：视频 1.44–2.88 s，圆柱在桌面向右前方滚动并于末段越出桌沿；浅托盘始终空着，机器人没有再次接回圆柱。成功参考视频约 2.0 s 可见圆柱留在浅托盘中并随盘抬起，本回合没有出现该承托结果。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.0–1.2 s，Panda 用固定安装的蓝色浅托盘尝试从下方承接橙色圆柱，未形成可见的承托；此项记录实际承接尝试，不表示已接住。圆柱经过盘下时有短暂遮挡，无法排除瞬时擦碰；夹爪没有直接夹圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0.0–2.88 s，后方银灰色导槽始终空着，Panda 没有将圆柱送至入口；圆柱离开橙色滚道后落在桌面并远离工作区，未沿导槽越过出口。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0.0–2.88 s，Panda 的浅托盘停留在前方滚道附近，没有移到银灰导槽出口；圆柱在桌面滚动，未从导槽出口进入浅托盘。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": null, + "text_zh": "观察：视频 0.0–2.88 s，沿前方轨道运动的深蓝色盒中未出现橙色圆柱；视频 1.44 s 后圆柱在盒外桌面滚动，末段越过桌沿，没有整体入盒或随盒静置的结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "initial_reception", + "t": 1.0, + "log_step": 77, + "where": "操作中", + "evidence_zh": "观察：视频 0.6–1.44 s，Panda 已将浅托盘移向滚道末端，但橙色圆柱约在视频 1.0 s 滚出后从盘下通过并落到桌面；直到视频 2.88 s 都没有接回。log step 77 记录修复上一回合脚本异常后重新启动，第 4 回合进入 hold_catch；log step 83 的服务状态确认 episode=4、done=true、reason=failed，log step 87 的 agent 最终报告也指定第 4 回合为评分回合。" + }, + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 1.0, + "log_step": 77, + "evidence_zh": "观察：视频 0.6–1.44 s，Panda 的浅托盘停在滚道末端附近，运动中的橙色圆柱滚出后从盘下经过并落到桌面；视频 1.44–2.88 s 圆柱继续滚离，未被接回。log step 77 的控制器输出记录 hold_catch 时服务实测工具位置为 (0.214,-0.134,0.158) m；log step 60 的 CATCH 目标为 (0.17,-0.12,0.09) m。推断：实测位置相对目标的 x 偏差为 +0.044 m，高度偏差为 +0.068 m，支持承接位置过高；依 docs/03_trajectory.md:274–275 与 docs/CASES.md:430–431，运动目标从承接器旁漏过仍归运动·动态时机，此项不声称已观测到接触过早或过晚。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 1.0, + "log_step": 71, + "source_zh": "日志", + "evidence_zh": "推断：log step 60 将接收目标设为世界坐标 (0.17,-0.12,0.09) m；log step 71 的代码改动移除了基于实测工具位姿 Tm 的误差反馈，改用 kin.ik(Td,q) 求关节目标。log step 42、48 的会话校准已显示该自建 FK 与服务实测工具位置存在约 (0.045,-0.017,0.067) m 的偏差；第 4 回合 log step 77 实测托盘位置仍为 (0.214,-0.134,0.158) m，较目标高约 0.068 m。结合视频 0.6–1.44 s 的盘下漏接，支持控制器未用实测位姿消除模型偏差导致承接失败；log step 77 修复的是上一回合的 NameError，不能将该崩溃归于本评分回合。" + } + ], + "gap_zh": "本工作目录没有状态日志，圆柱约在视频 0.92–1.08 s 经过托盘附近时短暂被盘体遮挡，不能确定是否有瞬时擦碰；前后帧足以排除盘内接稳。服务仅报告 failed，没有本回合的详细原生失败原因、接触对或连续验收量，因此不推定具体终止约束，native_metrics 均记 null。控制归因来自日志代码、会话校准与最后回合实测读数的综合推断；修正后的实测位姿反馈未在新评分回合验证。" + }, + "summary_zh": "第 4 回合是评分轨迹：Panda 尝试首次接收，但圆柱约在视频 1.0 s 从浅托盘下方落到桌面，随后滚出桌沿，四个节点均未达到。断点为首次接稳圆柱；实测托盘较指令目标高约 6.8 cm、x 偏约 4.4 cm，日志支持反馈控制未消除模型与实测位姿偏差，运动目标漏接依现行规则保留“动态时机”。置信度由 8 降为 7：不能独立证实接触早晚，控制归因仍为综合推断；无状态日志和详细原生失败原因，遮挡处是否擦碰托盘无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（四节点均未达、断点 initial_reception、第 4 回合为评分回合、时钟）与视频、日志一致；问题在现象：托盘是在错误位置（比目标高约 7 cm、x 偏约 4 cm）静止等待，漏接是位置偏差而非时机早晚，应记位姿不准而非动态时机。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "WHERE 标签（四节点均未达、断点 initial_reception 约视频 1.0 s、第 4 回合为评分回合、时钟）与视频和日志一致。第 1 轮的分类争议（动态时机 vs 位姿不准）已由标签方引 docs/03_trajectory.md:274-275 与 CASES FAIL-14 答复，运动目标漏接归动态时机，我无新证据，不再重复。反馈控制根因有 log step 60、71、77 的代码与实测读数支持，并已标为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:51Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xd3eubd/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b500a77a04109b25712be14cf2752bc861d3f4ad286dae540004213b59680647", + "video_sha256": "5016eecb4331d922539fe4e665c33c8108ffadc0176561ed41e9796948415456", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge.json new file mode 100644 index 0000000000000000000000000000000000000000..6e06dcee2ffa57d9464abd9155f9acfb03ce1e5f --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1273, + "sim_steps": 4739, + "calls": 43, + "rows": 6101, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1126.8, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 142.094, + "max_lag_s": 0.2295, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 150, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 1.225, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.631, + "peak_processes": 11, + "peak_disk_gb": 0.544, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge/replay.mp4", + "duration_s": 12.8, + "fps": 25.0, + "frames": 320, + "sha256": "87ebeb5da2fde7685454b1f4347d1258a3cfaee04fcf22e70e4400cb8060d72c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.04, + "log_step": null, + "text_zh": "观察：视频 0.88–1.20 s，橙色圆柱离开橙色滚道，滚入 Panda 机械臂安装的蓝色浅托盘；视频 1.28–2.20 s 圆柱横躺在盘内靠远端盘壁处，位置和长轴方向基本不变。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "推断：圆柱在视频约 1.28 s 后已减速停稳，长轴与场景世界 y 方向一致；计入约 0.3 s 停稳窗口，首次接稳取视频约 1.6 s（视觉估计）。视频 2.40–4.80 s 机器人随后持续托住圆柱抬升并送向导槽。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 机械臂固定安装的浅托盘从下方接住橙色圆柱，盘底承托、远端盘壁止滚；夹爪没有直接夹持圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 7.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频 4.20–5.40 s，机器人在导槽靠橙色挡板端倾斜浅托盘，圆柱由托盘开口滚落到银灰导槽入口；视频 5.40–6.20 s 圆柱留在槽内，机器人把空托盘移向出口。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.36–7.76 s 圆柱沿导槽向远端滚行，视频 7.84–8.08 s 已离槽进入出口外侧的浅托盘，入口处和导槽内不再有圆柱。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "推断：结合视频 7.76–7.92 s 圆柱跨过导槽出口与托盘开口间隙的连续画面，越过出口且尚未由盘底接住的时刻约为视频 7.8 s；此时首次接稳已经完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人用已安装的浅托盘承托圆柱送到导槽入口，再倾盘让圆柱滚出；圆柱沿槽自滚期间托盘已移开。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 8.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.16, + "log_step": null, + "text_zh": "观察：视频 7.84–8.16 s，圆柱离开导槽，进入机器人在出口外侧准备好的浅托盘，并滚到远端盘壁处；视频 8.16–8.56 s 横躺位置基本不变，不再搭在导槽上。" + }, + { + "t": 8.4, + "log_step": null, + "text_zh": "推断：按视频 8.16 s 左右起的盘内停稳及约 0.2 s 窗口，出口接稳取视频约 8.4 s（视觉估计）。视频 8.76–11.20 s 机器人携盘离开出口，圆柱随盘移动，证明此次接收后已离开原导槽。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 机械臂安装的浅托盘从导槽出口下方承接圆柱，以盘底及远端盘壁使圆柱停稳，随后继续承托搬运。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.2, + "log_step": null, + "text_zh": "观察：视频 8.76–11.20 s，机器人托着圆柱从导槽出口移向前方深蓝轨道盒，圆柱始终随浅托盘移动。" + }, + { + "t": 12.72, + "log_step": null, + "text_zh": "观察：视频 11.20–12.76 s（含最后一秒逐帧检查），浅托盘降低到轨道盒上方并开始横移，橙色圆柱仍在浅托盘盘底上；深蓝盒内可见的底部没有圆柱，没有出现脱离浅托盘后在运动盒内静置的结果。" + }, + { + "t": 12.72, + "log_step": 42, + "text_zh": "观察：log step 42 的机器人服务状态为 episode=4、control_steps=1273、done=True、reason=failed；reward.success=0。该状态对应最后回合；此前回合的结果不计入本视频节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人以安装的浅托盘继续从下方承托圆柱送向深蓝轨道盒，降低并横移托盘时仍在承托圆柱；视频终止前没有完成入盒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cylinder_in_moving_pocket", + "t": 12.7, + "log_step": 42, + "where": "操作中", + "evidence_zh": "观察：视频 11.20–12.76 s，机器人正在把装有圆柱的浅托盘降至深蓝轨道盒上方并横移，圆柱尚未离盘入盒，动作即终止；log step 41 执行 ep4plan，log step 42 服务确认最后第 4 回合 done=True、reason=failed。前三步在本视频中已经达到，此次送盒没有修复或后续完成。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": true, + "exit_reception": true, + "cylinder_in_moving_pocket": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中有本次完整视频和运行日志、成功参考视频，但没有状态日志；服务在 log step 42 只报告 failed，没有阶段完成标志、接触对、故障细项或安全监控数值。视频 12.64–12.76 s 可见浅托盘贴近盒沿及滚道，单个总览视角不能确认哪一部件发生阻挡接触，也不能排除不可见的机械臂超限，因此不把未完成入盒本身当作碰撞或控制故障的证明，现象与根因留空。agent 在 log step 45 自述可能碰到盒子、可能误估盒位置或沿高，是未获证实的猜测。前三步的停稳窗口及越端时刻按视频估计，未取得精确速度、对齐角和原生阶段记录；所有 native_metrics 均未由评分器报告。" + }, + "summary_zh": "评分视频是最后第 4 回合：机器人用浅托盘首次接稳圆柱，将其送入并通过导槽，再于出口接稳，完成 3/4 个节点。视频约 12.7 s 在持圆柱送入轨道盒的操作中失败，末帧圆柱仍由浅托盘承托，未入盒。日志只有服务 failed 状态，缺少具体终止原因及接触/运动监控记录，不能确定碰撞或其他故障，现象和根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频为最后第4回合（12.8 s，对应 log 12.73 s 失败），前三节点时刻与帧一致，末帧圆柱仍在浅托盘上、未入盒，断点 cylinder_in_moving_pocket 合理；服务仅报告 failed，现象与根因留空并写明 gap_zh 可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:35:32Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--xynpnge/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec4aaa9334bb7b878f8bd3d323e758e4170274f8e0999f2d8f42be3d0e6124db", + "video_sha256": "87ebeb5da2fde7685454b1f4347d1258a3cfaee04fcf22e70e4400cb8060d72c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt.json new file mode 100644 index 0000000000000000000000000000000000000000..8dfd08c96dc4852c047df5eade94c423a6169ed4 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 1, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 685.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.02, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.148, + "peak_processes": 6, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "35504bc2cebb5d6a8cee71deb51e9d19bc8a63b618cbfbc4eed91d169724ab4f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：本次视频 0.00 s（全片唯一一帧，片长 0.04 s）中，机器人安装的浅蓝托盘为空，未出现圆柱离开橙色滚道并在盘内接稳的结果；log step 2 的机器人服务状态为 control_steps=0、rows=0、running=False。推断：结合最终评分器字段 n_actions=0、sim_steps=0、clock_s=0，首次接稳从未发生。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 21 显示模型提供方过滤器中断；最终评分器记录 n_actions=0、rows=0、sim_steps=0，未交付执行轨迹，机器人与圆柱无本步骤的实际操作接触。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：本次视频 0.00 s 的银灰导槽内及出口未见圆柱通过，机器人托盘仍处在初始位置；最终评分器字段 n_actions=0、sim_steps=0。推断：没有物理推进，也没有首次接稳及随后送入导槽、越过出口的过程，本节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 21 显示模型提供方过滤器中断；最终评分器记录 n_actions=0、rows=0、sim_steps=0，未交付执行轨迹，机器人与圆柱无本步骤的实际操作接触。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：本次视频 0.00 s 中，机器人浅托盘为空且未处于银灰导槽远端的承接位置；最终评分器字段 n_actions=0、sim_steps=0。推断：没有过槽后的出口接稳事件，本节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 21 显示模型提供方过滤器中断；最终评分器记录 n_actions=0、rows=0、sim_steps=0，未交付执行轨迹，机器人与圆柱无本步骤的实际操作接触。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：本次视频 0.00 s 中，靠前轨道上的深蓝盒内未见橙色圆柱，浅托盘亦为空；最终评分器字段 sim_steps=0、clock_s=0。推断：圆柱未被交付入盒，未形成随盒运动且相对静止持续 0.7 s 的验收状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 21 显示模型提供方过滤器中断；最终评分器记录 n_actions=0、rows=0、sim_steps=0，未交付执行轨迹，机器人与圆柱无本步骤的实际操作接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 21, + "where": "首步前", + "evidence_zh": "观察：log step 2 的机器人服务返回 control_steps=0、running=False；log step 5 至 log step 20 是 agent 对初始图像的离线几何分析、运动学计算与候选逆解检查，没有机器人动作提交；log step 21 的会话末条消息为“This request was blocked by Gemini's filters”。最终评分器字段 n_actions=0、rows=0、sim_steps=0，本次视频 0.00 s 唯一帧仍为初始场景。推断：物理任务尚未启动且结果尚未固定时，会话被提供方过滤器截断，不能定位为某个机器人操作步骤失败。" + }, + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 21 记录 Gemini 提供方过滤器中断；本次视频只有视频 0.00 s 的初始帧（全片 0.04 s），评分器记录零动作、零仿真步；inputs/ 中无状态日志，亦无中断后的执行记录。推断：按 CASES.md FAIL-5，此次为结果固定前的外部因素中断，应重测并排除出机器人失败分析；现象和根因均留空，不标“没尝试”，也不能从离线逆解计算推断执行失败。原始 catalog success=0 保留，连续验收量未在评分器字段中报告，native_metrics 的 value 均为 null。" + }, + "summary_zh": "本次视频仅显示视频 0.00 s 的初始场景，四个节点均未完成；评分器记录 n_actions=0、sim_steps=0，agent 的几何分析和候选逆解未转为机器人执行。log step 21 记录 Gemini 过滤器中断，按外部因素处理：断点为 unknown／首步前，现象及根因留空，应重测并排除出机器人失败分析。现有视频全长仅 0.04 s 且无状态日志；成功参考视频仅用于确认完成节点的可见形态，不作为本次进度证据。", + "conf": 10, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "日志 step 21 为 Gemini 提供方过滤器中断，评分器 n_actions=0、sim_steps=0，视频仅一帧初始场景；四节点未达、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 FAIL-5，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:34:19Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--yhfu6zt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ebf046e61a5089e0e2e9eaf30ad31004592fe605bceedb171359ab86b0b3e1dd", + "video_sha256": "35504bc2cebb5d6a8cee71deb51e9d19bc8a63b618cbfbc4eed91d169724ab4f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj.json new file mode 100644 index 0000000000000000000000000000000000000000..c6603276091bffe36c0a4419af5079837edbcde4 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 787, + "sim_steps": 1920, + "calls": 55, + "rows": 3393, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 823.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 57.524, + "max_lag_s": 0.1344, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 286, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 1.547, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.246, + "peak_processes": 7, + "peak_disk_gb": 0.479, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj/replay.mp4", + "duration_s": 7.92, + "fps": 25.0, + "frames": 198, + "sha256": "f92dbd31caf3587b6e75258cb01be75cbad75cfe51144dc20e2ed89e77c03594" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.8–1.2 s 橙色圆柱从橙色滚道离开并进入蓝色浅托盘；视频 1.2–1.8 s 圆柱横躺在盘内靠外侧盘壁处，长轴方向与成功参考相同，相对托盘基本停止。视频 2.0–4.8 s 机器人抬高并搬运托盘，圆柱一直随盘移动。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：由离开滚道、盘内稳定横躺并持续随盘抬升，判首次接稳在视频约 1.5 s 达成（静置窗口起点约有 0.2 s 误差）；与参考视频 1.0–2.0 s 的接稳外观核对，未从 agent 的阶段自述取值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 固定安装的蓝色浅托盘从下方接住橙色圆柱，并以盘底和盘壁承托；随后抬升时圆柱随盘移动，夹爪未直接抓住圆柱。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 4.8–6.2 s 机器人倾斜并抬开浅托盘，圆柱从托盘滚向橙色挡板旁的银灰导槽入口；视频 6.2–7.4 s 圆柱仍在入口附近，视频 7.4–7.88 s 被下降的夹爪部分遮挡，未见圆柱沿槽到达或越过另一端。" + }, + { + "t": 7.88, + "log_step": null, + "text_zh": "推断：视频结束前未完成通过导槽。参考视频 8.0–10.4 s 中，圆柱从同一入口沿整条导槽滚至远端并进入出口托盘，该可见过程在本回合未出现；末段短暂遮挡不足以容纳整段通过和出口接稳。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：蓝色浅托盘承托圆柱搬至导槽上方，倾斜后圆柱沿盘面滚离并落到入口附近，托盘随后抬开。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": 140, + "text_zh": "观察：视频 6.6–7.88 s 机器人把已经空出的托盘沿导槽向远端移动并降低，末段白色夹爪下端降至导槽近侧边缘；圆柱仍在挡板附近，没有进入出口托盘。log step 140 的控制器记录仍在执行已提交的轨迹，agent 自述正在移向出口接收位置。" + }, + { + "t": 7.88, + "log_step": 141, + "text_zh": "观察：视频 7.88 s 最后一帧托盘为空，圆柱未在出口外被接稳；log step 141 的机器人服务状态为 episode=4、control_steps=787、done=True、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人实际将空的固定安装托盘移向导槽出口，作下方承接准备；本回合终止前未建立出口托盘对圆柱的承托。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.88, + "log_step": 141, + "text_zh": "观察：视频全程至 7.88 s，前方轨道上的深蓝色移动盒内为空；机器人未把圆柱运向该盒，末帧圆柱仍在后方导槽入口附近。log step 141 确认最后现场回合已经失败终止。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 6.2, + "log_step": 141, + "where": "操作中", + "evidence_zh": "观察：视频 4.8–6.2 s 机器人倾斜托盘倒出圆柱并抬开托盘；视频 6.2–7.4 s 圆柱仍停在橙色挡板旁的导槽入口，视频 7.4–7.88 s 虽被夹爪部分遮挡，但未出现沿槽通过远端的过程，出口托盘仍为空。log step 141 的机器人服务状态为 episode=4、control_steps=787、done=True、reason=failed。推断：最早已尝试且直到结束仍未修复的步骤为 guide_traversed；随后空托盘向出口移动并未完成该前置步骤（docs/03_trajectory.md Step 3.1）。视频约 6.2 s 为倒出后停留入口的导航锚点，不由日志时间换算。" + }, + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.2, + "log_step": null, + "evidence_zh": "观察：视频 4.8–6.2 s 机器人倾斜托盘并将圆柱送出；视频 6.2–7.4 s 圆柱留在橙色挡板旁的导槽入口，未随空托盘移向远端；视频 7.4–7.88 s 未见圆柱越过导槽出口，出口托盘为空。推断：本次送入导槽后的圆柱位置停留在入口，未达到 guide_traversed 所需的远端位置，标为位姿不准；未观察到有证据的接触阻断，不将夹爪靠近槽边认定为碰撞。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，首次接稳的精确角度、速度及连续窗口只能由画面估计；评分器未报告 DAG 中各项原生连续指标。视频 6.2–7.88 s 支持圆柱停留在入口、未通过导槽，但不能区分入槽位置或倾角、接触几何、初速度及实际轨迹跟踪各自的作用；log step 138 只确认预计算航点提交，log step 149–150 的 gen.py 摘录为预设 IK 航点与阶段动作，并无圆柱通过导槽的状态反馈或跟踪误差记录，故根因留空。log step 141、148 仅给出 reason=failed，没有原生 failure_reason 或接触对；视频末段单视角可见夹爪靠近槽边，但不能确认碰撞，亦无法确定触发终止的具体条件。前三次 reset 前的测试均不用于本回合节点进度。" + }, + "summary_zh": "评分视频对应最后现场回合 episode 4：机器人约在视频 1.5 s 首次接稳圆柱，最终完成 1/4 节点。机器人倾倒后，圆柱在视频约 6.2 s 至结束仍留在导槽入口，首个未修复的失败步骤为 guide_traversed，后续空托盘向出口移动未完成出口接稳或移动盒交付。没有状态日志及具体判负代码，末段接触和入槽失败的根因无法确定，首次接稳的精确验收窗口也只能估计，故置信度由 7 降至 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点进度（仅首次接稳达成）与视频一致，但断点选错：guide_traversed 是先失败的步骤（圆柱倾倒后一直停在导槽入口、从未沿槽滚动），断点却标在其后的 exit_reception；「夹爪与导槽碰撞」的现象没有被挡接触的画面证据，属推断且与评分器读数无关，根因“控制”也缺乏支持。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第二轮：首次接稳约 1.5 s 达成、其余三节点未达成、断点 guide_traversed（倒出后圆柱停在入口挡板旁）、现象位姿不准、根因留空并有 gap_zh，均与视频一致；未发现需改内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:40:06Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard-realtime--zonvguj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ed43ea52fc0c9ce0ee426d05d308d549e10e29c0439ea1f941e92d89ae0c855d", + "video_sha256": "f92dbd31caf3587b6e75258cb01be75cbad75cfe51144dc20e2ed89e77c03594", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}