Add 37 tasks (phase 2)

README.md

@@ -385,7 +385,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 - Layout as in phase 1: `phase2/<suite>/<task>/task_dag.json` and `phase2/<suite>/<task>/trajectories/<runId>.json`,
   provenance work-directory paths relative, `dag_sha256` = sha256 of `task_dag.json` as published here. A task is
   uploaded whole (its DAG together with all its phase-2 trajectories).
-- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 344 of 434 tasks, 688 of 868 trajectories.
+- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 381 of 434 tasks, 762 of 868 trajectories.
 
 ### Phase 2 tasks
 
@@ -397,16 +397,20 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/behavior-1k/boxing_books_up_for_storage/` | 2 | yes |
 | `phase2/behavior-1k/boxing_food_after_dinner/` | 2 | yes |
 | `phase2/behavior-1k/bringing_paper_to_recycling/` | 2 | no |
+| `phase2/behavior-1k/bringing_water/` | 2 | yes |
 | `phase2/behavior-1k/can_meat/` | 2 | yes |
 | `phase2/behavior-1k/canning_food/` | 2 | yes |
 | `phase2/behavior-1k/carrying_in_groceries/` | 2 | yes |
 | `phase2/behavior-1k/carrying_out_garden_furniture/` | 2 | no |
+| `phase2/behavior-1k/chopping_wood/` | 2 | yes |
+| `phase2/behavior-1k/clean_a_patio/` | 2 | yes |
 | `phase2/behavior-1k/clean_a_trumpet/` | 2 | yes |
 | `phase2/behavior-1k/clean_boxing_gloves/` | 2 | no |
 | `phase2/behavior-1k/clean_up_your_desk/` | 2 | yes |
 | `phase2/behavior-1k/clean_your_rusty_garden_tools/` | 2 | yes |
 | `phase2/behavior-1k/cleaning_up_branches_and_twigs/` | 2 | yes |
 | `phase2/behavior-1k/cleaning_up_plates_and_food/` | 2 | yes |
+| `phase2/behavior-1k/clearing_food_from_table_into_fridge/` | 2 | yes |
 | `phase2/behavior-1k/collecting_aluminum_cans/` | 2 | yes |
 | `phase2/behavior-1k/collecting_childrens_toys/` | 2 | yes |
 | `phase2/behavior-1k/cook_a_brisket/` | 2 | yes |
@@ -415,24 +419,30 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/behavior-1k/cook_cabbage/` | 2 | yes |
 | `phase2/behavior-1k/cook_hot_dogs/` | 2 | yes |
 | `phase2/behavior-1k/dispose_of_batteries/` | 2 | yes |
+| `phase2/behavior-1k/freeze_fruit/` | 2 | yes |
 | `phase2/behavior-1k/halve_an_egg/` | 2 | no |
 | `phase2/behavior-1k/installing_a_fax_machine/` | 2 | no |
+| `phase2/behavior-1k/laying_tile_floors/` | 2 | yes |
 | `phase2/behavior-1k/loading_the_car/` | 2 | yes |
 | `phase2/behavior-1k/make_gift_bags_for_baby_showers/` | 2 | yes |
 | `phase2/behavior-1k/make_pizza/` | 2 | yes |
+| `phase2/behavior-1k/make_rose_centerpieces/` | 2 | yes |
 | `phase2/behavior-1k/organizing_school_stuff/` | 2 | yes |
 | `phase2/behavior-1k/outfit_a_basic_toolbox/` | 2 | yes |
 | `phase2/behavior-1k/packing_meal_for_delivery/` | 2 | yes |
 | `phase2/behavior-1k/polishing_shoes/` | 2 | no |
 | `phase2/behavior-1k/preparing_lunch_box/` | 2 | yes |
 | `phase2/behavior-1k/put_together_a_basic_pruning_kit/` | 2 | yes |
+| `phase2/behavior-1k/putting_dirty_dishes_in_sink/` | 2 | yes |
 | `phase2/behavior-1k/putting_dishes_away_after_cleaning/` | 2 | yes |
 | `phase2/behavior-1k/putting_up_Christmas_decorations_inside/` | 2 | yes |
 | `phase2/behavior-1k/re_shelving_library_books/` | 2 | yes |
 | `phase2/behavior-1k/rearrange_your_room/` | 2 | yes |
+| `phase2/behavior-1k/rearranging_kitchen_furniture/` | 2 | yes |
 | `phase2/behavior-1k/setting_the_table/` | 2 | yes |
 | `phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/` | 2 | yes |
 | `phase2/behavior-1k/slicing_vegetables/` | 2 | yes |
+| `phase2/behavior-1k/sorting_books_on_shelf/` | 2 | yes |
 | `phase2/behavior-1k/sorting_household_items/` | 2 | yes |
 | `phase2/behavior-1k/sorting_vegetables/` | 2 | yes |
 | `phase2/behavior-1k/store_batteries/` | 2 | no |
@@ -457,6 +467,8 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/dexhand/bicycle_pump_stroke/` | 2 | yes |
 | `phase2/dexhand/binder_page_load/` | 2 | yes |
 | `phase2/dexhand/book_page_turn/` | 2 | no |
+| `phase2/dexhand/boot_sole_brush/` | 2 | yes |
+| `phase2/dexhand/envelope_letter_insert/` | 2 | yes |
 | `phase2/dexhand/essential_cube_reorient/` | 2 | no |
 | `phase2/dexhand/essential_pen_regrasp/` | 2 | yes |
 | `phase2/dexhand/essential_rotary_gait/` | 2 | yes |
@@ -465,13 +477,16 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/dexhand/grinder_crank/` | 2 | no |
 | `phase2/dexhand/jar_lid_open/` | 2 | no |
 | `phase2/dexhand/pancake_serve/` | 2 | no |
+| `phase2/dexhand/picture_hang/` | 2 | yes |
 | `phase2/dexhand/ram_module_install/` | 2 | no |
 | `phase2/dexhand/remote_battery_swap/` | 2 | no |
+| `phase2/dexhand/sweep_dustpan/` | 2 | yes |
 | `phase2/dexhand/usb_plug_insert/` | 2 | yes |
 | `phase2/dexhand/vacuum_bin_reseat/` | 2 | yes |
 | `phase2/dexjoco/bimanual_photograph/` | 2 | yes |
 | `phase2/dexjoco/fold_glasses/` | 2 | no |
 | `phase2/dextoolbench/brush_blue_brush_sweep_forward/` | 2 | yes |
+| `phase2/dextoolbench/brush_red_brush_sweep_forward/` | 2 | yes |
 | `phase2/dextoolbench/brush_red_brush_sweep_right/` | 2 | yes |
 | `phase2/dextoolbench/eraser_handle_eraser_wipe_c/` | 2 | yes |
 | `phase2/dextoolbench/hammer_claw_hammer_swing_down/` | 2 | yes |
@@ -544,13 +559,18 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/embodied-olympics-fun/volleyball_serve/` | 2 | no |
 | `phase2/embodied-olympics-fun/volleyball_spike/` | 2 | yes |
 | `phase2/embodied-olympics-fun/wall_ball/` | 2 | no |
+| `phase2/embodied-olympics-match/badminton_duelrl_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/badminton_match_i04/` | 2 | yes |
 | `phase2/embodied-olympics-match/badminton_matchlow_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/fencing_bout_i01/` | 2 | yes |
+| `phase2/embodied-olympics-match/foosball_match_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/soccer_jointcpu_i01/` | 2 | no |
+| `phase2/embodied-olympics-match/soccer_match/` | 2 | yes |
 | `phase2/embodied-olympics-match/soccerssl_match/` | 2 | yes |
 | `phase2/embodied-olympics-match/soccerssl_match_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/tabletennis_duelrl_i01/` | 2 | yes |
+| `phase2/embodied-olympics-match/tabletennis_match_i01/` | 2 | yes |
+| `phase2/embodied-olympics-match/tabletennis_match_i03/` | 2 | yes |
 | `phase2/embodied-olympics-match/tabletennis_match_i04/` | 2 | no |
 | `phase2/embodied-olympics-match/tabletennis_matchlow_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a01_i01/` | 2 | yes |
@@ -567,6 +587,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/embodied-safety-exam/a28_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a28_i03/` | 2 | yes |
 | `phase2/embodied-safety-exam/a29/` | 2 | no |
+| `phase2/embodied-safety-exam/a29_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a33_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a33_i04/` | 2 | yes |
 | `phase2/embodied-safety-exam/a34_i07/` | 2 | yes |
@@ -588,26 +609,33 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/embodied-safety-exam/e06_i03/` | 2 | yes |
 | `phase2/embodied-safety-exam/f01/` | 2 | yes |
 | `phase2/embodied-safety-exam/f04_i01/` | 2 | yes |
+| `phase2/embodied-safety-exam/f04_i02/` | 2 | yes |
+| `phase2/embodied-safety-exam/f05/` | 2 | yes |
 | `phase2/embodied-safety-exam/f05_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/f06/` | 2 | yes |
 | `phase2/embodied-safety-exam/f06_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/f08/` | 2 | yes |
+| `phase2/embodied-safety-exam/f09/` | 2 | yes |
 | `phase2/humanoidbench/loco_balance_hard/` | 2 | yes |
 | `phase2/humanoidbench/loco_hurdle/` | 2 | yes |
 | `phase2/humanoidbench/manip_bookshelf_simple/` | 2 | yes |
 | `phase2/humanoidbench/manip_cube/` | 2 | no |
 | `phase2/humanoidbench/manip_door/` | 2 | yes |
 | `phase2/humanoidbench/manip_powerlift/` | 2 | yes |
+| `phase2/humanoidbench/manip_window/` | 2 | yes |
 | `phase2/ispatialgym/alignment_axial/` | 2 | yes |
 | `phase2/ispatialgym/camera_relocalization_obstructed/` | 2 | yes |
 | `phase2/ispatialgym/configuration_matching_articulation_open_small_scale/` | 2 | yes |
 | `phase2/ispatialgym/configuration_matching_block_design/` | 2 | yes |
+| `phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/` | 2 | yes |
 | `phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/` | 2 | yes |
 | `phase2/ispatialgym/mental_rotation/` | 2 | no |
 | `phase2/kinder/constrained_cupboard/` | 2 | no |
 | `phase2/kinder/scoop_pour_i01/` | 2 | yes |
 | `phase2/kinder/sweep_into_drawer/` | 2 | yes |
+| `phase2/kinder/sweep_simple_i01/` | 2 | yes |
 | `phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/` | 2 | no |
+| `phase2/maniguard/cabinet_pickup_i22/` | 2 | yes |
 | `phase2/maniguard/cabinet_pickup_i26/` | 2 | yes |
 | `phase2/maniguard/dusty_transfer_i03/` | 2 | yes |
 | `phase2/maniguard/dusty_transfer_i16/` | 2 | yes |
@@ -637,6 +665,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/pandadyn/d01_reciprocal_cup_relay/` | 2 | yes |
 | `phase2/pandadyn/d03_cooperative_puck_course/` | 2 | yes |
 | `phase2/pandadyn/d05_moving_ramp_relay/` | 2 | no |
+| `phase2/pandadyn/d07_spring_gate_switchyard/` | 2 | yes |
 | `phase2/pandadyn/s06_cube_flip_route_recover/` | 2 | yes |
 | `phase2/pandadyn/s09_toss_recatch_delivery/` | 2 | yes |
 | `phase2/pandadyn/s11_cylinder_rescue_route_deliver/` | 2 | yes |
@@ -651,14 +680,19 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/roboarc/buzz_wire_3d_01/` | 2 | yes |
 | `phase2/roboarc/buzz_wire_3d_02/` | 2 | yes |
 | `phase2/roboarc/buzz_wire_3d_04/` | 2 | yes |
+| `phase2/roboarc/buzz_wire_3d_06/` | 2 | yes |
+| `phase2/roboarc/buzz_wire_3d_09/` | 2 | yes |
 | `phase2/roboarc/buzz_wire_3d_10/` | 2 | yes |
 | `phase2/roboarc/cast_coil_04/` | 2 | yes |
 | `phase2/roboarc/cast_coil_06/` | 2 | yes |
 | `phase2/roboarc/cast_coil_07/` | 2 | no |
 | `phase2/roboarc/cast_coil_08/` | 2 | yes |
+| `phase2/roboarc/cast_keyhole_04/` | 2 | yes |
 | `phase2/roboarc/cast_keyhole_05/` | 2 | yes |
 | `phase2/roboarc/fiber_bundling_04/` | 2 | yes |
 | `phase2/roboarc/fiber_bundling_06/` | 2 | yes |
+| `phase2/roboarc/fiber_bundling_07/` | 2 | yes |
+| `phase2/roboarc/fiber_bundling_10/` | 2 | yes |
 | `phase2/roboarc/hedgehog_in_cage_05/` | 2 | yes |
 | `phase2/roboarc/hedgehog_in_cage_06/` | 2 | yes |
 | `phase2/roboarc/hedgehog_in_cage_07/` | 2 | yes |
@@ -687,6 +721,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/robocasa-gr1/potato_to_microwave_close/` | 2 | no |
 | `phase2/robocasa/coffee_setup_mug/` | 2 | no |
 | `phase2/robocasa/turn_off_sink_faucet/` | 2 | yes |
+| `phase2/robocasa365/cereal_and_bowl/` | 2 | yes |
 | `phase2/robocasa365/display_meat_variety/` | 2 | no |
 | `phase2/robocasa365/microwave_defrost_meat/` | 2 | yes |
 | `phase2/robocasa365/searing_meat/` | 2 | yes |
@@ -715,12 +750,14 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/robopaint/acrylic_redfuji/` | 2 | yes |
 | `phase2/robopaint/acrylic_suddenshower/` | 2 | yes |
 | `phase2/robopaint/acrylic_sunflowers/` | 2 | yes |
+| `phase2/robopaint/acrylic_vision/` | 2 | yes |
 | `phase2/robopaint/caoshu_siwushaonian/` | 2 | yes |
 | `phase2/robopaint/caoshu_zhen/` | 2 | yes |
 | `phase2/robopaint/kaishu_linfengguilong/` | 2 | no |
 | `phase2/robopaint/oil_monalisa_i01/` | 2 | yes |
 | `phase2/robopaint/oil_starrynight_i01/` | 2 | yes |
 | `phase2/robopaint/xingshu_feng/` | 2 | yes |
+| `phase2/robopaint/xingshu_huifenghechang/` | 2 | yes |
 | `phase2/robopaint/xingshu_maolinxiuzhu/` | 2 | yes |
 | `phase2/robopaint/xingshu_xian/` | 2 | yes |
 | `phase2/robopaint/xingshu_yong/` | 2 | yes |

phase2/behavior-1k/bringing_water/task_dag.json

@@ -0,0 +1,349 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/bringing_water",
+ "suite": "behavior-1k",
+ "base": "behavior-bringing-water-i00",
+ "title_zh": "搬水到客厅",
+ "summary_zh": "两瓶水均放在客厅茶几上、冰箱关闭，全部目标物离手且静止，联合条件连续保持30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右臂各配二指夹爪，支持辅助抓取，具有可动躯干和头部及双腕相机；特权模式访问仿真状态，标准模式使用相机和本体感知。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-bringing-water-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "criterion_zh": "厨房白色冰箱门板离开箱体并向外转开，头部或腕部画面能看见门缝、内侧搁板；原生打开判据为任一可开关节超过从关闭到全开行程的5%，门板仍贴合箱体即未完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪夹住冰箱把手或门沿，向外拉开。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "任一侧夹爪手指勾住冰箱把手，向外拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人移动到冰箱前，以夹爪操作冰箱门。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人移动到冰箱前，以手指勾拉冰箱把手。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,26-28",
+     "inputs/bddl/bringing_water.bddl:12-18",
+     "inputs/bddl/bringing_water.literals.json:14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284",
+     "inputs/oracle/replay.mp4 @ 0-45 s",
+     "inputs/oracle/run.json:1 steps[id=79].out.text: j_link_0 initial 4.8979e-12 rad, limits 0..2.0944 rad"
+    ],
+    "conf": 6,
+    "note_zh": "两瓶起初在关闭的冰箱中，取瓶必须开门；本节点是必经事件，开后再关闭也不失去。它补偿“关上冰箱”初始成立后因必经开门产生的下降；不要求录像使用的某只手或开门角度。",
+    "freeze_held": false
+   },
+   {
+    "id": "bottles_on_table_1",
+    "zh": "第1瓶上茶几",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "客厅棕色沙发围住的白色矮茶几桌面上，至少有1瓶任务水瓶与桌面接触，桌面直接在瓶下方且不在瓶上方；悬在桌面上、仍在夹爪中或掉到地板上的瓶不算已放好。少于1瓶满足该关系即失去本步；最终还须两瓶及茶几、冰箱均脱离辅助抓取且线速度不超过0.05米/秒，三个目标同时连续保持30个控制步（30赫兹，约1秒），这项共同验收属于整体成功。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪握住一瓶水瓶，从冰箱内取出并在客厅茶几上放下。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及夹爪中的水瓶，从厨房移动到客厅茶几。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,6-8,26-28",
+     "inputs/bddl/bringing_water.bddl:5,12-18,21-30",
+     "inputs/bddl/bringing_water.literals.json:2-14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1435",
+     "inputs/task/privileged/environment/instance.json:13-19,41-46,55-61",
+     "inputs/oracle/replay.mp4 @ 65-80 s"
+    ],
+    "conf": 6,
+    "note_zh": "两瓶同类、目标任意匹配，按满足关系的数量计数，不指定先放哪个实例。取出、抓取、搬运是放置过程（DECISIONS.md D5），不另计；第2瓶节点表示两瓶均在桌上。共同松手、静置和30步窗口不拆成节点；本步不等待冰箱关闭。",
+    "freeze_held": true
+   },
+   {
+    "id": "bottles_on_table_2",
+    "zh": "第2瓶上茶几",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bottles_on_table_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "客厅棕色沙发围住的白色矮茶几桌面上，至少有2瓶任务水瓶与桌面接触，桌面直接在瓶下方且不在瓶上方；悬在桌面上、仍在夹爪中或掉到地板上的瓶不算已放好。少于2瓶满足该关系即失去本步；最终还须两瓶及茶几、冰箱均脱离辅助抓取且线速度不超过0.05米/秒，三个目标同时连续保持30个控制步（30赫兹，约1秒），这项共同验收属于整体成功。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪握住一瓶水瓶，从冰箱内取出并在客厅茶几上放下。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及夹爪中的水瓶，从厨房移动到客厅茶几。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,6-8,26-28",
+     "inputs/bddl/bringing_water.bddl:5,12-18,21-30",
+     "inputs/bddl/bringing_water.literals.json:2-14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1435",
+     "inputs/task/privileged/environment/instance.json:13-19,41-46,55-61",
+     "inputs/oracle/replay.mp4 @ 105-120 s"
+    ],
+    "conf": 6,
+    "note_zh": "两瓶同类、目标任意匹配，按满足关系的数量计数，不指定先放哪个实例。取出、抓取、搬运是放置过程（DECISIONS.md D5），不另计；第2瓶节点表示两瓶均在桌上。共同松手、静置和30步窗口不拆成节点；本步不等待冰箱关闭。",
+    "freeze_held": true
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "白色冰箱门板合回箱体，门缝收拢、内侧搁板被遮住；所有可开关节均在关闭端全行程的5%以内才算关闭，任一门仍超出该范围即失去。开局已成立；最后整体成功还要求两瓶在茶几上，并且所有目标物均已离手、线速度不超过0.05米/秒，联合条件连续保持30个控制步（约1秒）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一侧夹爪或手掌抵住白色冰箱门面或门沿向箱体推回。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人移动到冰箱门前，配合夹爪推门。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪握住冰箱把手或门沿，沿铰链弧线带回门板；随后可改用夹爪推门面完成贴合。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人靠近冰箱，配合夹爪带回门板。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,6-8,26-28",
+     "inputs/bddl/bringing_water.bddl:27-29",
+     "inputs/bddl/bringing_water.literals.json:5,14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1435",
+     "inputs/oracle/replay.mp4 @ 180-201.4 s",
+     "inputs/oracle/run.json:1 steps[id=79].out.text: j_link_0 initial 4.8979e-12 rad, limits 0..2.0944 rad"
+    ],
+    "conf": 6,
+    "note_zh": "初始目标位串001证明冰箱关闭，本节点从初始计分，开门时下降，重新关闭后恢复；操作门把手不冻结状态。只与开门建立恢复关系，不要求先把两瓶放到茶几：可取出两瓶后先关冰箱再搬运，或在两次运输间关门再开。共同松手静置窗口属于整体成功，不延迟本节点的关闭几何状态。",
+    "freeze_held": false
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的世界竖直分量小于0.75（约偏离直立41.4度），或基座低于场景地板超过0.03米，连续300个控制步（30赫兹下10秒）时判跌倒并终止；短时倾斜后恢复不触发。相同步先满足成功窗口则成功优先于跌倒检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-98,124-144,1393-1396"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩坏",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节出现非有限值，机器人任一位置分量绝对值超过10000米或基座线速度超过100米/秒，或任一目标物位置非有限、任一分量绝对值超过10000米，触发仿真崩坏并立即失败；机器人每控制步检查，目标物每30步检查，读取异常本身不视为崩坏。视频可能表现为机体或物体突飞、消失，准确判定须原生崩坏标志。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1437-1470"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "需记录 proc.electric_refrigerator.n.01_1.open；原生Open谓词，输入无状态日志。inputs/task/privileged/instruction.md:28"
+   },
+   {
+    "atom": "bottle_1_on_table",
+    "level": "new_code",
+    "source": "需记录 flags.lit:(ontop bottle.n.01_1 coffee_table.n.01_1)；inputs/bddl/bringing_water.literals.json:3"
+   },
+   {
+    "atom": "bottle_2_on_table",
+    "level": "new_code",
+    "source": "需记录 flags.lit:(ontop bottle.n.01_2 coffee_table.n.01_1)；inputs/bddl/bringing_water.literals.json:4"
+   },
+   {
+    "atom": "bottle_released",
+    "level": "new_code",
+    "source": "需记录每瓶 objects.<instance>.held，依据机器人辅助抓取附着集合；inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需记录 flags.success_rule、原生goal_held_steps及goal_objects_held、goal_objects_moving；覆盖两瓶上茶几、冰箱关闭、所有目标离手及速度<=0.05米/秒连续30步；inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435,1538-1547"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需记录原生fallen；inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1546"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需记录原生breakdown；inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1470,1546"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "输入states/index.json的logs为空，故所有节点when、约束never与success均为null（DECISIONS.md P8）；可由录像判断目标关系，但5%关节阈值、精确速度和连续30步窗口无法通过本次状态证据复核。atoms列出需补记的世界状态，未假设现有日志字段。",
+  "依DECISIONS.md D5与CASES.md OPEN-5当前处理，文本“从冰箱取出并放到茶几”只建每瓶一个放置步骤；取出没有独立评分目标，作为该步骤的过程而非额外取出节点。两瓶依N4按数量计数，任一瓶均可先放。",
+  "参考运行inputs/oracle/run.json:1中的task_text仍为“目标一成立即结束”的旧规则，reward记录6043步成功；当前instruction与rcb_behavior.py要求全部目标离手并静置30步。录像可证两瓶放置和门关闭，但不能据旧成功宣称已验证当前共同验收窗口；后续标该运行应依其执行时规则（DECISIONS.md P19）。",
+  "两种模式共享rcb_behavior.Session的物理成功及失败规则（sim/server.py:125-128,344-345）；特权评分器额外要求两次同轨迹重放均成功、终态哈希相同且初始实例一致（privileged/grade.py:168-174），标准模式评现场episode（standard/grade.py:31-35）。这些交付与复现检查不是世界状态节点，success不绑定未记录的最终评分器裁决。",
+  "q_score是原生部分目标进度而非完整成功判据（rcb_behavior.py:1538-1555）；没有连续阈值用于替代松手静置的成功窗口，故native_metrics阈值为null。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "步骤、计数与开关冰箱初态有文本和BDDL支持，录像确认四步及可行无房门操作路线；无状态日志，且参考成功采用旧版即时验收，当前联合静置规则未能实证验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无状态日志，所有when/success为null符合P8；节点（打开冰箱、两瓶计数放置、关冰箱）与说明文本及BDDL目标一致，30步共同验收未拆成节点，约束为跌倒与仿真崩坏，freeze_held设置合理，开放问题已列出。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'bottles_on_table_1', 'bottles_on_table_2', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:22:11Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__bringing_water/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__bringing_water/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c1ba1ec9741d4e957f26a31319fd1a65744fc19db54497ac5cc25baf79710c2d",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-privileged--jvxft27.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-water-i00-privileged--jvxft27",
+ "taskKey": "behavior-1k/bringing_water",
+ "dag_sha256": "3864732e01c7ce934c7d19614f5eeca13a009f2abd487cee4665fe01c39f6329",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 643,
+   "sim_steps": 643,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1046.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 16,
+   "agent_resets": 0,
+   "agent_sim_steps": 1526,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-water-i00-privileged--jvxft27/replay.mp4",
+  "duration_s": 21.433,
+  "fps": 30.0,
+  "frames": 643,
+  "sha256": "09236a53eada95f167b5c0b6bf371eef6aacca9d782c4acf2a70e792ad045690"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5 s 机器人已到白色冰箱前，门板贴合箱体；视频 10.75–21.4 s 的腕部画面反复显示同一门面与门沿，夹爪在门前往返，但门板未向外转开、未露出内侧搁板。成功参考视频 40 s 可清楚看到转开的门和搁板，本视频没有出现该开门线索。"
+     },
+     {
+      "t": 21.4,
+      "log_step": 412,
+      "text_zh": "观察：log step 412 记录实际保存的轨迹为643个动作，exec.ok=true、success=false；log step 452、454 确认最终交付仍为643个动作，log step 459 重放所得终态哈希与log step 412 相同。后续会话试验不属于本视频中的交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–6.5 s 轮式底盘承载机器人从客厅驶到厨房冰箱前，并转向门面。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 13–21.4 s 可见夹爪在白色门面前反复移近、横移和退回，未见夹住门沿；另一侧近景被机体遮挡，无法确认指尖是否实际抵住门板及两臂是否同时接触，故门部接触方式记未知。"
+     }
+    ]
+   },
+   "bottles_on_table_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–2.0 s 棕色沙发围住的白色矮茶几上没有水瓶；随后机器人驶向厨房，视频 6.5–21.4 s 一直在冰箱前操作门板，未见取瓶、持瓶离开或返回茶几的过程。"
+     },
+     {
+      "t": 21.4,
+      "log_step": 459,
+      "text_zh": "推断：冰箱未打开，视频中没有任何水瓶从冰箱转移到茶几；log step 459 对最终643个动作的重放给出q_score=0.0，与输入reward一致，也排除了最终至少1瓶上桌。初始已成立且保留的冰箱关闭不增加该q_score。"
+     }
+    ]
+   },
+   "bottles_on_table_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–2.0 s 棕色沙发围住的白色矮茶几上没有水瓶；随后机器人驶向厨房，视频 6.5–21.4 s 一直在冰箱前操作门板，未见取瓶、持瓶离开或返回茶几的过程。"
+     },
+     {
+      "t": 21.4,
+      "log_step": 459,
+      "text_zh": "推断：冰箱未打开，视频中没有任何水瓶从冰箱转移到茶几；log step 459 对最终643个动作的重放给出q_score=0.0，与输入reward一致，也排除了最终至少2瓶上桌。初始已成立且保留的冰箱关闭不增加该q_score。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "推断：DAG明确冰箱关闭为初始成立条件；视频 6.5 s 首次清楚看见冰箱门时，白色门板仍合在箱体上。随后视频 10.75–21.4 s 门沿与门板始终保持贴合，未露出内侧搁板，因此关闭状态��视频 0 s 保持到结束；这不代表机器人完成过一次关门动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 15.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 13–21.4 s 机器人反复把夹爪移向白色冰箱门面和门沿，门板一直未向外转开，之后也没有取瓶动作；视频 15 s 为这段未修复开门失败的导航锚点。"
+  },
+  "unmet": {
+   "bottles_on_table_1": false,
+   "bottles_on_table_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 409,
+    "evidence_zh": "推断：log step 396 的交付脚本先到冰箱前，再反复用末端靠近、压入和沿门面拖动，开门不足则退出；log step 407 启动了最终保留的这次录制，log step 409 在其执行中反复报告reach_a: no IK，并给出约0.13–0.15米的位置误差。结合视频 13–21.4 s 夹爪反复调整而门不动，支持开门操作的控制失败；尚不能区分接触几何、逆解与实际跟踪各自的贡献，故停在控制大类。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触力记录；视频中的指尖—门板接触区受机体遮挡，不能可靠区分未建立接触、压擦无效或末端未到位，故失败现象层留空，门部contact_actual记未知。视频可判门板未转开，但无法独立复核5%关节阈值；水瓶在封闭冰箱内不可见，其未转移由完整动作过程和评分总量共同判断。agent在log step 460 声称门无可行抓法，仅为自述；成功参考证明有开门路线，不能据该自述归因为任务或环境。"
+ },
+ "summary_zh": "评分轨迹只有643个动作：机器人驶到冰箱前并反复尝试开门，未打开冰箱，也未搬运两瓶水；最终1/4个节点成立，仅为从初始保留的冰箱关闭。断点为打开冰箱，实际交付的执行日志出现反复逆解失败，支持控制层面的失败；指尖接触被遮挡且无状态日志，具体接触现象和控制子因无法可靠确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点与根因与视频和log一致：视频全程门板贴合、未见取瓶，q_score=0.0；失败现象层留空并有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": "2026-10-29T11:43:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--jvxft27/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--jvxft27/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "26988cebc7ed4eb94e51a0fbbc8be69a77c15737c55040d3cf95f9d5b735f568",
+   "video_sha256": "09236a53eada95f167b5c0b6bf371eef6aacca9d782c4acf2a70e792ad045690",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-privileged--kqnkr7j.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-water-i00-privileged--kqnkr7j",
+ "taskKey": "behavior-1k/bringing_water",
+ "dag_sha256": "3864732e01c7ce934c7d19614f5eeca13a009f2abd487cee4665fe01c39f6329",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 6043,
+   "sim_steps": 6043,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 2970.6,
+   "replay_timeout_s": 4221.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 18129,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-water-i00-privileged--kqnkr7j/replay.mp4",
+  "duration_s": 201.433,
+  "fps": 30.0,
+  "frames": 6043,
+  "sha256": "42fbc9406c5cd95034ceabb06ac227e007ad9cbcf09417985a3490c3826beced"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.5,
+      "log_step": null,
+      "text_zh": "观察：视频27.0–33.0 s左腕画面可见机器人左夹爪在竖直冰箱把手两侧，尚未见门板向外转开；视频33.5–34.5 s夹爪张开、调整，把手不再位于指间。视频35.5–36.0 s头部画面中白色门板明显向外转出，视频40.0–43.0 s可见冰箱内侧搁板。"
+     },
+     {
+      "t": 35.5,
+      "log_step": 105,
+      "text_zh": "推断：以视频约35.5 s作为开门达到判据的近似时间，误差约1.0 s；无状态日志，无法从画面精确量出5%关节阈值。log step 102的服务读数为抓住冰箱后门角约0.0012 rad，仍小于全行程2.0944 rad的5%，抓住把手本身不能证明开门；log step 105随后记录沿铰链弧线开门、门角达到约0.15 rad及更大值，与视频后续门板转出和箱内显露一致。日志仅作动作及状态佐证，未将agent时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住冰箱竖直把手，并随门板向外转动；此前多次张开、调整后重新合拢。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘从客厅沿厨房岛台外侧驶到冰箱前，支承左臂开门作业。"
+     }
+    ]
+   },
+   "bottles_on_table_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      69.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.0,
+      "log_step": null,
+      "text_zh": "观察：视频44.0–49.0 s，机器人左夹爪伸入冰箱下层，夹住第一瓶并将其从原搁放处提出；随后左腕画面持续显示瓶体随机器人移动到客厅。"
+     },
+     {
+      "t": 69.5,
+      "log_step": null,
+      "text_zh": "观察：视频69.0 s瓶体仍贴近左腕、被夹爪夹持；视频69.5 s夹爪张开并撤离，瓶子独立直立在白色茶几桌面上；视频70.0–73.0 s瓶底保持落在桌面，视频114.0–117.0 s再次看到它与另一瓶并立。放置时间取视频约69.5 s。"
+     },
+     {
+      "t": 201.4,
+      "log_step": 316,
+      "text_zh": "推断：视频117.0 s之后机器人空手返回厨房，未再操作茶几或已放水瓶；结合评分器success=1、q_score=1.0，第一瓶上茶几关系一直保持至视频结束。log step 263和log step 316的两次独立重放均报告成功且终态哈希相同。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第一瓶瓶身，从冰箱下层取出，持瓶搬运到茶几后张开释放；未见右手参与持瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在左爪持瓶期间绕过厨房岛台，驶向客厅沙发围住的茶几。"
+     }
+    ]
+   },
+   "bottles_on_table_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      113.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频88.0–94.0 s，机器人左夹爪进入冰箱下层，夹住余下的一瓶并将其从搁板提出；视频95.0–110.0 s左腕画面中的瓶体随机器人移向客厅，桌上先前放好的第一瓶仍可见。"
+     },
+     {
+      "t": 113.5,
+      "log_step": null,
+      "text_zh": "观察：视频113.0 s第二瓶仍贴近左腕；视频113.5 s瓶体离开夹爪，夹爪退后，头部画面中第二瓶落在第一瓶旁的茶几桌面上；视频114.0–117.0 s腕部与头部画面均显示两瓶独立直立在同一桌面。放置时间取视频约113.5 s，误差约0.5 s。"
+     },
+     {
+      "t": 201.4,
+      "log_step": 316,
+      "text_zh": "推断：机器人在视频117.0 s后离开茶几，后续只操作冰箱；评分器最终success=1、q_score=1.0，且两次独立重放成功，支持两瓶上茶几关系保持至结束。末帧视角朝冰箱，不能同时直接看见茶几。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人仍用左二指夹爪夹住第二瓶瓶身，从冰箱取出，单爪持瓶搬运并在第一瓶旁张开释放；两瓶分次搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘返回冰箱取第二瓶，再在左爪持瓶期间绕过岛台驶回客厅茶几。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      35.5
+     ],
+     [
+      201.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": 79,
+      "text_zh": "观察：视频10.0–12.0 s冰箱白色门板合在箱体上，内侧搁板不可见；log step 79记录动作开始前唯一门关节接近0、sim_steps=0。"
+     },
+     {
+      "t": 35.5,
+      "log_step": null,
+      "text_zh": "推断：结合初始关闭记录、视频28.0–33.0 s抓把手及视频33.5–34.5 s张爪调整而未见门板转开的画面，关闭状态从视频0 s持续到约35.5 s；视频35.5–36.0 s门板明显向外转出，视频40.0–43.0 s箱内搁板显露，支持关闭状态在此轮开门时失去。关闭5%阈值交越时间取视频约35.5 s，目测误差约1.0 s。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "观察：视频178.0–194.0 s机器人右夹爪夹住门沿，将门板带回并换位重抓；视频195.6–197.6 s右爪张开离开门沿，随后合爪；视频199.2–201.4 s右夹爪抵住门面向内推，门缝逐渐收拢，视频201.4 s内侧搁板已被门板遮住。"
+     },
+     {
+      "t": 201.4,
+      "log_step": 204,
+      "text_zh": "推断：视频201.2–201.4 s门板完成最后一段内转，取视频201.4 s为恢复关闭的近似时间。log step 204记录最终门角0.0903 rad及success=True，评分器重放亦success=1，支持已进入关闭行程的5%范围；无状态日志，无法从画面精确复核阈值交越时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住打开的冰箱门沿，将门板沿铰链方向带回；松开后移位，再次抓住门沿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：最后机器人松开门沿，改用合拢的右夹爪抵住白色门面向箱体推回，收拢门缝。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人空手从客厅驶回冰箱，在关门过程中后退、侧移并调整站位，支承右臂重新接近门沿。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频约35.5 s开门后分两次用左夹爪搬运水瓶，分别在视频约69.5 s和113.5 s松手放到茶几，最后用右夹爪抓门沿并推门，在视频约201.4 s恢复关闭，四个节点最终均成立，评分器判成功。观察：inputs/run.json的task_text采用目标同时成立即结束的旧规则，评分器两次重放均成功；本标注依该执行规则，不把DAG当前要求的全部目标离手、静置30个控制步追加到本次验收。推断：无状态日志且开门早段头部朝向岛台，开门5%阈值时间由视频35.5–36.0 s门板转出及后续箱内画面估计，误差约1.0 s；末帧不见茶几，两瓶终态由此前可见放置、后续未再操作和成功裁决共同支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "四个节点终态和两瓶放置时间（约69.5 s、113.5 s）与视频一致，关门约201.4 s也可接受；但开���箱时间被标成28.0 s，实际视频约35–36 s才开始开门，此前只是在抓把手/松开/重抓，fridge_opened与fridge_closed的失去时间都需改。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "第2轮复核：四个节点的终态与时间（开门约35.5 s、放瓶约69.5/113.5 s、关门约201.4 s）与视频一致，评分器q=1.0，无失败层，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": "2026-10-29T11:57:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--kqnkr7j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--kqnkr7j/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--kqnkr7j/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-water-i00-privileged--kqnkr7j/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3c33afb3d734b526a33035081444504cd3b94e50c2060c8684e9cd1cf441fdfa",
+   "video_sha256": "42fbc9406c5cd95034ceabb06ac227e007ad9cbcf09417985a3490c3826beced",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/task_dag.json

@@ -0,0 +1,434 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/chopping_wood",
+ "suite": "behavior-1k",
+ "base": "behavior-chopping-wood-i00",
+ "title_zh": "劈柴",
+ "summary_zh": "四根木柴均劈成两半，八块半木同时存在、全部脱手且线速度不大于0.05米/秒，连续保持30个控制步。",
+ "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人：可移动底盘、可调躯干、左右各一条机械臂，每臂末端为二指夹爪，采用辅助抓取；可用任一臂持斧或持木柴。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-chopping-wood-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "logs_split_1",
+    "zh": "第1根木柴劈半",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少1根原来的完整木柴分别变成两块仍存在的半木，共有至少2块属于这些完整切分的半木；从头部或腕部视角应见车道上的原木被两块带新切面的木块替代，仅让斧头靠近、压住或推走完整木柴不算，任一对半木有一块被继续切碎或消失则重新按完整对数计数。全任务结束还须八块半木同时存在、均未被辅助抓取且线速度不大于0.05米/秒，连续30个控制步（30赫兹，约1秒）；这项共同验收属于成功条件，不另设步骤。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：一侧夹爪持斧柄，挥斧用斧刃劈击木柴；现有接触条目没有击打，故用其他。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载挥斧的机械臂，移至目标木柴旁。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "替代接触方案：一侧夹爪夹住木柴，使木柴接触留在地面上的斧刃；切割规则不要求斧头被握持。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载夹住木柴的机械臂，将木柴移向斧刃。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7 四根木柴各分成两半；八块半木均存在",
+     "inputs/task/standard/instruction.md:6 同一任务与目标",
+     "inputs/bddl/chopping_wood.bddl:14-29 原木与机器人同在车道，八块半木初始为 future",
+     "inputs/bddl/chopping_wood.bddl:32-42 八个 real 目标合取",
+     "inputs/task/privileged/instruction.md:27 切割接触使整木替换成两块半木",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-104,1414-1434 联合脱手静置验收"
+    ],
+    "conf": 6,
+    "note_zh": "按已完整劈半的木柴根数累计，不指定原木实例或左右手；一次切割同时产生两块半木，只计一步。计数边表示至少第k根成立必包含前k-1根，不限定具体原木处理顺序；结果存在可在持物时成立，因此关闭持物冻结，共同脱手与静置窗口留在成功验收。劈柴墩不是目标，搬运、举斧和退离不另建节点。"
+   },
+   {
+    "id": "logs_split_2",
+    "zh": "第2根木柴劈半",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "logs_split_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少2根原来的完整木柴分别变成两块仍存在的半木，共有至少4块属于这些完整切分的半木；从头部或腕部视角应见车道上的原木被两块带新切面的木块替代，仅让斧头靠近、压住或推走完整木柴不算，任一对半木有一块被继续切碎或消失则重新按完整对数计数。全任务结束还须八块半木同时存在、均未被辅助抓取且线速度不大于0.05米/秒，连续30个控制步（30赫兹，约1秒）；这项共同验收属于成功条件，不另设步骤。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：一侧夹爪持斧柄，挥斧用斧刃劈击木柴；现有接触条目没有击打，故用其他。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载挥斧的机械臂，移至目标木柴旁。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "替代接触方案：一侧夹爪夹住木柴，使木柴接触留在地面上的斧刃；切割规则不要求斧头被握持。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载夹住木柴的机械臂，将木柴移向斧刃。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7 四根木柴各分成两半；八块半木均存在",
+     "inputs/task/standard/instruction.md:6 同一任务与目标",
+     "inputs/bddl/chopping_wood.bddl:14-29 原木与机器人同在车道，八块半木初始为 future",
+     "inputs/bddl/chopping_wood.bddl:32-42 八个 real 目标合取",
+     "inputs/task/privileged/instruction.md:27 切割接触使整木替换成两块半木",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-104,1414-1434 联合脱手静置验收"
+    ],
+    "conf": 6,
+    "note_zh": "按已完整劈半的木柴根数累计，不指定原木实例或左右手；一次切割同时产生两块半木，只计一步。计数边表示至少第k根成立必包含前k-1根，不限定具体原木处理顺序；结果存在可在持物时成立，因此关闭持物冻结，共同脱手与静置窗口留在成功验收。劈柴墩不是目标，搬运、举斧和退离不另建节点。"
+   },
+   {
+    "id": "logs_split_3",
+    "zh": "第3根木柴劈半",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "logs_split_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少3根原来的完整木柴分别变成两块仍存在的半木，共有至少6块属于这些完整切分的半木；从头部或腕部视角应见车道上的原木被两块带新切面的木块替代，仅让斧头靠近、压住或推走完整木柴不算，任一对半木有一块被继续切碎或消失则重新按完整对数计数。全任务结束还须八块半木同时存在、均未被辅助抓取且线速度不大于0.05米/秒，连续30个控制步（30赫兹，约1秒）；这项共同验收属于成功条件，不另设步骤。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：一侧夹爪持斧柄，挥斧用斧刃劈击木柴；现有接触条目没有击打，故用其他。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载挥斧的机械臂，移至目标木柴旁。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "替代接触方案：一侧夹爪夹住木柴，使木柴接触留在地面上的斧刃；切割规则不要求斧头被握持。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载夹住木柴的机械臂，将木柴移向斧刃。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7 四根木柴各分成两半；八块半木均存在",
+     "inputs/task/standard/instruction.md:6 同一任务与目标",
+     "inputs/bddl/chopping_wood.bddl:14-29 原木与机器人同在车道，八块半木初始为 future",
+     "inputs/bddl/chopping_wood.bddl:32-42 八个 real 目标合取",
+     "inputs/task/privileged/instruction.md:27 切割接触使整木替换成两块半木",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-104,1414-1434 联合脱手静置验收"
+    ],
+    "conf": 6,
+    "note_zh": "按已完整劈半的木柴根数累计，不指定原木实例或左右手；一次切割同时产生两块半木，只计一步。计数边表示至少第k根成立必包含前k-1根，不限定具体原木处理顺序；结果存在可在持物时成立，因此关闭持物冻结，共同脱手与静置窗口留在成功验收。劈柴墩不是目标，搬运、举斧和退离不另建节点。"
+   },
+   {
+    "id": "logs_split_4",
+    "zh": "第4根木柴劈半",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "logs_split_3"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少4根原来的完整木柴分别变成两块仍存在的半木，共有至少8块属于这些完整切分的半木；从头部或腕部视角应见车道上的原木被两块带新切面的木块替代，仅让斧头靠近、压住或推走完整木柴不算，任一对半木有一块被继续切碎或消失则重新按完整对数计数。全任务结束还须八块半木同时存在、均未被辅助抓取且线速度不大于0.05米/秒，连续30个控制步（30赫兹，约1秒）；这项共同验收属于成功条件，不另设步骤。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：一侧夹爪持斧柄，挥斧用斧刃劈击木柴；现有接触条目没有击打，故用其他。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载挥斧的机械臂，移��目标木柴旁。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "替代接触方案：一侧夹爪夹住木柴，使木柴接触留在地面上的斧刃；切割规则不要求斧头被握持。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载夹住木柴的机械臂，将木柴移向斧刃。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7 四根木柴各分成两半；八块半木均存在",
+     "inputs/task/standard/instruction.md:6 同一任务与目标",
+     "inputs/bddl/chopping_wood.bddl:14-29 原木与机器人同在车道，八块半木初始为 future",
+     "inputs/bddl/chopping_wood.bddl:32-42 八个 real 目标合取",
+     "inputs/task/privileged/instruction.md:27 切割接触使整木替换成两块半木",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-104,1414-1434 联合脱手静置验收"
+    ],
+    "conf": 6,
+    "note_zh": "按已完整劈半的木柴根数累计，不指定原木实例或左右手；一次切割同时产生两块半木，只计一步。计数边表示至少第k根成立必包含前k-1根，不限定具体原木处理顺序；结果存在可在持物时成立，因此关闭持物冻结，共同脱手与静置窗口留在成功验收。劈柴墩不是目标，搬运、举斧和退离不另建节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座上轴的世界竖直分量低于0.75（倾斜超过约41.4度），或底座低于地面超过0.03米，连续300个控制步（10秒），触发跌倒失败；短于该窗口的倾倒本身不触发此规则。同一步同时达到成功时，程序先处理成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99,124-144,1393-1396,1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节状态出现非有限值，机器人任一位置坐标绝对值超过10000米，或底座线速度超过100米/秒；目标半木的位置出现非有限值或任一坐标绝对值超过10000米也触发失败。机器人每控制步检查，目标物体每30个控制步检查，崩溃检查先于成功检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1393-1396,1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": {
+     "cmp": [
+      {
+       "path": "dyn.complete_split_log_count"
+      },
+      ">=",
+      1
+     ]
+    },
+    "level": "new_code",
+    "source": "Log dyn.complete_split_log_count from per-original-log generated-half provenance and both halves' real predicates; inputs/bddl/chopping_wood.bddl:32-42 and inputs/task/privileged/instruction.md:27. No state log is supplied."
+   },
+   {
+    "atom": {
+     "cmp": [
+      {
+       "path": "dyn.complete_split_log_count"
+      },
+      ">=",
+      2
+     ]
+    },
+    "level": "new_code",
+    "source": "Log dyn.complete_split_log_count from per-original-log generated-half provenance and both halves' real predicates; inputs/bddl/chopping_wood.bddl:32-42 and inputs/task/privileged/instruction.md:27. No state log is supplied."
+   },
+   {
+    "atom": {
+     "cmp": [
+      {
+       "path": "dyn.complete_split_log_count"
+      },
+      ">=",
+      3
+     ]
+    },
+    "level": "new_code",
+    "source": "Log dyn.complete_split_log_count from per-original-log generated-half provenance and both halves' real predicates; inputs/bddl/chopping_wood.bddl:32-42 and inputs/task/privileged/instruction.md:27. No state log is supplied."
+   },
+   {
+    "atom": {
+     "cmp": [
+      {
+       "path": "dyn.complete_split_log_count"
+      },
+      ">=",
+      4
+     ]
+    },
+    "level": "new_code",
+    "source": "Log dyn.complete_split_log_count from per-original-log generated-half provenance and both halves' real predicates; inputs/bddl/chopping_wood.bddl:32-42 and inputs/task/privileged/instruction.md:27. No state log is supplied."
+   },
+   {
+    "atom": {
+     "flag": "flags.success_rule"
+    },
+    "level": "new_code",
+    "source": "Log Session.succeeded / RestWatch.done after each step; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1404,1414-1434. No state log is supplied."
+   },
+   {
+    "atom": {
+     "flag": "flags.fallen"
+    },
+    "level": "new_code",
+    "source": "Log FallWatch.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1546. No state log is supplied."
+   },
+   {
+    "atom": {
+     "flag": "flags.breakdown"
+    },
+    "level": "new_code",
+    "source": "Log Session.breakdown is not None; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471,1546. No state log is supplied."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有任何状态日志（inputs/states/index.json 的 logs 为空）；依 DECISIONS.md P8，四个步骤的 when、两条约束的 never 与 success 均为 null。atoms 仅说明未来需要记录的字段，不能当成已存在的状态绑定；目前无法计算状态重放的一致性。",
+  "工具边界（DECISIONS.md D2）：文字和切割机制要求木柴与有效切割器接触，但 BDDL 只检查八块半木存在，未检查持斧或使用劈柴墩；成功运行中持斧也不能证明所有合法路线都须持斧。切割规则见 inputs/oracle/run.json 中步骤15的源代码摘录，可将木柴移向留在地面上的斧刃，因此未添加必经的拿斧步骤；第二种接触方案仅依据机制可行性，并非已观测的成功示范。",
+  "按 DECISIONS.md N4、S5 将四根同类木柴建成四个计数步骤；一次劈开产生两个目标半块，不按八块半木拆成八步。未来状态抽取应保存原木与生成半块的对应关系，按两块均存在的完整对计数，不能仅以现存半木总数除以二替代，以免继续切碎部分半木时误计。",
+  "成功示范的证据限制：inputs/oracle/run.json 的 reward 显示 all_success=1、deterministic=1，但 video_replay_matches=0；录像的第三次重放终态哈希不一致，不能据此推定评分重放中的精确完成时刻。已查看整段抽帧及20秒、47.9秒画面，腕部画面有持斧、头部画面显示车道、白车和栅栏，但视角倾斜且多处遮挡，无法可靠点清全部半木；判据据目标几何撰写，不把录像中的处理顺序设为必经。",
+  "模式差异：privileged 对两次新进程重放要求成功且终态哈希一致、初态匹配，standard 读取单次实时服务的成功；共同世界状态目标、脱手静置及跌倒与崩溃规则相同。复现有效性和文件交付检查不构成语义节点，未绑定成世界状态（inputs/grader/efe_behavior-files/privileged/grade.py:169-178；standard/grade.py:29-35；sim/server.py:128,344-345）。",
+  "文本与评分器的速度边界不同：说明称静止速度低于0.05米/秒，代码仅把大于0.05判为移动，故验收按不大于0.05米/秒写；联合窗口由 RestWatch 的连续30步计数决定，置于共同成功验收，不为各次切割单独增加等待步骤。q_score 来自 rcb_behavior.py:1548-1553 的原生指标，1只代表目标谓词全部满足，不能代替脱手静置的成功规则。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四根木柴的语义粒度、初态与八个存在目标有明确文字和BDDL依据，两模式使用相同世界状态验收；但无状态日志，示范录像重放哈希不一致且半木受遮挡，无法核验完整计数及时间窗口，故所有条件保留为空并降低置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "四个计数步骤、成功条件（空）、跌倒/崩溃约束与无状态日志时 when=null 均符合文本与评分器；工具拿斧步骤按 D2 未加并已在 open_questions_zh 说明，可接受。唯一问题：四个节点的 plan 1 把斧刃与木柴的接触标为 压/擦，而劈柴是击打，S16 要求 其他+击打；压/擦 与 plan 2 重复且不是典型做法。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个计数步骤符合文本“四根木柴各劈成两半”(N4/S5)；无状态日志故 when=null、success=null(P8)；共同脱手静置与速度阈值留在成功验收并在 open_questions_zh 说明；跌倒/崩溃约束为评分器失败条件；拿斧步骤按 D2 未加且已说明；接触标签已按上轮意见改为 其他+击打。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['logs_split_1', 'logs_split_2', 'logs_split_3', 'logs_split_4']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:40:45Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__chopping_wood/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__chopping_wood/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__chopping_wood/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__chopping_wood/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "6cda2d3ba5d722e6fdfe461465c3da0712e3ff8fe64f626b20f4e306e1915754",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--atu4u5q.json

@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--atu4u5q",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1284,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 1238,
+   "sim_steps": 1271,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 798.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 0,
+   "agent_sessions": 6,
+   "agent_resets": 2,
+   "agent_sim_steps": 6014,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--atu4u5q/replay.mp4",
+  "duration_s": 42.8,
+  "fps": 30.0,
+  "frames": 1284,
+  "sha256": "181123838b2ab592d63e7e0e58922ea21d799139fab9af1585cb82321656b115"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.7,
+      "log_step": null,
+      "text_zh": "观察：视频 16.97–17.53 s，左腕画面中斧柄旁是带树皮的完整原木；视频 17.67–18.43 s 同一位置出现宽而平直的浅色纵向切面，头部画面在视频 18.87–19.60 s 可见切后木块留在车道，机器人随后持斧离开。"
+     },
+     {
+      "t": 17.7,
+      "log_step": null,
+      "text_zh": "推断：按视频中四处木柴首次呈现切分结果的先后计数，本次计为第1根完整切分，视频时间约有 0.3–0.5 s 不确定性；半木局部相互遮挡，完整配对及终态仍存在由 reward 的 success=1、goal=1、q_score=1 支持，故本节点终态为真，未用 agent 工作时间或评分重放步数替代视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持斧柄，以斧刃向第1处木柴缓慢下压，接触后抬斧撤离。实际动作没有明显大幅挥斧击打。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及左臂所持斧头，驶近第1处木柴，并在处理后携斧离开；此项记录移动阶段的支承。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 22.73–23.37 s，机器人左夹爪持斧移向栅栏旁另一根原木并下压；视频 23.60–25.60 s 头部画面中该木柴旁出现浅色切面，视频 26.10–26.60 s 左腕画面也可见带平直浅色面的木块，机器人抬斧并驶离。"
+     },
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "推断：按视频中四处木柴首次呈现切分结果的先后计数，本次计为第2根完整切分，视频时间约有 0.3–0.5 s 不确定性；半木局部相互遮挡，完整配对及终态仍存在由 reward 的 success=1、goal=1、q_score=1 支持，故本节点终态为真，未用 agent 工作时间或评分重放步数替代视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持斧柄，以斧刃向第2处木柴缓慢下压，接触后抬斧撤离。实际动作没有明显大幅挥斧击打。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及左臂所持斧头，驶近第2处木柴，并在处理后携斧离开；此项记录移动阶段的支承。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "观察：视频 31.73–35.10 s，机器人左夹爪持斧在第三处横放原木上缓慢下压、左右擦动；视频 35.37 s 左腕画面中原木下缘出现完整的浅色纵向平面，视频 35.60–36.60 s 头部画面可见切后木块仍在地上，机器人持斧退离。"
+     },
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "推断：按视频中四处木柴首次呈现切分结果的先后计数，本次计为第3根完整切分，视频时间约有 0.3–0.5 s 不确定性；半木局部相互遮挡，完整配对及终态仍存在由 reward 的 success=1、goal=1、q_score=1 支持，故本节点终态为真，未用 agent 工作时间或评分重放步数替代视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持斧柄，以斧刃向第3处木柴缓慢下压并横向擦动寻找切割接触。实际动作没有明显大幅挥斧击打。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及左臂所持斧头，驶近第3处木柴，并在处理后携斧离开；此项记录移动阶段的支承。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.7,
+      "log_step": null,
+      "text_zh": "观察：视频 39.10–41.53 s，机器人持斧下降到靠车库门的最后一根原木旁；视频 41.67–41.93 s 左腕画面出现斧柄左侧的浅色切面，视频 42.30–42.77 s 斧柄右侧可见带平直浅色面的半木，机器人抬斧离开，未见再次切碎。"
+     },
+     {
+      "t": 41.7,
+      "log_step": null,
+      "text_zh": "推断：按视频中四处木柴首次呈现切分结果的先后计数，本次计为第4根完整切分，视频时间约有 0.3–0.5 s 不确定性；半木局部相互遮挡，完整配对及终态仍存在由 reward 的 success=1、goal=1、q_score=1 支持，故本节点终态为真，未用 agent 工作时间或评分重放步数替代视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持斧柄，以斧刃向第4处木柴缓慢下压，接触后抬斧撤离。实际动作没有明显大幅挥斧击打。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及左臂所持斧头，驶近第4处木柴，并在处理后携斧离开；此项记录移动阶段的支承。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人持斧依次处理四处木柴，约在视频 17.7、23.5、35.3、41.7 s 出现切分结果，四个计数节点终态均成立；实际以斧刃下压、第三处辅以横向擦动完成接触，评分结果为成功。评分器 reward 报告 success=1、goal=1、q_score=1，log step 84 的已交付文件新进程重放也报告目标连续保持30个控制步、目标物未被抓持且未运动，故无失败断点。缺口：没有状态日志，视频视角倾斜且斧柄与本体遮住部分半木，不能逐帧点清八块或独立量测静置速度；video_replay_matches=0，因此时间按视频切面变化估计，终态和共同静置验收依成功评分补足，未把评分重放的 goal_first_step 直接映射到视频。",
+ "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（success=1、goal=1、q_score=1），四个节点终态为真，无失败断点；视频帧中各处切后木块与标注时间大致吻合，校验器通过。低分辨率视频无法精确到秒内逐帧核对，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": "2026-10-29T11:56:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--atu4u5q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--atu4u5q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ba836ca07e2a1794ce4eb5584af6324f9587a7439d8e1c8046c3817ee257b202",
+   "video_sha256": "181123838b2ab592d63e7e0e58922ea21d799139fab9af1585cb82321656b115",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--ysdupyr.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--ysdupyr",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 13627,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 13777,
+   "fallen": 0,
+   "final_reward": 0.25,
+   "q_score": 0.25,
+   "replay_wall_s": 2027.9,
+   "replay_timeout_s": 10284.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 0,
+   "agent_sessions": 17,
+   "agent_resets": 6,
+   "agent_sim_steps": 32725,
+   "agent_records": 150,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--ysdupyr/replay.mp4",
+  "duration_s": 459.233,
+  "fps": 30.0,
+  "frames": 13777,
+  "sha256": "1df63be324a3da2d4f66cd78b9658d64df121ffe13bd7c1983baccb2051c6b59"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      83.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 82.5,
+      "log_step": null,
+      "text_zh": "观察：视频 82.5 s 仍见斧刃旁的完整树皮木柴；视频 83.0–84.0 s 原木位置出现分离木块和浅色纵向切面。视频 96.0–100.0 s 头部视角清楚可见两块半木，一块树皮朝上、一块切面朝上，故第一根完整切分约在视频 83.0 s 成立，时间误差约0.5秒。"
+     },
+     {
+      "t": 459.0,
+      "log_step": null,
+      "text_zh": "推断：后续视频又在视频 393.5–400.0 s 展示一对新半木，但未提供全部旧半木的连续可见性；视频 459.0 s 终帧未覆盖所有半木。结合已见完整切分和评分器 q_score=0.25（八个存在目标中满足两个），保留至少一对完整半木的计数，不能据此认定第二对也保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：左夹爪短暂夹住斧柄并反复带动、拨推斧头，斧头大部分时间贴着车道滑移；这次采用平推接近木柴，没有看到挥斧击打。夹爪松开后再接近斧柄的动作也在本步骤内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘沿车道移动并多次转向、调整与斧头的距离，承载左臂完成接近和推斧。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 190.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 90.0–220.0 s 机器人带斧朝下一根木柴方向移动；视频 176.0–218.0 s 左腕画面反复显示斧头仍平躺在车道边、夹爪靠近后离开，未出现新的两半木。之后机器人转向其他位置，未见返回完成这根木柴。"
+     },
+     {
+      "t": 394.0,
+      "log_step": 327,
+      "text_zh": "观察：视频 393.5–394.0 s 腕部出现带浅色切面的木块，视频 399.0–405.0 s 可见两块分开的新半木；但第一对半木此时不在画面中，不能直接核对两对是否同时完整存在。log step 327 所示生成会话报告第二次切分及 q_score=0.5，属于生成会话，不能替代评分重放。"
+     },
+     {
+      "t": 459.0,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=0.25，最多允许两个目标半木存在，因此“至少两根完整切分、四块半木同时存在”的终值为 false。评分字段 video_replay_matches=0，且末段视频没有同时展示四块半木；无法确定该计数曾成立的区间或失去时刻，intervals 保留 null，不能凭生成会话报告添加区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 90.0–220.0 s 左夹爪间歇夹持、拨推斧柄，使斧头贴地移动；在车道边缘多次重新接近后，斧头未继续明显前进。随后视频约 230.0–394.0 s 左臂继续用同样方式把斧头移到另一根木柴，那里出现新的切面。未见双臂共���操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘在视频约 90.0–220.0 s 跟随推斧前进、反复改变站位，随后转向车道另一侧继续处理其他木柴。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 427.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 399.0–453.0 s 机器人继续调整底盘和左臂，斧头在已生成半木旁滑动，部分半木随接触改变位置；未见第三根原木被新的一对半木替代。视频 458.5–459.0 s 机器人停在斧头旁，未出现新的切分。"
+     },
+     {
+      "t": 459.0,
+      "log_step": 327,
+      "text_zh": "推断：评分器 q_score=0.25 只允许两个目标半木存在，第三根完整切分所需的六块半木不可能在评分终态满足。log step 327 的低位 move_ee 无逆解异常说明生成会话怎样停止，但不用于认定视频中的第三次切分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 399.0–453.0 s 左夹爪反复夹住或拨动斧柄，斧头贴地滑移，并与刚切出的半木相邻、相碰；未见斧刃完成对下一根完整木柴的切分。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 411.0–431.0 s 左夹爪及斧柄附近的半木被带动、拨移；画面可见半木靠到夹爪旁，但不足以确认夹爪对半木形成相向夹持，因此不记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 399.0–453.0 s 底盘承载左臂继续向车道转角移动并调整姿态。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 459.0,
+      "log_step": null,
+      "text_zh": "观察：全段粗采样及切分前后密集帧只显示视频约 83.0 s 与视频约 393.5 s 的两次切分，末段视频 458.5–459.0 s 没有再产生一对半木，也未见补做最后剩余木柴的独立尝试。"
+     },
+     {
+      "t": 459.0,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.25，远低于四根完整切分所需八个存在目标；第四个计数终值为 false。节点按完整切分数量累计，不能把接近过四根不同原木当作完成四步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_2",
+   "t": 180.0,
+   "log_step": 303,
+   "where": "操作中",
+   "evidence_zh": "观察：第一对半木出现后，机器人在视频约 90.0–220.0 s 持续带斧移动并反复接近斧柄；视频 180.0–218.0 s 推斧动作没有让工具继续有效趋近下一根木柴，未出现切分，随后机器人转向别处。log step 303 的生成会话也记录 log.n.01_3 多次 stroke_done、斧位移约0–0.001米，最后仍 alive=True 并转做其他木柴。推断：这是最早放弃且未返回修复的切割尝试，归于第二个计数步骤；后来的另一根木柴切分不能证明这根被放弃的木柴已完成。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 190.0,
+    "log_step": 303,
+    "evidence_zh": "观察：视频 180.0–218.0 s 左夹爪反复向斧柄附近落下、闭合再离开，腕部多次只见空夹爪朝向地面；斧头仍横躺在车道边，所需的斧刃与下一根木柴的切分接触没有在这段动作中形成。推断：这次推斧的末端接近和行程没有把工具有效送到切割位置；画面不足以证明斧头被路缘卡住或机器人达到关节限位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 190.0,
+    "log_step": 303,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 176.0–218.0 s 采用的是间歇拨推躺地斧柄、反复松开再接近的接触方式，夹爪动作与斧头前进没有保持有效耦合；log step 303 显示生成会话对同一原木连续多次推行程完成而斧头位移为0或约0.001米，原木仍存在，log step 309 的 agent 自述也称该段直推停滞。具体接触几何与承载方式未能稳定传递推行程，支持接触设计归因；没有同位置替代握法的验证，故 alt_feasible 为未知。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整视频和生成会话日志，但没有状态日志；评分字段 deterministic=1、video_replay_matches=0，评分终态 q_score=0.25 与生成会话 log step 327 的 q_score=0.5 不同。视频约 83.0 s 和视频约 393.5 s 各见一次切分，后半段未同时看见两对半木，末秒视频 458.5–459.0 s 也不能清点全部半木；无法确定四块半木同时存在的区间、任何半木消失或继续切碎的时刻，因此第二节点的区间未知，终值仅按评分总量推断为 false。斧头与原木的精确接触、法向力和辅助抓取状态均无状态证据；不把生成会话末尾的 IK 异常、未验证的路缘阻挡或重放差异本身另立根因。 已查看成功参考视频的全段粗采样及相同腕部、头部视角；参考中的浅色切面可辅助辨认半木，但其视角也不能替本次视频补出所有半木的同时存在状态。"
+ },
+ "summary_zh": "视频约 83.0 s 首次出现一对半木，评分终态 q_score=0.25 支持保留一个完整切分计数，其余三个计数终值为 false。最早未修复的尝试是随后在车道边缘反复推斧而未切开下一根木柴，断点为 logs_split_2，接触方式未能使工具持续有效前进。视频约 393.5 s 又见切分，但旧半木不可同时清点且 video_replay_matches=0，故第二计数的成立区间无法确定，未用生成会话的两次切割自述补齐。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频及评分字段（q_score=0.25，video_replay_matches=0）一致：约83 s出现第一对半木，约393.5 s出现第二对，但终态只能算一个完整计数，第二节点区间留 null 并写明 gap 合理；断点 logs_split_2 与单一位姿不准/接触设计归因有证据且标注了推断，未发现需改的内容。",
+    "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": "2026-10-29T12:00:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--ysdupyr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--ysdupyr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8c6cb5a5914e1ef80b408aa287b8e23b4b6cb017d8ae2beee74c304792b8e2e",
+   "video_sha256": "1df63be324a3da2d4f66cd78b9658d64df121ffe13bd7c1983baccb2051c6b59",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_patio/task_dag.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/clean_a_patio",
+ "suite": "behavior-1k",
+ "base": "behavior-clean-a-patio-i00",
+ "title_zh": "清洁庭院",
+ "summary_zh": "庭院目标地面上的泥污全部清除，并按评分器要求在目标物体未被夹持且线速度不超过每秒0.05米时连续保持30个控制步。",
+ "embodiment_zh": "两种模式均使用R1Pro轮式移动双臂机器人，左右臂各配二指夹爪，采用辅助抓握；典型方案由一侧夹爪持扫帚、轮式底盘移动清扫。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-clean-a-patio-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "patio_clean",
+    "zh": "庭院泥污清除",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0.9666666666666667,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部及腕部视角扫过的灰色庭院地面上，原先散落的黄褐色小块泥污全部消失，目标地面全域不再有泥粒（不是只扫净当前视野），且该状态与目标物体未被夹持、线速度不超过每秒0.05米一起连续保持30个控制步（约1秒）；目标仅含地面和泥物质，扫帚不属于须释放静置的目标物体。仍见任一目标泥粒即未完成，完成后若目标地面重新出现泥污则失去；被遮挡区域不能仅凭局部干净推定完成。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "一侧夹爪持扫帚，以扫帚刷头扫过庭院地面上的泥污；持柄的夹爪属于同一工具链，不重复标注抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘由庭院地面支承，在夹爪持扫帚清扫时移动以覆盖分散的泥污。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-25",
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/bddl/clean_a_patio.bddl:11-24",
+     "inputs/bddl/clean_a_patio.literals.json:2-12",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:148-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:181-191",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1309-1314",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1406-1435",
+     "inputs/oracle/replay.mp4 @ 0,15,30,45,60,75,90,105,120,134.8 s",
+     "inputs/oracle/run.json: steps[id=79,84,85,92,93]"
+    ],
+    "conf": 6,
+    "note_zh": "初态地面有泥，扫帚与机器人均在庭院，不需经过门或打开容器。只按整体洁净结果建一步，不按成功录像中的14个粒子、路线或扫动次数拆分；拿扫帚未被证明是每条合法路线的必要前提，故不另建必需节点。hold_s按30赫兹下(30-1)/30秒填写，验收仍以30个连续控制步为准；无状态日志，尚不能按日志采样间隔向下取整。清洁并非放置，禁用持物冻结。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座竖直轴的世界竖直分量小于0.75（偏离竖直约41.4度以上），或底座低于场景地面超过0.03米，二者之一连续成立300个控制步（10秒）即触发跌倒失败；短暂倾倒后在计时结束前恢复不触发此规则。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1380-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1490"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，或机器人位置任一坐标绝对值超过10000米、底座线速度超过每秒100米，即触发仿真崩溃失败；每30个控制步还检查目标刚体，若位置非有限或任一坐标绝对值超过10000米也失败。该检查先于成功检查，读取状态异常本身不据此判定崩溃。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1394-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "patio_clean_accepted",
+    "level": "new_code",
+    "source": "flags.lit:(not (covered floor.n.01_1 mud.n.03_1)); task.goal_held_steps; task.goal_objects_held; task.goal_objects_moving (Session.status / RestWatch)"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule (Session.succeeded)"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "task.fallen (Session.status / FallWatch.fallen)"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "task.breakdown (Session.status / Session.breakdown)"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json为空，无状态日志可验证字段及条件；按P8所有节点when、约束never和success均为null，atoms列出需补录的世界状态字段。本任务只有一个目标字面量，q_score是该字面量的完成比例，不能当作泥污逐粒清除率。",
+  "工具前提边界（D2）：文本只说地上有扫帚，BDDL目标及评分器未检查使用扫帚；成功录像证明持扫帚可行，但现有输入未证明每条合法路线都必须先把扫帚拿在夹爪中。因此不设必需的拿扫帚节点，接触仅记录典型工具清扫方案。",
+  "评分版本差异（P19）：oracle/run.json的task_text明确为目标一成立便结束，run.json步骤92报告4047步成功，未报告释放静置计时；当前输入评分器rcb_behavior.py:24-28、103-105采用30步连续窗口。此DAG描述当前验收，成功录像可佐证洁净结果与清扫几何，不能独立核实新增窗口；旧轨迹按其执行时规则判定。",
+  "两模式的物理目标及释放静置规则相同；privileged/grade.py:168-174还要求两次回放均成功、终态哈希一致且冻结实例匹配，standard/grade.py:29-35直接采用服务的有效实时结果。这些交付与复现条件不拆成世界状态节点，无日志时success保持null。",
+  "录像的头部及腕部视角随机器人移动，末帧不能同时覆盖庭院全域；全域无泥须结合沿途视野及原生目标判定，不能仅凭某块灰色地面干净推断全部完成。Covered底层实现未包含在当前复制源码内，全泥清除语义依两模式instruction中的明确解释及BDDL目标。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本、BDDL初态与唯一目标支持一个材料清洁步骤，评分器给出连续窗口和失败规则，成功录像展示可行清扫；但无任何状态日志可绑定或回放核验，全域清洁受移动视角遮挡，且成功录像使用旧版即时成功规则。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点（庭院泥污清除）与描述及评分器一致：目标仅含泥地面字面量，30步释放静置窗口 hold_s=29/30 符合D31，跌倒与崩溃约束为立即终止，无状态日志故when/success为null并已在open_questions_zh说明；扫帚不设拿起节点并已写明未能验证（D2）。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['patio_clean']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:30:05Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clean_a_patio/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clean_a_patio/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "9a1955de39edfcbd64530356e76765e644006a75a086547c645bdacd839d319f",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-privileged--wxnyjd7.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-patio-i00-privileged--wxnyjd7",
+ "taskKey": "behavior-1k/clean_a_patio",
+ "dag_sha256": "f251b29ac3ac966c65898d67b18d497deffe3c7cf4e7810031b2b685dfbd6a3e",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3477,
+   "sim_steps": 3477,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1164.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 10431,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 5.533,
+   "peak_memory_gb": 13.357,
+   "peak_processes": 47,
+   "peak_disk_gb": 1.401,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-patio-i00-privileged--wxnyjd7/replay.mp4",
+  "duration_s": 115.9,
+  "fps": 30.0,
+  "frames": 3477,
+  "sha256": "ae2fd5e4a8fd80f8bf647bf3f97820a6d357dbd43e37c2bb02f8a9e97c96c2ec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "patio_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      115.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部主视图中，灰色庭院地面上可见黄褐色泥块，初态尚未清洁。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 61,
+      "text_zh": "观察：视频 14.0–17.0 s 扫帚仍贴近原地，视频 17.5–18.5 s 机器人左夹爪连同扫帚上升，视频 19.0–21.0 s 扫帚随左臂转向，证实工具已离开原位并被持住；log step 61 的接触查询也列出左夹爪两指接触扫帚。"
+     },
+     {
+      "t": 32.3,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–32.3 s，机器人持扫帚随底盘移动，刷头掠过椅子旁地面的黄褐色泥块；泥块在刷头经过后从该局部地面消失。此时只完成局部清扫，不能据此判全域完成。"
+     },
+     {
+      "t": 115.87,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0–112.6 s 石板上仍可见黄褐色泥块，视频 112.8–113.2 s 刷头经过该处；视频 114.0–115.87 s 机器人继续持扫帚转向另一块石板，末帧可见区域未辨认出残留泥块，但画面不能覆盖庭院全域。"
+     },
+     {
+      "t": 115.9,
+      "log_step": 126,
+      "text_zh": "推断：全域清洁及首次完成时刻约为视频 115.9 s，依据本次 reward 的 success=1、q_score=1、deterministic=1，以及 log step 114、126 对同一交付文件的两次独立回放均在 3477 个控制步成功且终态哈希一致。控制率为 30 Hz，3477/30=115.9 s 与视频总长吻合；另以 log step 61 的 548 个控制步对应视频约 18.3 s，核对视频 18.0–18.5 s 的扫帚抬起姿态。全域结论由评分器补足移动视角的遮挡；本次 task_text 采用目标成立即结束的规则，未要求 DAG 当前描述的新增连续静置窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 18.0–21.0 s 机器人左夹爪夹持并抬起扫帚，随后以刷头扫过地面泥污；视频 30.0–32.3 s 和视频 112.0–113.2 s 可见刷头随移动掠过泥块。持柄夹爪与扫帚属于同一工具链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 28.0–36.0 s、视频 44.0–68.0 s 及视频 88.0–115.87 s，机器人底盘在地面支承下行驶、转向，携带左臂持有的扫帚覆盖庭院及石板路。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以左夹爪持扫帚，随底盘移动清扫家具周围及石板路；结合末段视频与评分器成功结果，庭院泥污清除节点约在视频 115.9 s 达成，最终完成 1/1，无失败断点。本次 task_text 明确目标成立即结束，按执行时规则记成功，不追加 DAG 当前描述的连续30个控制步静置窗口。无状态日志，移动视角无法同时覆盖目标地面全域，完成结论及末端时刻结合原生成功判定与两次一致回放推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功标注与视频及评分器结果（success=1、q_score=1）一致：节点在视频末尾约115.9 s达成，接触标注（手持工具推/扫、底盘支撑）与画面相符，无失败断点；时钟均标明，推断与观察区分清楚。",
+    "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": "2026-10-29T11:53:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-patio-i00-privileged--wxnyjd7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-patio-i00-privileged--wxnyjd7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7533e3fff4620b82f0db5b6e820544ffdb616e352150c9f4ecf5ddef310b0ee5",
+   "video_sha256": "ae2fd5e4a8fd80f8bf647bf3f97820a6d357dbd43e37c2bb02f8a9e97c96c2ec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-standard--7uomcoc.json

@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-patio-i00-standard--7uomcoc",
+ "taskKey": "behavior-1k/clean_a_patio",
+ "dag_sha256": "f251b29ac3ac966c65898d67b18d497deffe3c7cf4e7810031b2b685dfbd6a3e",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 15296,
+   "sim_steps": 15296,
+   "physics_steps": 61184,
+   "steps": 13901,
+   "elapsed_s": 13577.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-patio-i00-standard--7uomcoc/replay.mp4",
+  "duration_s": 509.867,
+  "fps": 30.0,
+  "frames": 15296,
+  "sha256": "b4e81e93789e890639b40d50b3ad339778a463797d74989c8f2af65cba5ef7d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "patio_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部视角右下方灰色庭院地面有黄褐色泥粒，清洁条件初始不成立。"
+     },
+     {
+      "t": 105.5,
+      "log_step": 155,
+      "text_zh": "观察：视频 103.0–108.75 s 机器人右臂伸下、夹爪开合再收回，扫帚始终平躺在原处，没有随夹爪离地；log step 155 只有夹爪开度读数，不能据此认定拿到扫帚。"
+     },
+     {
+      "t": 435.5,
+      "log_step": 303,
+      "text_zh": "观察：视频 430.5–437.25 s 机器人右夹爪再次贴近扫帚柄并收回，扫帚仍平躺，腕部视角地面仍见泥粒；log step 303 的 agent 自述也承认夹爪可能只是压在地面，后续 log step 305 所称拖动成功不能替代持物画面。"
+     },
+     {
+      "t": 509.7,
+      "log_step": null,
+      "text_zh": "观察：视频 508.7–509.7 s 机器人继续转动，视频 509.7 s 左上腕部视角的灰色地面右侧仍有黄褐色泥粒；末段未呈现全域无泥状态。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：本任务只有一个清洁目标字面量，inputs/run.json 的 reward.q_score=0、success=0、live_matches_replay=1 与视频中残留泥粒一致，故末态明确为 false；q_score 不是泥粒清除比例。录像全程粗查及关键段加密检查均未发现完整洁净区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–509.7 s 机器人轮式底盘在庭院中多次行驶、转向，支承机器人靠近扫帚及执行低位清扫尝试；视频 458–495 s 也持续沿地面移动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 103–108.75 s、390–406.5 s、430.5–437.25 s 可见右夹爪在扫帚旁下降、开合和退回，扫帚未随手持起。推断：指垫与柄、地面交界在腕部画面边缘或被夹爪遮住，无法可靠区分短暂推碰、勾挂和压地，故不把尝试抓取或 agent 所称勾拖记为实际抓握、手持工具清扫。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patio_clean",
+   "t": 105.5,
+   "log_step": 155,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 103.0–108.75 s 机器人为清扫伸右夹爪取扫帚，夹爪收回而扫帚仍在地面；后续视频 390–406.5 s 和 430.5–437.25 s 的多次重试也未形成持帚清扫，视频 509.7 s 仍有泥粒。推断：从首次明确取帚失效处锚定唯一的庭院泥污清除节点；后续恢复姿态、继续导航均没有修复清洁结果。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 105.5,
+    "log_step": 155,
+    "evidence_zh": "观察：视频 103–108.75 s 右夹爪靠近后开合、收回，扫帚留在原处；视频 399–404 s 夹爪在柄旁升降后仍空手离开，视频 434–436 s 重试后也未带起扫帚。推断：所尝试的持帚方案一直未建立可保持并驱动扫帚的夹持接触；这里不是从已持起状态滑落，也不否认可能发生过短暂擦碰。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 125.0,
+    "log_step": 188,
+    "evidence_zh": "观察：视频 122–145 s 三路视角大幅倾斜、翻转，机器人在家具旁失去正常支承，��后视频 146 s 左右重新立起；log step 186–190 的服务本体姿态读数记录底座逐渐倾倒，log step 190 的 up_z=-0.97。推断：取帚清扫期间发生了翻倒，重新立起并未完成清洁节点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：控制实现未能把取帚目标转化为正确的夹爪运动。视频 103–108.75 s、390–406.5 s 显示反复空手收回且扫帚未离地；log step 152、251 的实际关节值与目标值明显不同，log step 259 记录下降后末端横向偏移、闭合与抬升后开度均为零，log step 293 再次记录多轮修正后开度为零。另在 log step 181 直接可读的 drive 源码把固定的每步位移写入全部动作行，log step 178 报告短距离靠近反而驶至远处并抬高底座，随后视频 122–145 s 出现翻倒。接触几何、关节执行和姿态控制问题并存，现有证据不能唯一细分控制子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供运行日志与三路拼接录像，但没有状态日志。推断：移动摄像头不能同时覆盖庭院全域，不能逐粒统计清除量或确定所有指垫接触；contact_actual 对被遮挡的右夹爪接触保留未知。agent 在 log step 294、324 将失败归于 TCP 与指尖间的偏移，但其 FK、索引和测量曾反复修正，不能把自述的偏移数值当作已验证根因；根因保留在控制层级。",
+  "unmet": {
+   "patio_clean": false
+  }
+ },
+ "summary_zh": "观察：机器人多次导航到扫帚旁、伸右夹爪取帚并尝试低位清扫，但未见稳定持帚，视频 509.7 s 仍有泥粒，庭院泥污清除节点最终为 0/1。推断：断点为庭院泥污清除操作中的取帚失效，途中还发生翻倒，日志和画面支持控制问题。观察：无状态日志；部分指垫接触受遮挡，无法确认具体接触方式或控制子类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点 patio_clean 末态 false 与 q_score=0 一致；断点锚在首次取帚失败（视频 105 s），没建立接触、平衡两个现象与帧和日志相符，控制根因保守且 gap_zh 说明了不确定性，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:53:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-patio-i00-standard--7uomcoc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-patio-i00-standard--7uomcoc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "812e89ac8539ea3c8804837788b7903f5ccca8ec1309d7e775aee326821b3c5c",
+   "video_sha256": "b4e81e93789e890639b40d50b3ad339778a463797d74989c8f2af65cba5ef7d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/task_dag.json

@@ -0,0 +1,453 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "suite": "behavior-1k",
+ "base": "behavior-clearing-food-from-table-into-fridge-i00",
+ "title_zh": "剩食装盒入冰箱",
+ "summary_zh": "半只鸡肉和半个苹果派分别位于任意保鲜盒内（可共盒），两个保鲜盒均在关闭的冰箱内，所有目标物体离手且线速度不超过0.05米/秒，全部条件同时连续成立30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式双臂移动操作机器人，左右臂末端各为二指夹爪，使用辅助抓取；轮式全向底盘与可动躯干配合操作，头部和左右腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-clearing-food-from-table-into-fridge-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部相机可见冰箱门板离开柜体、内腔入口露出，至少一个可开合关节超过从全闭到全开的5%，此时为打开；门板仍贴合柜体、所有开合关节均不超过5%时未完成。开门事件一旦达到即保留，随后可以继续把门拉到能放盒的开度。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓握冰箱门把手，拉开门板",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在拉开冰箱门需要改变站位时移动并支承机器人",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "左或右夹爪的一根手指勾住冰箱门把手外拉",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在勾拉冰箱门需要改变站位时移动并支承机器人",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.literals.json:7,41",
+     "bddl/clearing_food_from_table_into_fridge.bddl:40-46",
+     "task/privileged/instruction.md:38"
+    ],
+    "conf": 6,
+    "note_zh": "初始字面值0000100确认冰箱关闭；必须打开才能装入保鲜盒，且文本要求最后关门，因此保留必经开门步骤（S4）。不把接近冰箱或抓住把手拆成节点。"
+   },
+   {
+    "id": "chicken_in_tupperware",
+    "zh": "鸡肉入保鲜盒",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见半只鸡肉进入任意一个保鲜盒的内腔，而不是仍在盘上、仅悬在盒口外或落在盒外；精确判据为鸡肉轴对齐包围盒中心同时位于该盒包围盒和内部容纳体积内，移出两盒则失去此状态。可以与苹果派共用一盒，关系成立时持物也可计入本步骤；最终整体验收还要求鸡肉、苹果派、两个保鲜盒及冰箱均未附着于夹爪、线速度不超过0.05米/秒，且全部目标同时连续成立30个控制步（30赫兹，约1秒）；该联合窗口属于整体成功条件，不要求每个中间步骤各等1秒。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓握半只鸡肉并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬运半只鸡肉时移动并支承机器人",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.bddl:17,36-39",
+     "bddl/clearing_food_from_table_into_fridge.literals.json:4,8",
+     "task/privileged/instruction.md:36-38",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "两个保鲜盒为替代目标，不固定盒实例。可在台面装盒，也可先把空盒放进冰箱再装入鸡肉，因此与盒入冰箱、苹果派装盒之间均不加顺序边；全局松手与静置由success验收，本节点不冻结持物时的关系变化。"
+   },
+   {
+    "id": "pie_in_tupperware",
+    "zh": "派入保鲜盒",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见半个苹果派进入任意一个保鲜盒的内腔，而不是仍在盘上、仅悬在盒口外或落在盒外；精确判据为派的轴对齐包围盒中心同时位于该盒包围盒和内部容纳体积内，移出两盒则失去此状态。可以与鸡肉共用一盒，关系成立时持物也可计入本步骤；最终整体验收还要求鸡肉、苹果派、两个保鲜盒及冰箱均未附着于夹爪、线速度不超过0.05米/秒，且全部目标同时连续成立30个控制步（30赫兹，约1秒）；该联合窗口属于整体成功条件，不要求每个中间步骤各等1秒。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓握半个苹果派并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬运半个苹果派时移动并支承机器人",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.bddl:18,32-35",
+     "bddl/clearing_food_from_table_into_fridge.literals.json:3,9",
+     "task/privileged/instruction.md:36-38",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "苹果派与鸡肉为不同种类，各一节点；两个盒是任意选择，既不要求分别装入，也不要求先装派或先装鸡肉。全局松手与静置由success验收，本节点不冻结持物时的关系变化。"
+   },
+   {
+    "id": "tupperwares_in_fridge_1",
+    "zh": "第1盒入冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见两个保鲜盒中至少一个进入冰箱内腔；按满足条件的盒数计，不按盒的实例身份计：盒的轴对齐包围盒中心须同时位于冰箱包围盒及内部容纳体积内，只有停在门外或贴着外壁不算，内腔没有盒时失去此状态。可为空盒，关系成立时持物也可计入本步骤；最终整体验收还要求鸡肉、苹果派、两个保鲜盒及冰箱均未附着于夹爪、线速度不超过0.05米/秒，且全部目标同时连续成立30个控制步（30赫兹，约1秒）；该联合窗口属于整体成功条件，不要求每个中间步骤各等1秒。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓握任意一个保鲜盒并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬运任意一个保鲜盒时移动并支承机器人",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.bddl:9,21-25,40-43",
+     "bddl/clearing_food_from_table_into_fridge.literals.json:5-6,41",
+     "task/privileged/instruction.md:36-38",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "对应至少1个盒满足inside，不指定先放哪一盒；不把两盒合成一个节点。目标并不要求先在冰箱外装好食物；全局松手与静置由success验收，本节点不冻结持物时的关系变化。"
+   },
+   {
+    "id": "tupperwares_in_fridge_2",
+    "zh": "第2盒入冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "tupperwares_in_fridge_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见两个保鲜盒都进入冰箱内腔；按至少2个盒计数，每个盒的轴对齐包围盒中心均须同时位于冰箱包围盒和内部容纳体积内，任一盒移到外面即失去此状态。可先放空盒，关系成立时持物也可计入本步骤；最终整体验收还要求鸡肉、苹果派、两个保鲜盒及冰箱均未附着于夹爪、线速度不超过0.05米/秒，且全部目标同时连续成立30个控制步（30赫兹，约1秒）；该联合窗口属于整体成功条件，不要求每个中间步骤各等1秒。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓握另一个保鲜盒并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬运另一个保鲜盒时移动并支承机器人",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.bddl:9,40-43",
+     "bddl/clearing_food_from_table_into_fridge.literals.json:5-6",
+     "task/privileged/instruction.md:36-38",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "对应至少2个盒满足inside，与第1盒节点形成计数链；不是固定的第二个实例。全局松手与静置由success验收，本节点不冻结持物时的关系变化。"
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened",
+     "chicken_in_tupperware",
+     "pie_in_tupperware",
+     "tupperwares_in_fridge_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见冰箱所有门板回到柜体，开口合拢；精确判据为所有可开合关节均在从全闭到全开行程的5%以内，任一关节超过5%即失去。初始即关闭，此状态从起点计入，装盒时开门后失去，最后关好恢复；最终整体验收还要求鸡肉、苹果派、两个保鲜盒及冰箱均未附着于夹爪、线速度不超过0.05米/秒，且全部目标同时连续成立30个控制步（30赫兹，约1秒）；该联合窗口属于整体成功条件，不要求每个中间步骤各等1秒。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左或右手掌或张开的夹爪推动冰箱门板回到关闭位置",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在推关冰箱门需要改变站位时移动并支承机器人",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪握住冰箱门把手，带动门板回到关闭位置",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在握把关门需要改变站位时移动并支承机器人",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/clearing_food_from_table_into_fridge.bddl:44-46",
+     "bddl/clearing_food_from_table_into_fridge.literals.json:7,41",
+     "task/privileged/instruction.md:36-38",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "恢复装盒必经开门所破坏的目标，采用state而非final；after仅描述最终关门在装好食物及两盒之后，不门控初始关闭状态。操作门把手不视为搬运冰箱，明确关闭freeze_held。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的竖直分量小于0.75（倾斜超过约41.4度），或基座低于地面超过0.03米，二者的并集连续成立300个控制步（30赫兹，10秒）即判倒地并终止；短暂倾倒后及时恢复不触发。同一控制步若已先达到成功窗口则按代码优先成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "sim_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置存在非有限数，机器人位置任一坐标绝对值超过10000米或基座线速度模超过100米/秒，或目标物体位置非有限或任一坐标绝对值超过10000米时，立即终止为失败；机器人每控制步检查，目标物体每30步检查一次。视频可出现机体或物体飞离、异常跳变，但确诊以这些数值检查为准。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "task/privileged/instruction.md:38; log proc.electric_refrigerator.n.01_1.open (no state logs supplied)"
+   },
+   {
+    "atom": "chicken_inside_box_1",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:4; log flags.lit:(inside half__chicken.n.01_1 tupperware.n.01_1) (no state logs supplied)"
+   },
+   {
+    "atom": "chicken_inside_box_2",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:8; log flags.lit:(inside half__chicken.n.01_1 tupperware.n.01_2) (no state logs supplied)"
+   },
+   {
+    "atom": "pie_inside_box_1",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:3; log flags.lit:(inside half__apple_pie.n.01_1 tupperware.n.01_1) (no state logs supplied)"
+   },
+   {
+    "atom": "pie_inside_box_2",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:9; log flags.lit:(inside half__apple_pie.n.01_1 tupperware.n.01_2) (no state logs supplied)"
+   },
+   {
+    "atom": "box_1_inside_fridge",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:5; log flags.lit:(inside tupperware.n.01_1 electric_refrigerator.n.01_1) (no state logs supplied)"
+   },
+   {
+    "atom": "box_2_inside_fridge",
+    "level": "new_code",
+    "source": "bddl/clearing_food_from_table_into_fridge.literals.json:6; log flags.lit:(inside tupperware.n.01_2 electric_refrigerator.n.01_1) (no state logs supplied)"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "grader/efe_behavior-files/rcb_behavior.py:1414-1435; log flags.success_rule; goal_held_steps; goal_objects_held; goal_objects_moving (no state logs supplied)"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489; log flags.fallen (no state logs supplied)"
+   },
+   {
+    "atom": "sim_breakdown",
+    "level": "new_code",
+    "source": "grader/efe_behavior-files/rcb_behavior.py:1437-1471; log flags.breakdown (no state logs supplied)"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "评分器报告的连续部分目标进度；所给源码未展开其计算公式，不推定阈值或用它代替包含松手、静置窗口的成功判定。",
+   "sources": [
+    "grader/efe_behavior-files/rcb_behavior.py:1538-1555",
+    "grader/efe_behavior-files/privileged/grade.py:188-190",
+    "grader/efe_behavior-files/standard/grade.py:50"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功示范：inputs/oracle_none.txt记录15条目录轨迹均失败，且任务目录未提供参考解；节点和视觉判据依据任务文字、初态材料及评分代码规划，尚无成功视频核验（暂行：DECISIONS.md N2、N8）。",
+  "没有状态日志：inputs/states/index.json的logs为空，所有节点when、约束never及success均为null；atoms列出需补记的世界状态和原生检查字段，不将预期字段当成已观测数据（暂行：DECISIONS.md P8）。",
+  "初态及路径：字面值文件initial=0000100确认只有冰箱关闭目标为真，冰箱打开为必经步骤，关上冰箱初始计入1/6；BDDL将机器人所在地板、早餐桌、台面及冰箱均放在厨房，场景门表未显示这些位置之间必经的房门，因此不添加房门节点。完整机器人初始位姿与逐关节门开度没有提供。",
+  "验收组织：四个放入节点只判断inside关系，允许关系成立时仍持物，故freeze_held=false；所有五个目标物体的松手、静置及连续30步联合窗口统一留在整体成功判据，已逐个写入目标节点criterion_zh，不另设松手静置节点（S1；暂行：DECISIONS.md D17）。",
+  "模式差异：两种模式共享BDDL和30步松手静置规则；标准模式评分实时单回合并允许结束后最多150步静置，特权模式对提交轨迹作两次独立重放，要求均成功、终态哈希一致且初态匹配。重放一致性、初态匹配及交付有效性不属于世界状态节点，现无日志，不能验证这些外层条件与success的一致性（privileged/grade.py:168-174；standard/grade.py:25-35）。",
+  "文本与代码的速度边界：说明文字称速度慢于0.05米/秒，评分代码仅把大于0.05米/秒列为移动，因此按代码采用不超过0.05米/秒；30步窗口为全局联合验收，未给每个放入节点重复施加保持窗口（rcb_behavior.py:1424-1432）。",
+  "操作成本仅记录不判任务成败：会话次数、重置次数、动作及模拟步数属于成本记录，不设约束；时间或步数上限也不设约束（rcb_behavior.py:82-91；privileged/grade.py:114-133；S13、P21）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "步骤、可交换保鲜盒计数、初始关门状态及目标验收均有文字、BDDL和评分代码支持；没有成功轨迹或状态日志，无法核验绑定、细节可见性及全部成功策略，故整体及节点置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（开冰箱、鸡肉入盒、派入盒、第1/2盒入冰箱、关冰箱）与任务文字和BDDL目标一致；计数用atleast式第k个、关冰箱从t=0计入、freeze_held=false、约束仅为倒地与仿真崩溃均符合评分代码。无状态日志，when/success为null并在open_questions_zh说明，属暂行规则，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'chicken_in_tupperware', 'pie_in_tupperware', 'tupperwares_in_fridge_1', 'tupperwares_in_fridge_2', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:31:06Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clearing_food_from_table_into_fridge/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clearing_food_from_table_into_fridge/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "2491dab866d69314be6fecc14bebc0683acc8a4857b19eb314c2815efdbe1b64",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--vaesjux.json

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--vaesjux",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 0,
+   "n_actions": 14385,
+   "sim_steps": 14385,
+   "physics_steps": 57540,
+   "steps": 11128,
+   "elapsed_s": 13733.7,
+   "video_rendered": 0,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--vaesjux/replay.mp4",
+  "duration_s": 479.5,
+  "fps": 30.0,
+  "frames": 14385,
+  "sha256": "6c56b53fa37779664cd6a892c0ca91ee950f79950dad2ceb2843d221a6a0d204"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 可见冰箱门板贴合柜体；通览视频 0–479.5 s，机器人未抓拉冰箱把手，未出现门板向外转开或内腔露出的画面。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "观察：视频 275 s、365 s、450 s 与 479 s 的冰箱正面均保持闭合，没有达到开门判据的可见变化。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 鸡肉在早餐桌的盘上；视频 290 s 可见鸡肉与白盘已在地面，尚未进入保鲜盒。"
+     },
+     {
+      "t": 321,
+      "log_step": null,
+      "text_zh": "观察：视频 319–322 s 机器人右夹爪在鸡肉旁下降后抬起，腕部画面显示空爪，鸡肉仍在白盘旁地面；视频 337–346 s 的再次闭爪、抬手也未把鸡肉带离此处。"
+     },
+     {
+      "t": 467,
+      "log_step": null,
+      "text_zh": "观察：视频 461–465 s 右夹爪再次靠近鸡肉，视频 467–468 s 抬手后鸡肉仍在盘旁地面；视频 478.5–479 s 仍能看到远处地面的白盘和鸡肉，未见鸡肉到达台面保鲜盒。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "推断：运行评分器 reward.q_score=0.0，扣除初始已成立的冰箱关闭条件后，鸡肉入盒不能在终态成立；reward.live_matches_replay=0，因此这里只将实况分数作为与视频一致的终态上界，不据此判断抓取过程或时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 334–338 s、396–400 s，机器人右夹爪手指从侧面碰拨鸡肉，鸡肉在盘旁改变位置或朝向；抬手后仍留在地面，未据闭爪指令认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 290–346 s、388–479 s，轮式底盘在鸡肉与台面之间反复接近、后退和移动，支承右臂的取物尝试；未观察到持鸡肉行驶。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 两份剩食位于桌上盘中；全片可辨识的后期取物动作均围绕鸡肉，未见机器人将苹果派送至任一保鲜盒。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "推断：苹果派在桌子倾倒后不能持续辨认，但没有可见装盒过程；评分器 reward.q_score=0.0 不允许新增的派入盒目标在终态成立（初始关闭的冰箱不计入该分数）。reward.live_matches_replay=0，故以视频为主、仅用实况总分补充终态判断。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 280,
+      "log_step": null,
+      "text_zh": "观察：视频 275–285 s 机器人查看厨房台面和闭合的冰箱，腕部画面为空爪；全片未见保鲜盒被夹起、搬离台面或送入冰箱，冰箱也未出现开门入口。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "推断：未见至少一个盒进入冰箱的操作；视频 450 s 与 479 s 冰箱仍���闭。评分器 reward.q_score=0.0 也排除终态新增盒入冰箱目标成立；reward.live_matches_replay=0，实况总分仅用于与视频一致的终态上界。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 280,
+      "log_step": null,
+      "text_zh": "观察：视频 275–285 s 机器人查看厨房台面和闭合的冰箱，腕部画面为空爪；全片未见保鲜盒被夹起、搬离台面或送入冰箱，冰箱也未出现开门入口。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "推断：未见两个盒进入冰箱的操作；视频 450 s 与 479 s 冰箱仍关闭。评分器 reward.q_score=0.0 也排除终态新增盒入冰箱目标成立；reward.live_matches_replay=0，实况总分仅用于与视频一致的终态上界。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 记载冰箱初始关闭，视频 3 s 可见门板贴合柜体；该状态从视频 0 s 计入，不由装盒前置节点门控。"
+     },
+     {
+      "t": 479,
+      "log_step": null,
+      "text_zh": "观察：视频 235 s、275 s、365 s、450 s、478.5 s 与 479 s 的冰箱门板均合拢；全片未见机器人操作门板或把手，关闭状态持续至结尾。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 321.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 319–322 s 机器人对地面鸡肉执行下降、闭爪和抬手，夹爪抬起后为空，鸡肉仍在白盘旁；视频 337–346 s 及 396–402 s、461–468 s 的后续尝试仍未把鸡肉送进盒。鸡肉入盒是机器人实际操作且始终未完成的步骤；早期厨房勘察中的倾倒后虽恢复站立，该装盒步骤始终未完成。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 321.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 320.25–321.75 s 右夹爪从鸡肉旁抬起，腕部视图显示空爪，而鸡肉留在白盘旁地面；视频 337.75–339 s、344.25–346 s 的抬手后也可见鸡肉仍在地面。推断：这些取物动作没有建立搬运所需的有效抓持；侧向碰拨不等于抓住，不能从 agent 的闭爪读数认定已经拿到。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 201 的抓鸡肉脚本把末端移到远离目标的位置，随后报数组形状错误；log step 214 的命令与实测关节数组存在明显错位，log step 215 的接口布局明确为躯干、左臂、左爪、右臂、右爪分块，log step 216 的脚本修改才按这些分块写入。视频 291–322 s 可见多次偏离鸡肉的摆臂和空夹，视频 337–346 s 以及 461–468 s 的后续抓取仍未实现搬运。推断：有直接证据支持控制实现与取物执行失败；缺少接触状态，不进一步指定抓持几何、逆解或力控子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有成功示范；头部相机在部分下降动作中被机器人遮挡，无法精确判断每次手指碰触或是否出现瞬时夹持，未将 agent 自述“已拿稳”（log step 259、285）或“运输中掉落”（log step 266、287）当作视频中的持物事实。苹果派散落后位置不能持续辨认，终态未入盒由未见转移的上下文及评分器总分共同判断；reward.live_matches_replay=0，未将实况日志的抓取结果或机器人姿态强行套入视频，也未从该字段推定交付或环境根因。"
+ },
+ "summary_zh": "视频中的机器人早期勘察厨房时倾倒并扰乱餐桌，恢复后反复尝试取地面鸡肉，始终没有完成鸡肉装盒、苹果派装盒或两盒入冰箱；六个节点仅初始即成立的冰箱关闭保持至结尾，终态为1/6。断点为鸡肉入保鲜盒，视频 319–322 s 可见空爪抬起后鸡肉仍在地面，日志还记录了动作关节布局错误，支持控制根因。没有状态日志，且实况与回放一致性字段为0，短暂接触与苹果派后期位置存在观测缺口，未采信 agent 自述的成功抓取。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅冰箱关闭从0 s成立，其余未达成）、断点（鸡肉入盒，操作中）、没建立接触与控制根因均与视频和日志一致；未发现需要改变内容的错误。早期倾倒（约5–240 s）已在断点证据中提及，无需另列。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T12:00:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--vaesjux/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--vaesjux/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8b4f1a6b3702b3737f4eb179b63275277dc72cdf56d7006f49fbbcd2b220fd05",
+   "video_sha256": "6c56b53fa37779664cd6a892c0ca91ee950f79950dad2ceb2843d221a6a0d204",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--wwk48tr.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--wwk48tr",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22361,
+   "sim_steps": 22361,
+   "physics_steps": 89444,
+   "steps": 11639,
+   "elapsed_s": 9034.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.372,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.381,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wwk48tr/replay.mp4",
+  "duration_s": 745.367,
+  "fps": 30.0,
+  "frames": 22361,
+  "sha256": "38fcb97cbfb60055944f77e860ca23b9c0a97276987a67953da0f7b79da863c9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 64,
+      "log_step": 55,
+      "text_zh": "观察：视频 63–66 s，机器人右夹爪夹住右侧冰箱门把手外拉，门板离开柜体，内腔及搁架逐渐露出；到达时刻约为视频 64 s，门关节5%阈值只能视觉估计。"
+     },
+     {
+      "t": 80,
+      "log_step": null,
+      "text_zh": "观察：视频 80 s 冰箱右门已大幅打开；视频 744.9 s 仍可见敞开的内腔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱右门的竖直把手并向外拉，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘驶近冰箱并调整开门站位，拉门时支承机器人。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 403,
+      "log_step": 226,
+      "text_zh": "观察：视频 397–457 s，机器人左夹爪在鸡肉上方反复闭合与抬起，鸡肉仍留在原盘上；未见鸡肉随左夹爪离盘。"
+     },
+     {
+      "t": 533,
+      "log_step": 246,
+      "text_zh": "观察：视频 528–536 s，机器人右夹爪夹住鸡肉窄端并抬起，原盘露空，鸡肉随右夹爪移动；这次提起有视频支持。"
+     },
+     {
+      "t": 556,
+      "log_step": 253,
+      "text_zh": "观察：视频 554–556 s，机器人将竖直悬挂的鸡肉带到桌缘保鲜盒旁，鸡肉主体沿盒口外侧下垂；视频 556.5–557 s 松手后盒子翻转、鸡肉和盒子离开桌面，视频 576–590 s 可见二者落在桌旁地面，鸡肉在盒外。未见主体容纳于盒内的完成状态。"
+     },
+     {
+      "t": 702,
+      "log_step": 293,
+      "text_zh": "观察：视频 686–729 s 右腕视图可见地面鸡肉和侧翻保鲜盒，机器人用闭合的右夹爪向盒口方向推鸡肉；鸡肉主体仍露在盒口外，没有可确认的入盒状态。"
+     },
+     {
+      "t": 744.9,
+      "log_step": null,
+      "text_zh": "推断：终帧视野未覆盖地面鸡肉与盒的完整关系，但评分器 q_score=0、live_matches_replay=1，且鸡肉入盒并非初始成立的目标，因此最终鸡肉入盒为假；这不用于推定此前的抓取或放置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住鸡肉窄端并提离盘子；此前左夹爪多次闭合未带走鸡肉。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "后段机器人用闭合的右夹爪直接推地面鸡肉，试图送向侧翻盒的开口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人移动底盘改变取鸡肉站位，并在右夹爪持鸡肉时从餐桌一侧驶向盒子旁。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 590,
+      "log_step": null,
+      "text_zh": "观察：视频 590 s 餐桌的另一只盘上仍有浅色半派；机器人操作的褐色长条食物是鸡肉，半派未随夹爪离盘。"
+     },
+     {
+      "t": 744.9,
+      "log_step": null,
+      "text_zh": "观察：视频 744.9 s 浅色半派仍在餐桌盘上，未在保鲜盒中；全程粗查及鸡肉操作段密查未见机器人提走半派。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 210,
+      "log_step": 161,
+      "text_zh": "观察：视频约 210–240 s，机器人右夹爪夹持一只白色保鲜盒的盒边，盒子离开台面并随夹爪移动；视频约 350–360 s 将该盒留在餐桌上，未进入冰箱。"
+     },
+     {
+      "t": 577,
+      "log_step": null,
+      "text_zh": "观察：视频 556.5–557 s 该盒在桌缘翻落；视频 577–590 s 可见它侧翻在桌旁地面。随后机器人在地面附近操作鸡肉与盒子，没有向冰箱内腔运盒。"
+     },
+     {
+      "t": 744.9,
+      "log_step": null,
+      "text_zh": "推断：末段地面盒子部分受视角遮挡；结合全程未见盒子进入冰箱及评分器 q_score=0，最终至少1盒在冰箱内为假。该目标在初始不成立，故不能像初始关门一样被计分排除。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪实际夹住第一只保鲜盒薄边并提起、搬至餐桌；未完成向冰箱内放置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在右夹爪持盒时移动底盘，从厨房台面搬向餐桌并数次调整站位。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 280,
+      "log_step": null,
+      "text_zh": "观察：视频约 275–285 s，一只盒由右夹爪携带，另一只白色盒仍留在厨房角落台面；此后未见机器人提走台面上的另一盒。"
+     },
+     {
+      "t": 744.9,
+      "log_step": null,
+      "text_zh": "推断：全程未见任何盒子被送入冰箱，首盒落地后未恢复入冰箱；评分器 q_score=0 也排除了最终两个盒均在冰箱中的关系。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      64
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频 30 s 冰箱门板贴合柜体；此前粗查视频起始至此段未出现开门操作。结合DAG初态为关闭，将关闭区间从视频 0 s 计入。"
+     },
+     {
+      "t": 64,
+      "log_step": null,
+      "text_zh": "观察：视频约 64 s 右门离开柜体、内腔入口露出，关闭状态失去；之后检查到的视频 80 s、670 s、744.9 s 均显示右门敞开，没有恢复关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 556,
+   "log_step": 253,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 397–457 s 左夹爪尝试取鸡肉未果，后来右夹爪虽在视频约 533 s 将鸡肉提起，但鸡肉入盒始终未完成；视频 554–556 s 鸡肉沿桌缘盒口外侧悬垂，视频 556.5–557 s 松手时盒子翻转并与鸡肉一起落下，视频 577 s 后可见鸡肉在地面盒外。后续地面推送也未完成入盒，因此断点选鸡肉入保鲜盒。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 556,
+    "log_step": 253,
+    "evidence_zh": "观察：视频 554、555.5、556 s，右夹爪持鸡肉窄端，鸡肉主体沿盒口一侧向桌外垂下，没有对正盒内；视频 556.5–557 s 松开后鸡肉和翻转的盒子掉离桌面，视频 577 s 可见鸡肉在盒外地面。log step 253 的脚本先打开右夹爪再尝试抬手，与该段松手动作相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 533–556 s 右夹爪抓住鸡肉窄端，使其主体保持向下悬垂；视频 554–556 s 盒子停在桌缘，主体在盒口外侧，机器人仍在该布局下松手（log step 253 首先执行打开右夹爪，没有先重新摆正鸡肉或盒子）。该抓持与释放布局未把鸡肉主体容纳到盒内，造成随后落地；是否存在已验证可行的���代接触方案未知。"
+   }
+  ],
+  "gap_zh": "观察：本作业没有状态日志和成功示范视频，未获得鸡肉与盒内部容纳体积或门关节开度的逐帧数值。推断：开门时刻约有0.5秒视觉误差；鸡肉松手及地面推送时局部有遮挡，不能精确判定是否曾有极短的inside谓词瞬间成立，因此只记录视频可确认的完成区间，最终关系以视频及q_score=0共同判断。agent 在 log step 308 将落地归于随后大幅摆臂，但视频 556.5–557 s 已在松手阶段显示落下，故不据该自述归因于后续摆臂。"
+ },
+ "summary_zh": "观察：机器人打开了冰箱，并把一只保鲜盒从台面搬到餐桌；右夹爪也确实提起鸡肉，但视频约 556 s 在鸡肉主体偏于盒口外侧时松手，鸡肉与盒子翻落到地面，后续推送没有完成入盒。派仍在盘上，两盒均未入冰箱，冰箱最终敞开，6个节点终态仅打开冰箱事件保留（1/6）；失败与鸡肉的抓持、释放布局不当相符。无状态日志，局部遮挡限制了瞬时inside关系判断，最终四个放入关系均受q_score=0约束为假。",
+ "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（开冰箱64 s、关冰箱区间0–64 s、鸡肉/派/两盒未达成）、断点（鸡肉入盒，视频约556 s）及位姿不准/抓取和接触设计与我查看的帧一致，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": "2026-10-29T11:59:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wwk48tr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wwk48tr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5f9e6cbfd3ddb59593a95431194ffbf78a30b63e4085c75d2f64cec459ceb5b",
+   "video_sha256": "38fcb97cbfb60055944f77e860ca23b9c0a97276987a67953da0f7b79da863c9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/task_dag.json

@@ -0,0 +1,589 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "suite": "behavior-1k",
+ "base": "behavior-freeze-fruit-i00",
+ "title_zh": "水果分盒入冰箱",
+ "summary_zh": "两个保鲜盒各装一个苹果和一个草莓，两个盒均位于冰箱内且冰箱关闭，全部目标对象脱离夹爪并静止，联合保持30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右臂各为七自由度、末端各装二指夹爪，配可动躯干与全向轮式底盘，采用辅助抓取；头部及左右腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-freeze-fruit-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "cabinet_opened",
+    "zh": "打开橱柜",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "装有两个保鲜盒的厨房下柜门板或抽屉离开关闭位置，头部或腕部相机可见取盒通道，开度足以取出盒；仅碰把手或微动而仍挡住出口不算。没有参考帧或门关节记录，具体门板、初态及必要开度待核实。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪握住橱柜门或抽屉把手向外拉",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "左或右夹爪手指勾住橱柜把手外拉",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：橱柜门初态及通路。实例仅给出bottom_cabinet_no_top类别和物体位姿，未提供柜门关节；需核实是否存在不经开门的取盒通道。",
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/bddl/freeze_fruit.bddl:18-19",
+     "inputs/task/privileged/environment/instance.json:153-166"
+    ],
+    "conf": 5,
+    "note_zh": "按必需前置的默认规则保留；橱柜并非终态目标，后续无需关上。取盒是盒入冰箱的实施过程，不另建取出节点；装果可能在柜内就地完成，因此不把开柜强加为所有装果节点的前驱。"
+   },
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "冰箱门向外转开，头部或腕部相机可见能让保鲜盒进入内腔的通道；仅抓把手而门未离开柜体不算。原生open要求至少一个可开关节离关闭端超过全行程5%，本步骤还需实际入口足以通盒，具体通盒开度未给出数值。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪抓住冰箱门把手拉开门板",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "左或右夹爪手指勾住冰箱门把手外拉",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/freeze_fruit.literals.json:9",
+     "inputs/bddl/freeze_fruit.literals.json:53",
+     "inputs/task/privileged/instruction.md:39-40",
+     "inputs/bddl/freeze_fruit.bddl:45-50"
+    ],
+    "conf": 7,
+    "note_zh": "初始位串00000010000仅冰箱关闭字面量成立；所有装盒入冰箱路线必须先开门。event完成后保持计分，不要求结束时仍开着。"
+   },
+   {
+    "id": "apples_in_boxes_1",
+    "zh": "第1个苹果入盒",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少一个苹果位于任一保鲜盒内腔，包围盒中心同时在盒的包围盒和内腔容积内；留在碗或托盘、卡在盒沿或落在盒外不算，盒内不再有苹果即失去，遮挡无法判断则为未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个苹果并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个苹果期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:35-39",
+     "inputs/bddl/freeze_fruit.literals.json:3-13",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按可一一匹配到不同盒的最大数量计数，不固定实例或左右盒；第二个在第一个之后仅表示计数顺序。节点按内含关系判定，允许搬运装果的盒及暂时持物；共同松手静置窗口放入success的自然语言说明，故freeze_held=false。"
+   },
+   {
+    "id": "apples_in_boxes_2",
+    "zh": "第2个苹果入盒",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "apples_in_boxes_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见两个苹果分别位于两个不同盒内，每个水果包围盒中心同时在相应盒的包围盒和内腔容积内；两个只装在同一盒不算，任一个离盒或不再能一一匹配到不同盒即失去，遮挡无法判断则为未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个苹果并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个苹果期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:35-39",
+     "inputs/bddl/freeze_fruit.literals.json:3-13",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按可一一匹配到不同盒的最大数量计数，不固定实例或左右盒；第二个在第一个之后仅表示计数顺序。节点按内含关系判定，允许搬运装果的盒及暂时持物；共同松手静置窗口放入success的自然语言说明，故freeze_held=false。"
+   },
+   {
+    "id": "strawberries_in_boxes_1",
+    "zh": "第1个草莓入盒",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少一个草莓位于任一保鲜盒内腔，包围盒中心同时在盒的包围盒和内腔容积内；留在碗或托盘、卡在盒沿或落在盒外不算，盒内不再有草莓即失去，遮挡无法判断则为未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个草莓并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个草莓期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:40-44",
+     "inputs/bddl/freeze_fruit.literals.json:3-13",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按可一一匹配到不同盒的最大数量计数，不固定实例或左右盒；第二个在第一个之后仅表示计数顺序。节点按内含关系判定，允许搬运装果的盒及暂时持物；共同松手静置窗口放入success的自然语言说明，故freeze_held=false。"
+   },
+   {
+    "id": "strawberries_in_boxes_2",
+    "zh": "第2个草莓入盒",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "strawberries_in_boxes_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见两个草莓分别位于两个不同盒内，每个水果包围盒中心同时在相应盒的包围盒和内腔容积内；两个只装在同一盒不算，任一个离盒或不再能一一匹配到不同盒即失去，遮挡无法判断则为未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个草莓并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个草莓期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:40-44",
+     "inputs/bddl/freeze_fruit.literals.json:3-13",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按可一一匹配到不同盒的最大数量计数，不固定实例或左右盒；第二个在第一个之后仅表示计数顺序。节点按内含关系判定，允许搬运装果的盒及暂时持物；共同松手静置窗口放入success的自然语言说明，故freeze_held=false。"
+   },
+   {
+    "id": "boxes_in_fridge_1",
+    "zh": "第1盒入冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened",
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机在开门时可见至少1个保鲜盒位于冰箱内，盒的包围盒中心同时在冰箱包围盒与内腔容积内；门外、盒沿卡在入口且不满足inside不算，少于1盒在内即失去，关门后结合连续证据判断，无法确认则未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个保鲜盒并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个保鲜盒期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:18-19",
+     "inputs/bddl/freeze_fruit.bddl:45-48",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个保鲜盒可互换，按数量计数。装水果与放盒没有评分器阶段顺序，也可先把空盒放入冰箱再装果，故不依赖水果节点；该节点只覆盖盒与冰箱的内含关系。"
+   },
+   {
+    "id": "boxes_in_fridge_2",
+    "zh": "第2盒入冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "boxes_in_fridge_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机在开门时可见至少2个保鲜盒位于冰箱内，盒的包围盒中心同时在冰箱包围盒与内腔容积内；门外、盒沿卡在入口且不满足inside不算，少于2盒在内即失去，关门后结合连续证据判断，无法确认则未知。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个保鲜盒并送入目标容器",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在转移一个保鲜盒期间移动并支撑机械臂；是否能原地完成取决于盒的位置，依S17在不确定时保留",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:39",
+     "inputs/bddl/freeze_fruit.bddl:18-19",
+     "inputs/bddl/freeze_fruit.bddl:45-48",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个保鲜盒可互换，按数量计数。装水果与放盒没有评分器阶段顺序，也可先把空盒放入冰箱再装果，故不依赖水果节点；该节点只覆盖盒与冰箱的内含关系。"
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "boxes_in_fridge_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见冰箱所有门板贴回柜体，精确要求每个可开关节距关闭端不超过全行程5%；初态即成立，任一关节超过5%时失去，重新关门恢复，夹爪仍握把手也能判断关闭。全任务成功还须四个水果、两个盒及冰箱全部脱离夹爪，线速度均不超过0.05米/秒，且所有目标关系与关门同时连续保持30个控制步（30赫兹，名义1秒）；该联合验收不另计步骤。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左或右手掌或张开的夹爪推冰箱门板至关闭端",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪握住冰箱门把手带回门板",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:9-10",
+     "inputs/task/privileged/instruction.md:40",
+     "inputs/bddl/freeze_fruit.literals.json:53",
+     "inputs/bddl/freeze_fruit.bddl:49-51",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "按S4(b)保留恢复步骤，模式为state，after只记录最终装盒后关门，不门控初态计分。共同松手静置窗口适用于全部目标对象，不能只在关门节点上计时；操作把手可同时满足关闭，所以freeze_held=false。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的竖直分量低于0.75（倾角约大于41.4度），或基座低于地面超过0.03米，连续300个控制步（10秒）即终止失败；短暂倾倒后在窗口内恢复不算。视频可见持续侧翻或陷入地板，精确时长与姿态需原生FallWatch记录；同一步成功窗口完成时，代码先判成功再判倒地。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、基座速度或关节位置出现非有限值，任一基座位置坐标绝对值超过10000米，或基座线速度模超过100米/秒即失败；每30控制步还检查目标对象位置非有限或任一坐标绝对值超过10000米。该检查优先于成功与倒地；仅凭视频消失或冻结不能确证，需原生故障记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "flags.lit:(inside apple.n.01_2 tupperware.n.01_2)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside apple.n.01_1 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside strawberry.n.01_2 tupperware.n.01_2)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside strawberry.n.01_1 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside tupperware.n.01_2 electric_refrigerator.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据��生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside tupperware.n.01_1 electric_refrigerator.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(not (open electric_refrigerator.n.01_1))",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside strawberry.n.01_1 tupperware.n.01_2)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside strawberry.n.01_2 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside apple.n.01_1 tupperware.n.01_2)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside apple.n.01_2 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录的原生BDDL字面量；inputs/bddl/freeze_fruit.literals.json:2-13。当前没有状态日志，不据此生成when绑定。"
+   },
+   {
+    "atom": "proc.cabinet.n.01_1.open",
+    "level": "new_code",
+    "source": "需记录橱柜开关状态及可通行开度；inputs/bddl/freeze_fruit.bddl:18-19。当前实例无柜门关节值。"
+   },
+   {
+    "atom": "proc.electric_refrigerator.n.01_1.open",
+    "level": "new_code",
+    "source": "需记录冰箱原生Open状态；inputs/task/privileged/instruction.md:40；原生开门阈值5%。"
+   },
+   {
+    "atom": "flags.success_rule",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434；需记录原生BDDL目标、全部目标对象解除辅助抓取及速度不超过0.05米/秒连续30步的锁存结果。"
+   },
+   {
+    "atom": "flags.fallen",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:96-98,124-144,1483-1489；需记录原生FallWatch结果。"
+   },
+   {
+    "atom": "flags.breakdown",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:110-113,1437-1471；需记录原生非有限及越界状态检查结果。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "原生BDDL部分目标进度；不以此单独判成功，也不据此臆造分步阈值。",
+   "sources": [
+    "inputs/grader/efe_behavior-files/rcb_behavior.py:1539-1555"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "无成功参考：inputs/oracle_none.txt说明14次目录运行均未成功，两个模式README也无参考解；按N2仅依任务文本、BDDL和评分器规划，没有参考录像可核验相机中的物体外观与遮挡。",
+  "inputs/states/index.json的logs为空，按P8所有9个节点when及success、约束never均为null；atoms标明未来需记录的原生状态，不能把候选字段当作已观测字段。当前无法实证核对进度、必要步骤及success与评分器的一致性。",
+  "待核实：橱柜初始门关节与实际取盒通路未提供，实例将其标作bottom_cabinet_no_top，不能排除开放顶部或其它开口；依规则3默认保留打开橱柜并标verify_zh，需场景或视频确认该前置是否适用于所有取盒路线。没有给开柜添加虚构数值阈值。",
+  "冰箱初始关闭由freeze_fruit.literals.json的initial第6号位确认；其他可开关节、柜门及保鲜盒盖的初态未知。文本未要求开保鲜盒盖，现有输入不足以证明其必要，未增设盒盖步骤。",
+  "按N4将每类水果及保鲜盒分别按数量计数；第二个苹果或草莓的验收要求到两个不同盒的一一匹配，允许任一实例先装及任一种配对。按D5，离开碗、托盘及橱柜只作为放入终态的中间过程，不另计取出。",
+  "装果与入冰箱之间没有评分器原生顺序，允许先放空盒再在冰箱内装果；不把任务常见实施次序设为边。冰箱关闭为S4(b)恢复state，从初态计分；开门event补偿关闭状态的丢失。",
+  "联合松手静置窗口放在success的语义验收中（因无日志为null），不分摊到各个节点hold_s；节点按关系本身计分，freeze_held=false，避免搬运装果的保鲜盒导致果入盒状态被隐藏或延迟。所有目标对象还包括冰箱，速度判据代码为不超过0.05米/秒；文本的slower than表达与代码等号边界以代码为准。",
+  "模式差异：privileged评分器要求两次新进程��放成功且末态哈希一致、初态匹配，并排除仿真崩溃；standard直接采用服务的实时成功并要求有效终结且无服务错误（两模式grade.py）。DAG只建共同世界状态步骤，重放一致性和交付有效性不作节点或伪世界状态。",
+  "BDDL初态把机器人与所有目标均放在厨房（freeze_fruit.bddl:18-30），scene_objects未给出必须经过的厨房房门；未增设跨房间开门节点。原生q_score仅反映目标部分完成，不替代30步联合验收。",
+  "目录名含freeze，但两种模式说明与BDDL均明确不要求冷冻；不建立温度变化或设备开机节点。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六个计数放入步骤及关冰箱直接来自文本，配对和联合验收有BDDL与公共评分器证据；但无成功录像或状态日志，橱柜的必经开门前置及视觉可判性未核实，因此不能给出高置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志，所有when为null；节点集（开柜、开冰箱、两苹果入盒、两草莓入盒、两盒入冰箱、关冰箱）与文本及BDDL目标一致，计数步完整，边无习惯边，freeze_held均为false，约束为评分器的失败条件。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['cabinet_opened', 'fridge_opened', 'apples_in_boxes_1', 'apples_in_boxes_2', 'strawberries_in_boxes_1', 'strawberries_in_boxes_2', 'boxes_in_fridge_1', 'boxes_in_fridge_2', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:14:50Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__freeze_fruit/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__freeze_fruit/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "acbaff121650593e2c538c83497275dbe25833766fdcf668d4e9a8d351b982fc",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--lzwylaz.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-privileged--lzwylaz",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1201,
+   "sim_steps": 1201,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1931.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 4,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-privileged--lzwylaz/replay.mp4",
+  "duration_s": 40.033,
+  "fps": 30.0,
+  "frames": 1201,
+  "sha256": "e01629738b84613a9e3ebab0dd2e1642d1f69a698aff15b284a6e82c44156386"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频5.5–7.5 s，机器人左夹爪带动微波炉下方的下柜门向外转开，视频6.3 s已可见较宽的黑色柜内通道；首次达到可取盒开度的时间约有0.5 s不确定性。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频39.0–40.0 s，原先柜内的白色保鲜盒已被右夹爪带到柜外，柜内前方留下空位，证实取盒通道确实形成。此节点为event，随后另一扇柜门回闭不撤销已完成的开柜事件。"
+     },
+     {
+      "t": null,
+      "log_step": 51,
+      "text_zh": "观察：log step 48的交付生成脚本先用左夹爪夹把手拉门、再从内侧推门，之后另用右夹爪操作相邻柜门；log step 51实际录制并保存1201行动作。动作顺序与视频的开柜、取盒相符，未把此前快照调试当作评分轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪夹住下柜门把手向外拉，后续右夹爪另行夹持相邻门把手；两臂先后操作，不记为双臂协作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左夹爪松开把手后移到门板内侧继续推门，视频约14–18 s门板继续向外转动；与前面的把手抓握依次发生。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在接近下柜及开门期间调整站位，支撑躯干与机械臂；可见视频开头及开门过程中的视点平移。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频全段机器人始终操作微波炉下方的下柜，视频39.0–40.0 s仍在柜前持盒；没有前往冰箱或拉开冰箱门的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "推断：DAG注明冰箱初始关闭，视频中没有离开下柜工作区的开冰箱动作；log step 48的实际交付脚本也未执行冰箱部分，因此打开冰箱未达成，而非由零分单独判断。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–40.0 s只呈现机器人开下柜及抓取一个保鲜盒，没有抓取苹果或向盒内送入水果；视频39.0–40.0 s被夹持的白色盒内可见部分为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：DAG与任务初态将苹果置于台面上的原容器中，交付动作未操作这些水果，故没有形成“至少一个苹果入盒”的区间。评分器reward.q_score=0.0进一步限定新增的水果入盒字面量在末态均不成立；保留初始冰箱关闭不计入该分数。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–40.0 s只呈现机器人开下柜及抓取一个保鲜盒，没有抓取苹果或向盒内送入水果；视频39.0–40.0 s被夹持的白色盒内可见部分为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：DAG与任务初态将苹果置于台面上的原容器中，交付动作未操作这些水果，故没有形成“两个苹果分别进入不同盒”的区间。评分器reward.q_score=0.0进一步限定新增的水果入盒字面量在末态均不成立；保留初始冰箱关闭不计入该分数。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–40.0 s只呈现机器人开下柜及抓取一个保鲜盒，没有抓取草莓或向盒内送入水果；视频39.0–40.0 s被夹持的白色盒内可见部分为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：DAG与任务初态将草莓置于台面上的原容器中，交付动作未操作这些水果，故没有形成“至少一个草莓入盒”的区间。评分器reward.q_score=0.0进一步限定新增的水果入盒字面量在末态均不成立；保留初始冰箱关闭不计入该分数。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–40.0 s只呈现机器人开下柜及抓取一个保鲜盒，没有抓取草莓或向盒内送入水果；视频39.0–40.0 s被夹持的白色盒内可见部分为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：DAG与任务初态将草莓置于台面上的原容器中，交付动作未操作这些水果，故没有形成“两个草莓分别进入不同盒”的区间。评分器reward.q_score=0.0进一步限定新增的水果入盒字面量在末态均不成立；保留初始冰箱关闭不计入该分数。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频约31–37 s右夹爪进入下柜接近白色盒，视频37–40.0 s该盒从原柜内位置移出并随右夹爪抬起；视频39.0–40.0 s它仍在柜外的右夹爪中，未送入冰箱或松手。"
+     },
+     {
+      "t": null,
+      "log_step": 51,
+      "text_zh": "观察：log step 48的交付脚本在取出tupperware_1后直接record_stop并保存，开冰箱和放盒均只在TODO注释中；log step 51输出保存1201行且success=False。此记录与视频末尾持盒相符。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：取盒是本DAG“第1盒入冰箱”的中间实施过程，计为已尝试，但未完成目标内含关系。评分器q_score=0.0与末态柜外持盒一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪斜向夹住第1个白色保鲜盒的侧壁，将盒从下柜抽出并抬起，视频末尾仍夹持；夹取以盒离开原位并随手运动为依据。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "取盒前轮式底盘在下柜前调整位置，随后右臂伸入抓取；实际交付没有携盒驶向冰箱。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频末尾机器人仅从下柜取出一个白色保鲜盒，右手仍持该盒；没有抓取第二盒或将任何盒送入冰箱的动作。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：DAG给定两盒初始均在下柜，视频未出现盒入冰箱，评分器q_score=0.0也不允许末态有新增盒入冰箱字面量，故两盒在冰箱内的条件全段未成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的fridge_closed判据与初态说明明确冰箱初始关闭；评分视频0–40.0 s机器人只在下柜工作，未接触或开启冰箱，因此初始关闭关系保持至结束。冰箱门未在全程视野中直接展示，此处依初态与动作连续性推断。"
+     },
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：log step 48的实际交付脚本没有冰箱门操作；评分器q_score=0.0不计算一直保留的初始目标关系，故不能用零分否定冰箱关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "boxes_in_fridge_1",
+   "t": null,
+   "log_step": 51,
+   "where": "操作中",
+   "evidence_zh": "观察：视频37–40.0 s机器人右夹爪把第1个空盒从下柜取出并抬起，视频40.0 s仍在柜前持盒，交付到此结束；log step 48、51显示脚本取盒后即停录保存，未包含向冰箱转移和放入的动作。推断：按DAG把取盒归入放盒的实施过程，断点为第1盒入冰箱的操作中；没有可定位的掉落、放偏或其他突发失败时刻，t留null。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，也无成功参考视频；水果原位与冰箱门不在全程视野中，水果及盒的末态另由评分器q_score=0.0约束，冰箱关闭依据DAG初态与全段未操作冰箱推断。交付止于取盒后仍持盒，未含向冰箱搬运或放置的轨迹，不能据此捏造没保持住、位姿不准或没尝试等现象；本步骤已开始取盒，故现象层留空。会话中log step 40–45的取盒失败在后续及评分视频中已修复，log step 51跳过的开柜逆解也未阻止第1盒取出，不能直接认作未完成入冰箱的根因；没有证据确定后续未实施的具体能力原因，根因层留空。agent在log step 55自述两小时不足，但run.json的wall_s=2254、time_limit_s=7200，不能把自述当作实际耗尽预算或失败原因。"
+ },
+ "summary_zh": "评分轨迹在视频约6.3 s打开下柜，随后用右夹爪取出第1个空保鲜盒，视频40.0 s结束仍持盒；开柜事件与初始保持的冰箱关闭共2/9节点成立，q_score=0.0不计初始关闭。断点为第1盒入冰箱的操作中，水果装盒、开冰箱及盒入冰箱均未达成，交付脚本只录到取盒。没有状态日志或成功参考，未见取盒后明确的接触或运动失败，且无法从停止本身确定能力根因，因此现象与根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频、log一致：约6.3 s下柜打开，40 s仍在柜前持盒；断点第1盒入冰箱、现象与根因留空并有gap_zh，符合FAIL-22/FAIL-23，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": "2026-10-29T11:36:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--lzwylaz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--lzwylaz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "156c52891e39e5e512c246d029b41dbcddd6bfbeee32fda931791287a4e79239",
+   "video_sha256": "e01629738b84613a9e3ebab0dd2e1642d1f69a698aff15b284a6e82c44156386",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--zonhwvb.json

@@ -0,0 +1,378 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--zonhwvb",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1867,
+   "sim_steps": 1867,
+   "physics_steps": 7468,
+   "steps": 312,
+   "elapsed_s": 883.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.361,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.01,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--zonhwvb/replay.mp4",
+  "duration_s": 62.233,
+  "fps": 30.0,
+  "frames": 1867,
+  "sha256": "fd41f8212aa9c1569d06c3b27e57e734a16cbf5847aa6df9ea51825a57209e4b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 可见厨房下柜门板闭合；视频 0.0—10.0 s 机器人仅转向巡视，未见夹爪接近柜门把手或门板打开。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5—38.0 s 机器人倾倒后调整自身姿态，视频 38.0—47.0 s 空手移动，视频 47.5—62.2 s 再次侧翻；全片未见机器人开柜或形成取盒通道。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 厨房尽头的高冰箱门贴合柜体，未见装盒入口；机器人仍空手巡视。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0、60.0 及 62.2 s 冰箱的反光门板仍贴合，机器人夹爪空着，未见握住把手或拉开门板；全片未见冰箱开门动作。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0—10.0 s 为厨房巡视，随后机器人失衡、自救和空手移动；视频 47.5—62.2 s 再次侧翻，未见机器人抓起苹果或把苹果送入保鲜盒。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：结合全片未发生水果装盒、DAG所述苹果初始在碗内，以及评分器 reward.q_score=0.0、live_matches_replay=1，第1个苹果入盒在末态不成立；零分约束末态，没有据此推断抓取接触。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0—10.0 s 为厨房巡视，随后机器人失衡、自救和空手移动；视频 47.5—62.2 s 再次侧翻，未见机器人抓起苹果或把苹果送入保鲜盒。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：结合全片未发生水果装盒、DAG所述苹果初始在碗内，以及评分器 reward.q_score=0.0、live_matches_replay=1，第2个苹果入盒在末态不成立；零分约束末态，没有据此推断抓取接触。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0—10.0 s 机器人空手转向，视频 10.5—38.0 s 主要调整失衡后的机体和双臂，之后空手移动并再次倾倒；未见抓起草莓或向保鲜盒投放草莓。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：结合未见草莓装盒、DAG所述草莓初始在托盘内，以及评分器 reward.q_score=0.0、live_matches_replay=1，第1个草莓入盒在末态不成立；水果内含关系未在任何已检视片段中建立。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0—10.0 s 机器人空手转向，视频 10.5—38.0 s 主要调整失衡后的机体和双臂，之后空手移动并再次倾倒；未见抓起草莓或向保鲜盒投放草莓。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：结合未见草莓装盒、DAG所述草莓初始在托盘内，以及评分器 reward.q_score=0.0、live_matches_replay=1，第2个草莓入盒在末态不成立；水果内含关系未在任何已检视片段中建立。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 冰箱处于关闭状态；全片机器人未开冰箱，也未见保鲜盒从橱柜移到夹爪或进入冰箱。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：视频 53.0—62.2 s 机器人倒地且空手，冰箱门仍合拢；结合盒的初始位置在橱柜、全片没有搬盒，以及评分器 reward.q_score=0.0，第1盒入冰箱末态不成立。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 冰箱处于关闭状态；全片机器人未开冰箱，也未见保鲜盒从橱柜移到夹爪或进入冰箱。"
+     },
+     {
+      "t": 62.2,
+      "log_step": null,
+      "text_zh": "推断：视频 53.0—62.2 s 机器人倒地且空手，冰箱门仍合拢；结合盒的初始位置在橱柜、全片没有搬盒，以及评分器 reward.q_score=0.0，第2盒入冰箱末态不成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 冰箱高门板贴回柜体；视频 53.0、60.0 及 62.2 s 的反光门板仍合拢，全片未见机器人开门。"
+     },
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG明确冰箱初始关闭，结合视频中的闭合门板及全程未开门的连续动作证据，关闭关系从视频 0.0 s 保持至末态；评分器 q_score=0.0 不计一直保持的初始关闭字面量，因此与该节点成立相容。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 10.5,
+   "log_step": 51,
+   "where": "探索",
+   "evidence_zh": "观察：视频 10.0 s 视野尚正常，视频 10.5—11.0 s 机器人首次明显翻倒，头部视野转向天花板；log step 51 执行 calib.py 底盘标定，log step 53 的服务状态为 control_steps=450、done=false，实测 cos(rx)cos(ry)=-0.1316；log step 80、83 的倾斜读数约0.04，机器人仍侧躺。log step 102 扶正后读数为0.9978，但未完成任何开柜、装果或搬盒步骤；视频 47.5 s 再次倾倒，log step 133、135 服务报告 done=true、reason=\"failure: the robot fell over\"。推断：首次失衡发生于探索和底盘标定，依 docs/03_trajectory.md Step 3.1，起身不等于完成或修复任务步骤，故锚定首次倾倒；尚未看到机器人选定具体任务对象并启动对应操作，无法唯一归属DAG中的某一步，ref保留unknown。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 10.5,
+    "log_step": 51,
+    "evidence_zh": "观察：视频 10.0 s 视野正常，视频 10.5—11.0 s 首次急剧翻向天花板，随后视频 12.0、20.0、30.0 s 机体视角持续倾斜；log step 53 的 cos(rx)cos(ry)=-0.1316，log step 80、83 的 tilt_up约0.04（约87°侧躺）。log step 102 扶正后 tilt=0.9978，机器人继续空手巡视；视频 47.5 s 再次侧翻并持续至视频 62.2 s，log step 133 实测 cos(rx)cos(ry)=0.0172，服务报告因机器人倒地结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 49 的 calib.py 连续提交五组各30控制步的固定底盘命令，平移请求含[0.3,0,0]、[0.15,0,0]、[-0.3,0,0]及[0,0.15,0]，旋转请求为[0,0,0.3]。log step 87 打印的服务规格明确底盘命令为每个30 Hz控制步重复施加的位移，per_step_limits中x_m=y_m=0.15、yaw_rad=0.3；平移请求达到或超过该上限。log step 51 首组输出位移[-0.1908,1.8785,0.3547] m，旋转组偏航变化-4.4210 rad；log step 53 在control_steps=450时读到cos(rx)cos(ry)=-0.1316，视频 10.0 s 正常、视频 10.5—11.0 s 首次翻倒。推断：log step 46 已执行300控制步，随后标定执行150步；本回合1867控制步与视频1867帧、30 fps对应，标定段约为视频 10.0—15.0 s，已用首次翻倒画面核对。固定命令幅度达到或超过服务规格上限，且执行后出现明显位移、抬升和倾倒，支持参数设置不当；0.15—0.30 m/步按30 Hz折算是请求的名义4.5—9 m/s，并非实测速度，日志未记录限幅后的逐步速度或倾斜变化，不能认定机器人实际达到9 m/s，也不能确定具体致倒力矩。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频，水果与盒子的内部关系无法逐帧直接测量，六个放入节点的末态由未发生搬运的画面与评分器 q_score=0.0 共同约束；冰箱精确5%关节阈值无记录。机器人一直在巡视、校准移动与自救，未选定具体任务对象，故无法把失衡断点唯一归属某一DAG步骤，保留 unknown；各任务节点未实际开始操作，未附加臆测的物体接触。"
+ },
+ "summary_zh": "机器人未完成开柜、开冰箱或任何水果装盒、盒入冰箱步骤，仅初始冰箱关闭关系保持，末态为1/9。断点锚定视频约10.5 s的首次探索失衡，现象为全身·平衡；标定平移请求达到或超过服务规格上限，根因改为控制·参数调试，扶正后继续巡视并于视频约47.5 s再次倾倒直至终止。缺少状态日志及连续速度、倾斜读数，放入节点末态结合画面和原生零分推断，具体致倒机制仍有推断且无法唯一归属任务步骤，断点保留unknown、置信度维持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度（仅 fridge_closed 保持、末态 1/9）、时钟与 unknown 断点基本成立；但根因证据把两次倾倒都归于“巡视转向循环缺倾斜反馈”，而第一次倾倒（视频约 10.5 s）发生在智能体自己的底盘标定命令中，该因果链没有被日志支持，应分开说明并降低断言强度。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点进度（仅 fridge_closed 保持，末态 1/9）与 unknown 的合理性基本成立；但断点时间锚在评分器终止事件（视频 47.5 s）而非第一次倾倒（视频 10.5 s），且根因漏掉日志已证实的参数不当（标定命令达到速度极限）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两项接受均已在文件中完整落实：断点与现象锚定首次倾倒（视频 10.5 s / log step 51），根因改为控制·参数调试且证据与日志一致。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两项接受均已在文件中完整落实：断点与现象锚定首次倾倒（视频 10.5 s / log step 51），根因改为控制·参数调试且证据与日志一致。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:59:57Z",
+  "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/behavior-freeze-fruit-i00-standard--zonhwvb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--zonhwvb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--zonhwvb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--zonhwvb/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--zonhwvb/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--zonhwvb/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": "77bdbafcf1d261ebafb905650dbc9af31667323ac698a4e1f3800fa9370b708b",
+   "video_sha256": "fd41f8212aa9c1569d06c3b27e57e734a16cbf5847aa6df9ea51825a57209e4b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/task_dag.json

@@ -0,0 +1,547 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "suite": "behavior-1k",
+ "base": "behavior-laying-tile-floors-i00",
+ "title_zh": "浴室铺瓷砖",
+ "summary_zh": "四块瓷砖都接触并位于浴室地面上方，每块至少邻接另一块，全部离开夹爪且线速度不超过0.05米每秒，联合保持30个控制步。",
+ "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人，左右臂各配二指夹爪，具有可调躯干、全向移动底盘、头部及双腕相机；采用辅助抓取。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-laying-tile-floors-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bathroom_door_opened",
+    "zh": "打开浴室门",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "freeze_held": false,
+    "criterion_zh": "头部或腕部视角中，通向浴室、带卫生间标识的门板从门框处转开，露出室内地面及卫生设施，并留出可将瓷砖送入的通口；门板仍封住入口或仅有不足以让瓷砖通过的窄缝即未完成。只要求曾打开可用通口，不要求结束时门仍打开，也不以机器人已进入房间作为条件。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一臂二指夹爪握住浴室门把手，带动门板转开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人并配合夹爪操作浴室门调整站位。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一臂夹爪直接推浴室门板，使入口形成可用通口。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，配合夹爪推开浴室门板。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：门初态及走廊至浴室的完整连通图；参考文字记录中的卫生间入口门是否对应door_lztyfn_0。",
+    "sources": [
+     "inputs/bddl/laying_tile_floors.bddl:15-17",
+     "inputs/bddl/laying_tile_floors.scene_objects.json:643-647",
+     "inputs/oracle/run.json:1 steps id=191,192,196,197,199,203（文字及动作参考，无视频）"
+    ],
+    "conf": 5,
+    "note_zh": "默认的必经开门前置步骤，依据走廊起点、浴室门清单及参考记录交叉判断，仍保留核实项；不从参考探索顺序添加任何其他门或导航步骤。夹爪操作门把手时仍可完成，故禁用持物冻结。"
+   },
+   {
+    "id": "tiles_on_bathroom_floor_1",
+    "zh": "第1块砖铺浴室",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部或腕部视角可见至少1块瓷砖接触浴室地面且地面直接在其下方，该计数瓷砖已邻接另一块不同瓷砖（邻砖可后放，不要求属于本步计数集合）：两者轴对齐包围盒间隙不超过其包围盒尺寸向量之和各分量均值的六分之一，并沿水平轴无物遮挡。仍在走廊、悬空、只叠在别的砖上或远离其他砖的不计，满足上述关系的砖少于1块即失去本步；全局success另要求四块砖及目标中提及的地面全部无辅助抓取连接、线速度不超过0.05米每秒，所有目标关系及释放静止条件联合连续保持30个控制步（30赫兹，任务称1秒），该联合窗口不参与本步计数。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一臂二指夹爪夹住瓷砖边缘或角部，将瓷砖送到浴室地面并摆在另一块旁边。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，在夹爪持瓷砖时从走廊移到浴室。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一臂夹爪抵住瓷砖边缘，将瓷砖沿地面推入浴室并靠近另一块。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人并随夹爪推移瓷砖，从走廊行至浴室。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/task/privileged/instruction.md:6-34",
+     "inputs/bddl/laying_tile_floors.bddl:20-35",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:102-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:150-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/laying_tile_floors.bddl:10-17",
+     "inputs/task/privileged/environment/instance.json:12-96"
+    ],
+    "conf": 6,
+    "note_zh": "四块砖可互换，按至少1块同时满足地面及相邻关系计数，不固定砖身份或邻接配对；至少1块并非只有1块，邻砖可为后放的砖。计数链不指定抓取顺序；state不受after门控，若放下第二块才形成一对相邻砖，第1与第2节点可同时成立。相邻属于铺砖验收，不另拆归拢节点；抓取、抬起、搬运、松手均不另建节点。释放和静置窗口在全局success的文字定义中，由原生成功规则判断，关系节点不因其他砖正在搬运而冻结。"
+   },
+   {
+    "id": "tiles_on_bathroom_floor_2",
+    "zh": "第2块砖铺浴室",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "tiles_on_bathroom_floor_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部或腕部视角可见至少2块不同瓷砖接触浴室地面且地面直接在其下方，每一计数瓷砖均邻接另一块不同瓷砖：两者轴对齐包围盒间隙不超过其包围盒尺寸向量之和各分量均值的六分之一，并沿水平轴无物遮挡。仍在走廊、悬空、只叠在别的砖上或远离其他砖的不计，满足上述关系的砖少于2块即失去本步；全局success另要求四块砖及目标中提及的地面全部无辅助抓取连接、线速度不超过0.05米每秒，所有目标关系及释放静止条件联合连续保持30个控制步（30赫兹，任务称1秒），该联合窗口不参与本步计数。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一臂二指夹爪夹住瓷砖边缘或角部，将瓷砖送到浴室地面并摆在另一块旁边。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，在夹爪持瓷砖时从走廊移到浴室。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一臂夹爪抵住瓷砖边缘，将瓷砖沿地面推入浴室并靠近另一块。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人并随夹爪推移瓷砖，从走廊行至浴室。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/task/privileged/instruction.md:6-34",
+     "inputs/bddl/laying_tile_floors.bddl:20-35",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:102-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:150-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/laying_tile_floors.bddl:10-17",
+     "inputs/task/privileged/environment/instance.json:12-96"
+    ],
+    "conf": 6,
+    "note_zh": "四块砖可互换，按至少2块同时满足地面及相邻关系计数，不固定砖身份或邻接配对。计数链不指定抓取顺序；state不受after门控，若放下第二块才形成一对相邻砖，第1与第2节点可同时成立。相邻属于铺砖验收，不另拆归拢节点；抓取、抬起、搬运、松手均不另建节点。释放和静置窗口在全局success的文字定义中，由原生成功规则判断，关系节点不因其他砖正在搬运而冻结。"
+   },
+   {
+    "id": "tiles_on_bathroom_floor_3",
+    "zh": "第3块砖铺浴室",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "tiles_on_bathroom_floor_2"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部或腕部视角可见至少3块不同瓷砖接触浴室地面且地面直接在其下方，每一计数瓷砖均邻接另一块不同瓷砖：两者轴对齐包围盒间隙不超过其包围盒尺寸向量之和各分量均值的六分之一，并沿水平轴无物遮挡。仍在走廊、悬空、只叠在别的砖上或远离其他砖的不计，满足上述关系的砖少于3块即失去本步；全局success另要求四块砖及目标中提及的地面全部无辅助抓取连接、线速度不超过0.05米每秒，所有目标关系及释放静止条件联合连续保持30个控制步（30赫兹，任务称1秒），该联合窗口不参与本步计数。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一臂二指夹爪夹住瓷砖边缘或角部，将瓷砖送到浴室地面并摆在另一块旁边。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，在夹爪持瓷砖时从走廊移到浴室。",
+      "plan": 1
+     },
+     {
+      "who": "手指/��爪",
+      "how": "推/扫",
+      "note_zh": "任一臂夹爪抵住瓷砖边缘，将瓷砖沿地面推入浴室并靠近另一块。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人并随夹爪推移瓷砖，从走廊行至浴室。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/task/privileged/instruction.md:6-34",
+     "inputs/bddl/laying_tile_floors.bddl:20-35",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:102-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:150-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/laying_tile_floors.bddl:10-17",
+     "inputs/task/privileged/environment/instance.json:12-96"
+    ],
+    "conf": 6,
+    "note_zh": "四块砖可互换，按至少3块同时满足地面及相邻关系计数，不固定砖身份或邻接配对。计数链不指定抓取顺序；state不受after门控，若放下第二块才形成一对相邻砖，第1与第2节点可同时成立。相邻属于铺砖验收，不另拆归拢节点；抓取、抬起、搬运、松手均不另建节点。释放和静置窗口在全局success的文字定义中，由原生成功规则判断，关系节点不因其他砖正在搬运而冻结。"
+   },
+   {
+    "id": "tiles_on_bathroom_floor_4",
+    "zh": "第4块砖铺浴室",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "tiles_on_bathroom_floor_3"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部或腕部视角可见至少4块不同瓷砖接触浴室地面且地面直接在其下方，每一计数瓷砖均邻接另一块不同瓷砖：两者轴对齐包围盒间隙不超过其包围盒尺寸向量之和各分量均值的六分之一，并沿水平轴无物遮挡。仍在走廊、悬空、只叠在别的砖上或远离其他砖的不计，满足上述关系的砖少于4块即失去本步；全局success另要求四块砖及目标中提及的地面全部无辅助抓取连接、线速度不超过0.05米每秒，所有目标关系及释放静止条件联合连续保持30个控制步（30赫兹，任务称1秒），该联合窗口不参与本步计数。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一臂二指夹爪夹住瓷砖边缘或角部，将瓷砖送到浴室地面并摆在另一块旁边。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，在夹爪持瓷砖时从走廊移到浴室。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一臂夹爪抵住瓷砖边缘，将瓷砖沿地面推入浴室并靠近另一块。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人并随夹爪推移瓷砖，从走廊行至浴室。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/task/privileged/instruction.md:6-34",
+     "inputs/bddl/laying_tile_floors.bddl:20-35",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:102-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:150-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/laying_tile_floors.bddl:10-17",
+     "inputs/task/privileged/environment/instance.json:12-96"
+    ],
+    "conf": 6,
+    "note_zh": "四块砖可互换，按至少4块同时满足地面及相邻关系计数，不固定砖身份或邻接配对。计数链不指定抓取顺序；state不受after门控，若放下第二块才形成一对相邻砖，第1与第2节点可同时成立。相邻属于铺砖验收，不另拆归拢节点；抓取、抬起、搬运、松手均不另建节点。释放和静置窗口在全局success的文字定义中，由原生成功规则判断，关系节点不因其他砖正在搬运而冻结。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座的上轴世界竖直分量小于0.75（倾斜超过约41.4度），或底座低于场景地面超过0.03米，该析取连续保持300个控制步（10秒）后触发跌倒失败；短暂倾斜后恢复不违反。每个控制步先检查崩溃，再检查成功，最后检查跌倒，因此与成功同一步到达窗口时成功优先。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-100",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1394-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1490"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，机器人任一位置坐标绝对值超过10000米，或底座线速度范数超过100米每秒，即判失败；每30个控制步还检查目标物体位置，出现非有限值或任一坐标绝对值超过10000米也判失败。该检查先于成功判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1394-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "(ontop tile.n.01_4 floor.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(ontop tile.n.01_4 floor.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(ontop tile.n.01_1 floor.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(ontop tile.n.01_1 floor.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(ontop tile.n.01_2 floor.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(ontop tile.n.01_2 floor.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(ontop tile.n.01_3 floor.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(ontop tile.n.01_3 floor.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_4 tile.n.01_1)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_4 tile.n.01_1)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_1 tile.n.01_1)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_1 tile.n.01_1)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_2 tile.n.01_1)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_2 tile.n.01_1)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_3 tile.n.01_1)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_3 tile.n.01_1)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_3 tile.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_3 tile.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_3 tile.n.01_3)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_3 tile.n.01_3)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_3 tile.n.01_4)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_3 tile.n.01_4)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_2 tile.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_2 tile.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_2 tile.n.01_3)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_2 tile.n.01_3)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_2 tile.n.01_4)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_2 tile.n.01_4)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_1 tile.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_1 tile.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_1 tile.n.01_3)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_1 tile.n.01_3)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_1 tile.n.01_4)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_1 tile.n.01_4)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_4 tile.n.01_2)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_4 tile.n.01_2)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_4 tile.n.01_3)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_4 tile.n.01_3)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "(nextto tile.n.01_4 tile.n.01_4)",
+    "level": "new_code",
+    "source": "需补录 flags.lit:(nextto tile.n.01_4 tile.n.01_4)；原生BDDL谓词，来源 inputs/bddl/laying_tile_floors.literals.json:2-23；本次无状态日志。"
+   },
+   {
+    "atom": "bathroom_door_open",
+    "level": "new_code",
+    "source": "需补录 proc_scene.door_lztyfn_0.open 及门关节、门框通口几何；来源 inputs/bddl/laying_tile_floors.scene_objects.json:643-647；先核实其为入口门，不能凭空设定角阈值。"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需补录 flags.success_rule 及 goal_held_steps、goal_objects_held、goal_objects_moving；原生逻辑 inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435,1538-1546。"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需补录 flags.fallen 或 FallWatch.fallen；原生检查 inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1490。"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需补录 flags.breakdown 及原因；原生检查 inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json为空，无可用状态日志；按暂行规则P8，所有when及success均为null，不能进行状态回放的达成率或评分一致性核验。atoms列出需要补录的世界状态，不表示本次已经观测到这些字段。",
+  "成功参考记录存在，但inputs/oracle/oracle.json标明无视频、无状态日志。已通读run.json的步骤、动作与服务结果；门的颜色、卫生间标识、小便池和瓷砖外观仅来自该记录的文字，未能独立核对画面，视觉判据依据文本与场景语义制定（N2、N8）。",
+  "待核实：浴室门door_lztyfn_0的初始关节角和完整通路。scene_objects.json只列该门属于bathroom_0，未提供门两侧的完整连通图；BDDL确认机器人及瓷砖起于走廊，成功记录步骤191至203记载操作带卫生间标识的门后运砖。按S2及规则3默认保留打开浴室门前置步骤，初态与必经性均待场景或视频核实，不把开会客室门等探索动作列为步骤。",
+  "文本与评分表达式差异：文本要求每块邻接另一块，而BDDL的nextto析取也包含自身；literals.json中四个自身相邻项初始均为假，但本目录没有NextTo实现，尚不能由源码确认其恒假。当前节点按文本要求不同瓷砖互邻，不要求四块连成一个整体或形成指定阵列；两对分别相邻也符合文本。",
+  "两模式共用rcb_behavior.py的世界状态成功规则；standard评分在线场景，privileged还要求两次新进程回放均成功、终态哈希一致、初态匹配且无崩溃。回放确定性、交付和基础设施校验不另建世界状态节点；没有日志，success无法表达或验证这些差异。",
+  "松手、静止与连续30控制步是跨四块砖的联合成功验收，不单列步骤，亦不要求放第一块时其他砖已经静止或释放。各计数节点只描述地面及相邻关系，故freeze_held=false；实际联合窗口由原生RestWatch计数，未在缺失日志时估算hold_s（S1、D17、D31）。按docs/01_task_dag.md Step 6，在success为null时仍须于各目标criterion_zh注明联合验收；与评审建议完全删除这些文字存在分歧，现明确其仅属全局success、不参与局部计数。",
+  "q_score是评分器报告的连续目标进度量，达到1仅说明裸目标完成，不替代释放、静置和联合保持窗口；动作成本和用时仅作记录，不建立约束。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个同类物品计数步骤、相邻验收和联合成功窗口有文本、BDDL及评分代码支持；但无状态日志与参考视频，浴室门初态和完整通路尚未核实，无法实测绑定、达成顺序或视觉判据。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点集合（开门前置步骤+四个计数放置步骤）、计数链、目标与评分器一致，门步骤按S2可保留且已列verify_zh；无日志故when/success为null合规。唯一需改：四个放置节点的criterion_zh各自重复了全局的释放/静置/30步联合窗口，且k=1的措辞自相矛盾。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志，when/success按P8为null。节点集合（开浴室门前置、四个计数步）、计数链、freeze_held=false、跌倒约束均符合规则；门初态已有verify_zh，邻接差异已列入open_questions_zh。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bathroom_door_opened', 'tiles_on_bathroom_floor_1', 'tiles_on_bathroom_floor_2', 'tiles_on_bathroom_floor_3', 'tiles_on_bathroom_floor_4']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:34:28Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__laying_tile_floors/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__laying_tile_floors/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__laying_tile_floors/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__laying_tile_floors/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "990023b755039097562daec117b1d87b4ffaf484047fb72ae4ef4b61eab76895",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--efxd3tp.json

@@ -0,0 +1,338 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-privileged--efxd3tp",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 10018,
+   "sim_steps": 10018,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 3585.5,
+   "replay_timeout_s": 6209.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 1,
+   "agent_sim_steps": 30168,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--efxd3tp/replay.mp4",
+  "duration_s": 333.933,
+  "fps": 30.0,
+  "frames": 10018,
+  "sha256": "f58c8522e43c297d61e4fedf131e7d969ab3d9faff1bdd32251a09e4bc9a3a00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": 73,
+      "text_zh": "观察：视频42–49.5 s，机器人左爪仍持白色瓷砖，右臂伸向浴室木门并推门板；门板逐渐转开，机器人同时前移。"
+     },
+     {
+      "t": 50.5,
+      "log_step": 76,
+      "text_zh": "观察：视频50.5–53 s，木门已转开，入口显露棕色浴室地面、隔间和小便池，机器人持砖通过入口；以视频约50.5 s标记可用通口形成，误差约1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右夹爪抵推浴室木门板，将门板向内推开；左爪同时持瓷砖，但未见其抓握门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在右夹爪推门时向门口前移，随后携砖通过打开的入口。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      156,
+      208
+     ],
+     [
+      307,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 156,
+      "log_step": 105,
+      "text_zh": "推断：视频154–157.75 s，左腕视角中的持砖降低到另一块砖旁，随后夹爪张开并抬离；视频158–163 s可见两块砖在浴室地面上相邻。因此至少1块及至少2块计数约于视频156 s同时成立，接地时刻误差约1 s；此前第一块单独落地不满足邻接。log step 105的OnTop、NextTo均为真，与画面一致。"
+     },
+     {
+      "t": 208,
+      "log_step": 120,
+      "text_zh": "推断：视频196.5–206.5 s仍可见原来两块砖相邻；视频207–224 s头部转向上方，腕部近景遮住砖组全貌，第三次操作后原来两砖已分离。log step 120逐对NextTo均为假；log step 178以相同终态哈希重放前6613个已保存控制步，确认这些位置属于交付前缀。区间结束暂以视频约208 s作操作阶段的近似锚点，实际丢失时刻仅能界定在视频206.5–220.4 s之间。"
+     },
+     {
+      "t": 220.4,
+      "log_step": 178,
+      "text_zh": "推断：交付文件及评分器均记录10018个控制步，对应10018帧、30 fps，故本次交付前缀的控制步6613对应视频6613/30≈220.4 s；已用log step 195控制步9215对应视频307.2 s的第四块放下及撤爪画面核对。控制步定位仅辅助核对，未使用agent工作时间转换。"
+     },
+     {
+      "t": 307,
+      "log_step": 195,
+      "text_zh": "观察：视频300–307.5 s，机器人左夹爪把最后从走廊取来的砖降到小便池前另一块砖旁，松爪并后撤；视频308–314 s这一对砖保留在地面，两者间只有窄缝，故至少1块及至少2块计数约于视频307 s恢复。"
+     },
+     {
+      "t": 333.9,
+      "log_step": 254,
+      "text_zh": "推断：视频333–333.9 s末段未显示这一对砖被再次搬走；评分器reward.success=1、q_score=1.0且deterministic=1，确认这一计数终态仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左臂二指夹爪夹住瓷砖角部并抬离原地，持砖从走廊送入浴室，降低后松爪；四块砖依完成地面及邻接关系的计数标注，不固定实例身份。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在取砖、持砖运输及浴室内调整站位时行驶，支承机器人及所持瓷砖。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      156,
+      208
+     ],
+     [
+      307,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 156,
+      "log_step": 105,
+      "text_zh": "推断：视频154–157.75 s，左腕视角中的持砖降低到另一块砖旁，随后夹爪张开并抬离；视频158–163 s可见两块砖在浴室地面上相邻。因此至少1块及至少2块计数约于视频156 s同时成立，接地时刻误差约1 s；此前第一块单独落地不满足邻接。log step 105的OnTop、NextTo均为真，与画面一致。"
+     },
+     {
+      "t": 208,
+      "log_step": 120,
+      "text_zh": "推断：视频196.5–206.5 s仍可见原来两块砖相邻；视频207–224 s头部转向上方，腕部近景遮住砖组全貌，第三次操作后原来两砖已分离。log step 120逐对NextTo均为假；log step 178以相同终态哈希重放前6613个已保存控制步，确认这些位置属于交付前缀。区间结束暂以视频约208 s作操作阶段的近似锚点，实际丢失时刻仅能界定在视频206.5–220.4 s之间。"
+     },
+     {
+      "t": 220.4,
+      "log_step": 178,
+      "text_zh": "推断：交付文件及评分器均记录10018个控制步，对应10018帧、30 fps，故本次交付前缀的控制步6613对应视频6613/30≈220.4 s；已用log step 195控制步9215对应视频307.2 s的第四块放下及撤爪画面核对。控制步定位仅辅助核对，未使用agent工作时间转换。"
+     },
+     {
+      "t": 307,
+      "log_step": 195,
+      "text_zh": "观察：视频300–307.5 s，机器人左夹爪把最后从走廊取来的砖降到小便池前另一块砖旁，松爪并后撤；视频308–314 s这一对砖保留在地面，两者间只有窄缝，故至少1块及至少2块计数约于视频307 s恢复。"
+     },
+     {
+      "t": 333.9,
+      "log_step": 254,
+      "text_zh": "推断：视频333–333.9 s末段未显示这一对砖被再次搬走；评分器reward.success=1、q_score=1.0且deterministic=1，确认这一计数终态仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左臂二指夹爪夹住瓷砖角部并抬离原地，持砖从走廊送入浴室，降低后松爪；四块砖依完成地面及邻接关系的计数标注，不固定实例身份。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在取砖、持砖运输及浴室内调整站位时行驶，支承机器人及所持瓷砖。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      332,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 227,
+      "log_step": null,
+      "text_zh": "观察：视频224–233.5 s机器人撤臂并移开，浴室内可见一块独立瓷砖；视频299–314.5 s能看到已有的一对砖和另外分开的砖，四块虽已运入浴室，但尚不能计为至少3块均邻接。"
+     },
+     {
+      "t": 332,
+      "log_step": 199,
+      "text_zh": "推断：视频315–321 s机器人左夹爪夹住浴室内仍孤立的一块砖并抬起，原位置留空；视频322–333 s将其运向另一块孤立砖、下降并张爪。最后下降时砖与邻砖及地面的完整关系受近景遮挡，结合评分器reward.success=1、q_score=1.0，至少3块和至少4块计数约于视频332 s同时成立，时刻误差约1 s；终态为真。"
+     },
+     {
+      "t": 333.9,
+      "log_step": 254,
+      "text_zh": "观察：已检查视频333、333.5、333.9 s末段，左腕近景仍被白色砖面遮挡，夹爪已张开；log step 254的新进程回放结果为success=true、fallen=false、sim_steps=10018、q_score=1.0，且终态哈希与生成结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪逐块夹持砖角、抬起并从走廊运入浴室；随后再次夹起浴室内孤立的砖，将其搬到另一块旁并松爪，完成第二对邻接。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在取砖、持砖运输及浴室内调整站位时行驶，支承机器人及所持瓷砖。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      332,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 227,
+      "log_step": null,
+      "text_zh": "观察：视频224��233.5 s机器人撤臂并移开，浴室内可见一块独立瓷砖；视频299–314.5 s能看到已有的一对砖和另外分开的砖，四块虽已运入浴室，但尚不能计为至少3块均邻接。"
+     },
+     {
+      "t": 332,
+      "log_step": 199,
+      "text_zh": "推断：视频315–321 s机器人左夹爪夹住浴室内仍孤立的一块砖并抬起，原位置留空；视频322–333 s将其运向另一块孤立砖、下降并张爪。最后下降时砖与邻砖及地面的完整关系受近景遮挡，结合评分器reward.success=1、q_score=1.0，至少3块和至少4块计数约于视频332 s同时成立，时刻误差约1 s；终态为真。"
+     },
+     {
+      "t": 333.9,
+      "log_step": 254,
+      "text_zh": "观察：已检查视频333、333.5、333.9 s末段，左腕近景仍被白色砖面遮挡，夹爪已张开；log step 254的新进程回放结果为success=true、fallen=false、sim_steps=10018、q_score=1.0，且终态哈希与生成结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪逐块夹持砖角、抬起并从走廊运入浴室；随后再次夹起浴室内孤立的砖，将其搬到另一块旁并松爪，完成第二对邻接。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在取砖、持砖运输及浴室内调整站位时行驶，支承机器人及所持瓷砖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人推开浴室门，将四块瓷砖逐块运入浴室，最终调整为两对相邻砖，五个节点终态均成立，评分器确认交付回放成功。前两块砖约在视频156 s形成邻接，第三次操作后邻接被破坏，视频约307 s恢复一对，视频约332 s完成第二对。无状态日志及可用参考视频；原砖组失去邻接的确切时刻受遮挡，仅能界定在视频206.5–220.4 s之间，最后两项关系的终态结合成功评分确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行（q_score=1.0），五个节点终态为真，时间锚点与抽查帧一致（约156 s首对邻接、约307 s恢复、约332 s完成），未发现需改动的错误；原砖对分离时刻已如实标注为遮挡下的区间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T12:00:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--efxd3tp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--efxd3tp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "83b32901f42e6216877531ab84f315ecdd13da92b003f0cef72a0f6febdcf52c",
+   "video_sha256": "f58c8522e43c297d61e4fedf131e7d969ab3d9faff1bdd32251a09e4bc9a3a00",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--uxvxuyj",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4439,
+   "sim_steps": 4589,
+   "physics_steps": 18356,
+   "steps": 436,
+   "elapsed_s": 6671.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--uxvxuyj/replay.mp4",
+  "duration_s": 153.0,
+  "fps": 10.0,
+  "frames": 1530,
+  "sha256": "01d23be73ca7ebfdbf4b8345575e19878b63d3e17b747580a306c4fb924a9d97"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频15–35 s及65.5–95 s的走廊视图中，机器人先接近地上的瓷砖，随后持砖沿走廊移动；可见棕色门板仍封住门框，没有门板转开后露出卫生设施及可用通口的画面。"
+     },
+     {
+      "t": 152.9,
+      "log_step": 430,
+      "text_zh": "推断：视频128–152.9 s中机器人仍在木饰面、白墙与黑色走廊地面的区域，末段视角主要朝墙顶；结合此前未出现开门动作或浴室通口，判定本节点未达成。agent在log step 430也只称前方为一扇关闭的棕色门，并发出底盘探查命令；该自述不作为已开门的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "末段机器人底盘在走廊内向前短移探查前方门口；视频146–148 s可见相机随本体移动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "log step 409、430记录agent尝试以持砖前伸、底盘前移探门；视频128–148 s中门板接触区域未完整入镜，无法确认实际作用端与门板的接触，也不能确认这扇棕色门就是DAG中的浴室门。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频38–62 s中左夹爪多次在走廊地面瓷砖上方开合、抬落；视频64–67.5 s可见一块砖随左夹爪抬起、转动并离开原砖堆，其余砖仍在黑色走廊地面上。视频68–126 s中该砖随机器人沿走廊搬运。"
+     },
+     {
+      "t": 144.5,
+      "log_step": 428,
+      "text_zh": "观察：视频140–144.5 s中左腕视图仍可见夹爪旁的砖，随后夹爪张开，砖离开夹持位置；视频145–148 s的视图仍是黑色走廊地面、白墙和木饰面，没有砖落入浴室并邻接另一块砖的画面。log step 428的脚本发出双指张开的release_first_tile命令。"
+     },
+     {
+      "t": 152.9,
+      "log_step": 430,
+      "text_zh": "推断：机器人只搬走一块砖，放下后未再次拿砖或将其他砖搬来；视频152–152.9 s终态保持在同一走廊区域，故未形成浴室地面上的相邻砖。agent在log step 430自述已释放的砖落在走廊；评分器最终q_score=0与这些画面一致，并将本目标的终值限定为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频64–67.5 s左侧二指夹爪夹住瓷砖边缘，砖随夹爪离开地面；随后单臂持砖，至视频约144.5 s张开松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频68–126 s轮式底盘承载机器人沿走廊行驶，左夹爪同时携带瓷砖，期间多次停靠和调整站位。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频64–67.5 s中只有一块砖被左夹爪提离走廊砖堆；其余砖仍在原处。此后视频68–144.5 s为该块砖的搬运和放下，视频145–152.9 s没有返回砖堆或搬运第2块砖的动作，没有至少2块砖在浴室地面互邻的画面。"
+     },
+     {
+      "t": 152.9,
+      "log_step": null,
+      "text_zh": "推断：初始砖均在走廊，已观察到的唯一一次搬运也未送入浴室；结合评分器最终q_score=0，至少2块砖同时满足浴室地面与邻接关系的终值为false。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频64–67.5 s中只有一块砖被左夹爪提离走廊砖堆；其余砖仍在原处。此后视频68–144.5 s为该块砖的搬运和放下，视频145–152.9 s没有返回砖堆或搬运第2块砖的动作，没有至少3块砖在浴室地面互邻的画面。"
+     },
+     {
+      "t": 152.9,
+      "log_step": null,
+      "text_zh": "推断：初始砖均在走廊，已观察到的唯一一次搬运也未送入浴室；结合评分器最终q_score=0，至少3块砖同时满足浴室地面与邻接关系的终值为false。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频64–67.5 s中只有一块砖被左夹爪提离走廊砖堆；其余砖仍在原处。此后视频68–144.5 s为该块砖的搬运和放下，视频145–152.9 s没有返回砖堆或搬运第2块砖的动作，没有至少4块砖在浴室地面互邻的画面。"
+     },
+     {
+      "t": 152.9,
+      "log_step": null,
+      "text_zh": "推断：初始砖均在走廊，已观察到的唯一一次搬运也未送入浴室；结合评分器最终q_score=0，至少4块砖同时满足浴室地面与邻接关系的终值为false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bathroom_door_opened",
+   "t": 128.0,
+   "log_step": 409,
+   "where": "探索",
+   "evidence_zh": "推断：视频120–128 s机器人持砖接近走廊末端棕色门所在区域，随后视频128–144.5 s仍在白墙、木饰面旁探查和降低瓷砖，没有门板转开后露出浴室地面、卫生设施及可用通口；视频152.9 s终态也未显示该通口。log step 409脚本发出door_push_tile持砖前伸命令，log step 410继续前移，说明放砖前已尝试探门；这一入口步骤始终未完成，故按docs/03_trajectory.md Step 3.1及DECISIONS.md S14，将最早未修复的步骤记为打开浴室门，位置为探索。后续视频约144.5 s松手及log step 428释放命令只是其后的失败证据；log step 430中agent自述门仍关闭并继续探门，不视为门接触或门身份的独立证明。视频128 s仅作粗略导航锚点，未由agent时钟换算。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：log step 409–410的脚本先以持砖前伸和底盘前移探门，随后log step 413、420–421转入降低瓷砖，log step 425–428又把目标降至地面并张开双指；这些动作的先后与视频120–144.5 s持砖探查、降砖及松手相符。视频始终未显示已打开的浴室通口，机器人却在同一走廊区域执行了放砖，表明其跨阶段策略没有先完成并核验可用入口再进入放置阶段。归因为入口确认与放置顺序的规划问题，不认定完全没有开门尝试，也不凭log step 423、430的agent前后自述判定深度或房间识别错误。按docs/03_trajectory.md Step 3.3先判断目标与阶段顺序，未另推断接触设计或控制故障；可行替代接触方案未经验证。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，参考成功运行也无视频。末段头部视角朝墙顶、腕部视角被砖及机器人局部遮挡，无法精确核验松手后的砖位姿、门板接触部位和受力，也不能确认前方棕色门就是DAG中的浴室门。开门节点及断点依据未见可用浴室通口、持砖探门后转入放置且始终未修复入口步骤综合判断，并非仅由after边或零分推出；其身份仍有歧义。新的开门断点没有足以区分未接触、受阻或施力不足的画面，故现象层留空；后续走廊松手只保留在证据中。规划根因限于未核实入口即切换放置的动作顺序，感知错误仅为未证实的备选，不作为标签。"
+ },
+ "summary_zh": "机器人夹起并搬运一块砖，在入口未确认打开的情况下转入降砖和释放；未形成浴室地面相邻砖，5个节点均未达成，评分器q_score=0。断点修订为打开浴室门的探索阶段，根因为入口核验与放置顺序的推理/规划问题；日志已有探门命令，不能称完全遗漏开门。无状态日志和参考视频，门身份及实际接触受遮挡无法核实，现象层留空；断点归属与具体机制仍有歧义，conf由7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": "时钟、log步号和节点终值（5个均false，q_score=0）基本成立；但断点落在“第1块砖铺浴室”而前置的开门步从未被处理，根因“感知”也只靠agent自述的推断，与证据不够吻合。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "5个节点终值false与q_score=0一致；断点取最早未修复的开门步骤（探索）、根因为推理/规划，现象层留空并有gap_zh，均与视频和log相符。门身份未核实的限制已在gap_zh中声明，未发现须修改的内容。",
+    "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": "2026-10-29T12:01:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--uxvxuyj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--uxvxuyj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--uxvxuyj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--uxvxuyj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "56774fc01bdfa3972441db3667275fc263cb902ad1aa8444e68658240b0f4eed",
+   "video_sha256": "01d23be73ca7ebfdbf4b8345575e19878b63d3e17b747580a306c4fb924a9d97",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_rose_centerpieces/task_dag.json

@@ -0,0 +1,371 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/make_rose_centerpieces",
+ "suite": "behavior-1k",
+ "base": "behavior-make-rose-centerpieces-i00",
+ "title_zh": "制作玫瑰桌饰",
+ "summary_zh": "三支玫瑰均在花瓶内，花瓶置于客厅茶几上，所有目标物脱离夹爪且静止连续30个控制步；参考成功录像使用较早的即时目标验收版本。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右各一条七自由度机械臂及二指夹爪，带可调躯干和全向移动底盘；使用辅助抓取。特权模式控制本地仿真，标准模式通过服务控制同一机器人。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-make-rose-centerpieces-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "roses_in_vase_1",
+    "zh": "第1支玫瑰入瓶",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "至少1支不同的红玫瑰处于同一只浅色花瓶内：腕部近景可见相应花茎经圆形瓶口进入瓶腔，按每支玫瑰轴对齐包围盒中心同时位于花瓶包围盒与内部容积来验收；仅花茎末端探入或仍悬在瓶口上方不算，瓶内合格玫瑰少于1支即失去。共同终验还要求三支玫瑰入瓶、花瓶在茶几上，并且包括茶几在内的全部目标物都脱离夹爪且线速度不超过0.05米/秒，连续30个控制步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住玫瑰花茎，将该支玫瑰送入花瓶；左右手均可。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘支撑机器人，在取花与花瓶所在位置之间移动。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一侧夹爪握住花瓶以固定瓶口，另一侧夹爪握住玫瑰花茎放入花瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘支撑机器人和两臂，在玫瑰与花瓶之间调整工作位置。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-25",
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/bddl/make_rose_centerpieces.bddl:13-29",
+     "inputs/bddl/make_rose_centerpieces.literals.json:2-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:48-127.9s 腕部视角的瓶口及逐支放花",
+     "inputs/oracle/run.json:steps id=90,101,115 的放花检查（会话观测，不直接作为视频时钟）"
+    ],
+    "conf": 6,
+    "note_zh": "三支玫瑰可互换，按至少1支计数，不固定实例或手臂；计数边只表示数量包含关系。节点验收为入瓶关系，可在持物时成立，故关闭持物冻结；共同松手、静止与30步窗口属于全局成功验收，不逐节点重复计时。花瓶可在插花前或插花后搬到茶几。"
+   },
+   {
+    "id": "roses_in_vase_2",
+    "zh": "第2支玫瑰入瓶",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "roses_in_vase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "至少2支不同的红玫瑰处于同一只浅色花瓶内：腕部近景可见相应花茎经圆形瓶口进入瓶腔，按每支玫瑰轴对齐包围盒中心同时位于花瓶包围盒与内部容积来验收；仅花茎末端探入或仍悬在瓶口上方不算，瓶内合格玫瑰少于2支即失去。共同终验还要求三支玫瑰入瓶、花瓶在茶几上，并且包括茶几在内的全部目标物都脱离夹爪且线速度不超过0.05米/秒，连续30个控制步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住玫瑰花茎，将该支玫瑰送入花瓶；左右手均可。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘支撑机器人，在取花与花瓶所在位置之间移动。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一侧夹爪握住花瓶以固定瓶口，另一侧夹爪握住玫瑰花茎放入花瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘支撑机器人和两臂，在玫瑰与花瓶之间调整工作位置。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-25",
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/bddl/make_rose_centerpieces.bddl:13-29",
+     "inputs/bddl/make_rose_centerpieces.literals.json:2-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:48-127.9s 腕部视角的瓶口及逐支放花",
+     "inputs/oracle/run.json:steps id=90,101,115 的放花检查（会话观测，不直接作为视频时钟）"
+    ],
+    "conf": 6,
+    "note_zh": "三支玫瑰可互换，按至少2支计数，不固定实例或手臂；计数边只表示数量包含关系。节点验收为入瓶关系，可在持物时成立，故关闭持物冻结；共同松手、静止与30步窗口属于全局成功验收，不逐节点重复计时。花瓶可在插花前或插花后搬到茶几。"
+   },
+   {
+    "id": "roses_in_vase_3",
+    "zh": "第3支玫瑰入瓶",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "roses_in_vase_2"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "至少3支不同的红玫瑰处于同一只浅色花瓶内：腕部近景可见相应花茎经圆形瓶口进入瓶腔，按每支玫瑰轴对齐包围盒中心同时位于花瓶包围盒与内部容积来验收；仅花茎末端探入或仍悬在瓶口上方不算，瓶内合格玫瑰少于3支即失去。共同终验还要求三支玫瑰入瓶、花瓶在茶几上，并且包括茶几在内的全部目标物都脱离夹爪且线速度不超过0.05米/秒，连续30个控制步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住玫瑰花茎，将该支玫瑰送入花瓶；左右手均可。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘支撑机器人，在取花与花瓶所在位置之间移动。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一侧夹爪握住花瓶以固定瓶口，另一侧夹爪握住玫瑰花茎放入花瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘支撑机器人和两臂，在玫瑰与花瓶之间调整工作位置。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-25",
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/bddl/make_rose_centerpieces.bddl:13-29",
+     "inputs/bddl/make_rose_centerpieces.literals.json:2-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:48-127.9s 腕部视角的瓶口及逐支放花",
+     "inputs/oracle/run.json:steps id=90,101,115 的放花检查（会话观测，不直接作为视频时钟）"
+    ],
+    "conf": 6,
+    "note_zh": "三支玫瑰可互换，按至少3支计数，不固定实例或手臂；计数边只表示数量包含关系。节点验收为入瓶关系，可在持物时成立，故关闭持物冻结；共同松手、静止与30步窗口属于全局成功验收，不逐节点重复计时。花瓶可在插花前或插花后搬到茶几。"
+   },
+   {
+    "id": "vase_on_coffee_table",
+    "zh": "花瓶放上茶几",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部视角中，浅色圆口花瓶落在蓝色沙发前的方形茶几台面上，花瓶与茶几接触且茶几在其正下方；仍在电视下方柜面、悬空于茶几上方或掉到地上均未完成，离开台面失去该状态。共同终验还要求三支玫瑰均在花瓶内，包括茶几在内的全部目标物脱离夹爪且线速度不超过0.05米/秒，连续30个控制步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住花瓶瓶身或瓶沿，将花瓶放到茶几台面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘支撑机器人，将夹爪持有的花瓶从客厅柜子运到茶几旁。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-25",
+     "inputs/task/standard/instruction.md:5-18",
+     "inputs/bddl/make_rose_centerpieces.bddl:13-29",
+     "inputs/bddl/make_rose_centerpieces.literals.json:2-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/task/privileged/environment/instance.json:27-67 ��瓶与茶几初始位置",
+     "inputs/oracle/replay.mp4:16-32s 花瓶从柜子转移到沙发前茶几"
+    ],
+    "conf": 6,
+    "note_zh": "按评分器的ontop关系验收；松手、静止和共同持续窗口保留在全局成功验收，关系可持物成立，因此freeze_held=false。不要求先插花，不另设拿起、搬运或松手节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座上轴的竖直分量小于0.75（偏离竖直约41.4度以上），或底座低于地面超过0.03米，连续300个30赫兹控制步（10秒）触发跌倒终止；短暂倾斜后恢复不算。录像可见机体持续侧倒或陷入地面，精确阈值需原生跌倒监测；同一步同时满足成功时评分器先接受成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态失效",
+    "never": null,
+    "criterion_zh": "评分器检出机器人位置、朝向、速度或关节状态非有限，机器人任一位置分量绝对值超过10000米或底座线速度超过100米/秒；也每30步检查目标物位置非有限或任一分量绝对值超过10000米。出现任一项立即失败，录像中的飞散或失控仅是线索，精确判定需原生breakdown输出。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "rose_1_inside_vase",
+    "level": "new_code",
+    "source": "需在重放适配器记录原生BDDL谓词 flags.lit:(inside rose.n.01_1 vase.n.01_1)；本任务未提供状态日志。"
+   },
+   {
+    "atom": "rose_2_inside_vase",
+    "level": "new_code",
+    "source": "需在重放适配器记录原生BDDL谓词 flags.lit:(inside rose.n.01_2 vase.n.01_1)；本任务未提供状态日志。"
+   },
+   {
+    "atom": "rose_3_inside_vase",
+    "level": "new_code",
+    "source": "需在重放适配器记录原生BDDL谓词 flags.lit:(inside rose.n.01_3 vase.n.01_1)；本任务未提供状态日志。"
+   },
+   {
+    "atom": "vase_on_coffee_table",
+    "level": "new_code",
+    "source": "需记录原生BDDL谓词 flags.lit:(ontop vase.n.01_1 coffee_table.n.01_1)；inputs/bddl/make_rose_centerpieces.bddl:29。"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需记录Session.succeeded为flags.success_rule，覆盖全部目标、松手、静止与30步联合窗口；inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1434。"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需记录Session.status().fallen（原生FallWatch计数后结果）；inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1546。"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需记录Session.status().breakdown；inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471,1546。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空：依DECISIONS.md P8，四个节点when及success、两项约束never均为null，由录像和原生日志判定；atoms说明后续需补记的字段，不能声称已由状态日志验证。",
+  "成功参考轨迹采用旧版验收：inputs/oracle/run.json的task_text明确目标谓词成立即终止，reward未含goal_held_steps或settle_steps，steps id=115显示松开第三支玫瑰的首个控制步即成功。当前instruction.md:6和rcb_behavior.py:100-105,1414-1434要求共同松手、速度不超过0.05米/秒并连续30步；参考录像只能证实目标几何，不足以核实新版持续窗口（DECISIONS.md P19）。",
+  "两种模式共享BDDL及Session成功规则，但特权模式额外要求两次新进程重放均成功、终态哈希一致且初态匹配（privileged/grade.py:168-174）；标准模式以服务单次真实回合结果为准（standard/grade.py:29-35）。重放一致性、文件交付及基础设施有效性不是物理步骤，也不绑定成语义条件。",
+  "文本要求把花瓶立放在茶几上，BDDL只检验ontop，不单独检验花瓶竖直或瓶口朝向（instruction.md:4,24-25；make_rose_centerpieces.bddl:29）；按现有评分关系验收摆放步骤，不发明姿态角阈值。",
+  "三支同类玫瑰虽在BDDL逐实例列出，却没有各自不同目标或角色，依DECISIONS.md N4按至少第k支计数并链接；花瓶摆放与插花无必然顺序。联合松手静止窗口跨全部四个步骤，只作success验收，不生成松手静置节点。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个语义步骤、初始全假及数量关系由任务文字和BDDL直接支持，场景与录像显示目标都在客厅且无必经门。没有状态日志，几何边界不能自动核查；成功录像又采用较早的即时验收版本，无法据此验证当前松手静止窗口，因此整体置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "文本步骤为三支玫瑰入瓶（第k支计数链，N4）与花瓶放到茶几，节点集合与BDDL目标一致；联合松手静止窗口放入success未生成松手节点，两项失败约束为评分器的立即终止条件；无状态日志，when/success为null并在open_questions_zh说明，旧版验收差异也已列出。未发现需要修改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['roses_in_vase_1', 'roses_in_vase_2', 'roses_in_vase_3', 'vase_on_coffee_table']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:13:09Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__make_rose_centerpieces/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__make_rose_centerpieces/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "1b476bc9bae57180849e9411b60a7f88277f382c59865059039838c037260f2c",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--f42xzhe.json

@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-rose-centerpieces-i00-privileged--f42xzhe",
+ "taskKey": "behavior-1k/make_rose_centerpieces",
+ "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2271,
+   "sim_steps": 2271,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1081.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 5,
+   "agent_sim_steps": 6879,
+   "agent_records": 4,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-rose-centerpieces-i00-privileged--f42xzhe/replay.mp4",
+  "duration_s": 75.7,
+  "fps": 30.0,
+  "frames": 2271,
+  "sha256": "1cff23dece04144d458a6daf0f55fa77a40e2efc0490192e110523aa0ec5004c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "roses_in_vase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅色花瓶和散放的玫瑰在电视下方柜面，瓶内尚无玫瑰。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–13.5 s，机器人左夹爪夹住第一支玫瑰花头并将花茎转向瓶口；视频 14.0–15.0 s，夹爪张开，玫瑰向瓶内落下，头部视角可见花留在瓶口内侧；视频 18.0–21.0 s，空夹爪离开，花仍留在瓶中。"
+     },
+     {
+      "t": 14.5,
+      "log_step": 66,
+      "text_zh": "推断：根据视频 14.0–21.0 s 的下放、松手与留瓶画面，将至少一支入瓶估计为视频 14.5 s（约半秒误差）；log step 66 是最终生成脚本的第一支 Inside=True 检查，仅作一致性支持，不以 agent 时间换算视频时间。此后未见花离瓶，末尾评分器 success=1、q_score=1 支持终态保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住玫瑰花头搬至瓶口；视频 14.0 s 附近张开松手，随后夹爪在瓶口旁调整花的倾斜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.0 s，轮式底盘载着机械臂靠近柜面，随后左夹爪取第一支花。"
+     }
+    ]
+   },
+   "roses_in_vase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–27.0 s，机器人左夹爪从柜面另取一支玫瑰，原先散花位置减少，夹爪旁可见被带起的红色花头；第一支仍留在瓶中。"
+     },
+     {
+      "t": 35.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–35.0 s，左夹爪将第二支花降到花瓶处；视频 35.5–36.5 s，腕部画面由夹爪旁的大花头变为瓶口内的花茎和叶片，夹爪离开，头部画面中两次送入的花均未回到柜面。"
+     },
+     {
+      "t": 35.5,
+      "log_step": 67,
+      "text_zh": "推断：第二次下放后至少两支留在瓶内，起点取视频 35.5 s，约半秒误差；最终生成脚本在 log step 67 输出前两支 Inside=True，与上述留瓶画面一致。视频后续搬运至结束没有花掉出，评分器 q_score=1 支持终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第二支玫瑰花头，送到瓶口下放并松开；随后空夹爪离瓶。"
+     }
+    ]
+   },
+   "roses_in_vase_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      67.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0–43.0 s，机器人左夹爪从柜面取走剩余一支玫瑰，红花随夹爪抬起；视频 50.0–59.5 s，左臂将它送到瓶口，随后张开夹爪，花落向瓶腔。"
+     },
+     {
+      "t": 67.0,
+      "log_step": 67,
+      "text_zh": "推断：第三次松手不直接等同满足 Inside；最终生成脚本在 log step 67 报告该支刚放下时 Inside=False。视频 62.0–69.5 s 的腕部近景显示机器人夹住瓶沿后花束随瓶运动，花头和叶片继续向瓶内倾落；以视频约 67.0 s 的搬运中沉降作为三支入瓶估计起点，精确越过包围盒边界的时刻不可见，存在数秒不确定性。"
+     },
+     {
+      "t": 75.6667,
+      "log_step": 74,
+      "text_zh": "推断：视频 73.5–75.67 s，花束仍留在同一瓶内，没有花被取走或掉出；重放检查 log step 74 的 success=true、q_score=1.0、sim_steps=2271，且本次 reward 同样 success=1、q_score=1，确认三支入瓶的终态为真。未将会话中较早测试的结果作为节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第三支玫瑰花头搬运并送到瓶口，松手后空夹爪退开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 37.0–43.0 s，底盘调整到柜面剩余玫瑰旁；视频 46.0–51.5 s，底盘载着左夹爪持有的玫瑰返回花瓶附近。"
+     }
+    ]
+   },
+   "vase_on_coffee_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      75.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，花瓶在电视下方柜面，尚未位于蓝色沙发前的茶几上。"
+     },
+     {
+      "t": 64,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–64.0 s，左腕近景显示机器人左夹爪在圆形瓶沿两侧闭合，花瓶离开柜面随夹爪移动；视频 66.5–73.0 s，机器人底盘带着花瓶转向蓝色沙发前的茶几区域，原柜面不再有花瓶。"
+     },
+     {
+      "t": 75.6,
+      "log_step": 74,
+      "text_zh": "推断：视频 73.5–75.67 s，底盘停下，左腕近景中的花瓶随末端下移后稳定；瓶底与茶几接触点被机体和画面边缘遮挡。结合 log step 74 对最终交付文件的新进程重放 success=true、q_score=1.0，以及本次评分器 success=1，将花瓶上茶几记在末尾视频约 75.6 s，精确接触时刻有约一秒不确定性；末帧无与成功关系相矛盾的可见证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 63.0–64.0 s，机器人左侧二指夹爪闭合夹住浅色花瓶的瓶沿，花瓶随后跟随末端离开柜面并被运走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 66.5–73.0 s，轮式底盘支撑机器人并载着左夹爪夹持的花瓶驶向客厅茶几。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次把三支玫瑰送入同一花瓶，再用左夹爪夹住瓶沿，随底盘搬至客厅茶几，最终四个目标节点均成立；评分器 success=1、q_score=1，新进程重放检查（log step 74）也成功。当前 DAG 写有共同松手静止30步窗口，但本次 task_text 明确采用目标关系一成立即结束的旧版验收，按本次评分规则标注，不额外要求新版窗口。没有状态日志；腕部视角可核对取花、入瓶和夹瓶搬运，但第三支满足 Inside 的精确时刻及末尾瓶底与茶几的接触被遮挡，视频约 67.0 s 与视频约 75.6 s 的节点起点为结合连续画面和成功评分的估计。",
+ "conf": 6,
+ "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，四个节点终态为真，评分器 success=1、q_score=1 支持；时间均标为估计并写明不确定性，接触标注（左夹爪抓握、底盘支撑）与画面一致，未见需改内容的错误。",
+    "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": "2026-10-29T11:32:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--f42xzhe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--f42xzhe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5c0f834c37a320ea914d8a61438de12351cb0de88e34f9d3a2666c0ab4cc86ed",
+   "video_sha256": "1cff23dece04144d458a6daf0f55fa77a40e2efc0490192e110523aa0ec5004c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--zmpt93c.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-rose-centerpieces-i00-privileged--zmpt93c",
+ "taskKey": "behavior-1k/make_rose_centerpieces",
+ "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3429,
+   "sim_steps": 3429,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1123.8,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 33,
+   "agent_resets": 46,
+   "agent_sim_steps": 31741,
+   "agent_records": 44,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/replay.mp4",
+  "duration_s": 114.3,
+  "fps": 30.0,
+  "frames": 3429,
+  "sha256": "fde0920dfb8b6e766ca4d426617248490d13df4b59545349c10e960c166b6edf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "roses_in_vase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s，三支玫瑰均横放在电视下的柜面，花瓶内没有玫瑰。"
+     },
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0 s，机器人右夹爪夹住一支玫瑰的茎叶并将其带离柜面；视频 58.0–61.0 s 仍持花向茶几方向调整。"
+     },
+     {
+      "t": 62.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.0 s，机器人松爪后玫瑰横躺在茶几面，未见花茎经瓶口进入瓶腔；视频 79.0–81.0 s、83.4 s、94.0 s 及 108.0–110.0 s 的后续重抓、松爪也没有形成参考成功录像视频 48.0 s、80.0 s 所示的入瓶形态。"
+     },
+     {
+      "t": 114.2,
+      "log_step": null,
+      "text_zh": "推断：视频 113.3–114.2 s 机器人仍在茶几旁操作这一支玫瑰，没有补成入瓶；run.json 的评分器 q_score=0，四个目标初态均不成立，故最终不可能有任何一支玫瑰满足 inside，final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 51.0 s 及 58.0–61.0 s，机器人右侧二指夹爪夹住玫瑰茎叶并携带，之后在茶几面反复松开、重抓同一支玫瑰。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 49.0–58.0 s，机器人底盘在持花时从柜面一侧转向、移动到茶几工作位置。"
+     }
+    ]
+   },
+   "roses_in_vase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s，三支玫瑰都在柜面，尚无入瓶玫瑰。"
+     },
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–114.2 s，机器人持续重试同一支玫瑰；视频 94.0 s 左腕视角仍可见其余玫瑰留在电视下柜面，没有开始另取玫瑰并送入花瓶的过程，未达到至少2支入瓶。"
+     },
+     {
+      "t": 114.2,
+      "log_step": null,
+      "text_zh": "推断：run.json 评分器 q_score=0，且四项目标初态均为假，最终满足的 inside 数量为零，因此第2支玫瑰入瓶 final=false；这也与视频未见多支花入瓶一致。"
+     }
+    ]
+   },
+   "roses_in_vase_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s，三支玫瑰都在柜面，尚无入瓶玫瑰。"
+     },
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–114.2 s，机器人持续重试同一支玫瑰；视频 94.0 s 左腕视角仍可见其余玫瑰留在电视下柜面，没有开始另取玫瑰并送入花瓶的过程，未达到至少3支入瓶。"
+     },
+     {
+      "t": 114.2,
+      "log_step": null,
+      "text_zh": "推断：run.json 评分器 q_score=0，且四项目标初态均为假，最终满足的 inside 数量为零，因此第3支玫瑰入瓶 final=false；这也与视频未见多支花入瓶一致。"
+     }
+    ]
+   },
+   "vase_on_coffee_table": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s，浅色花瓶在电视下柜面，尚未在茶几上。"
+     },
+     {
+      "t": 26.8,
+      "log_step": null,
+      "text_zh": "观察：视频 26.8–29.0 s，机器人搬来的浅色花瓶在左腕近景中立��灰色茶几桌面边缘，随后夹爪撤离；视频 82.2–83.1 s 右腕近景再次显示花瓶横倒在同一茶几面上。横倒本身不取消 DAG 只要求 ontop 的摆放关系。"
+     },
+     {
+      "t": 108.0,
+      "log_step": null,
+      "text_zh": "观察：视频 82.2–83.1 s 花瓶翻倒、移位，之后经常处于镜头边缘或被夹爪挡住；视频 108.0 s 又只能看到部分横倒的瓶身，底部与桌面的关系不能持续核实。无法从这些画面定位 ontop 丢失的完整时间线，故 intervals 留空值而不以花瓶出画时刻截断。"
+     },
+     {
+      "t": 114.2,
+      "log_step": null,
+      "text_zh": "推断：run.json 评分器 q_score=0，花瓶在茶几上的目标初态不成立，因此最终 ontop 也为假。该总分决定 final=false，但不能提供此前离开台面的时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.0 s 后机器人左侧夹爪夹持浅色花瓶，视频 24.0–26.5 s 将其降低到茶几位置，随后松开撤离。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.0–23.0 s，机器人底盘在左夹爪携带花瓶时移动，从柜面运到茶几旁。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "roses_in_vase_1",
+   "t": 62.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0–61.0 s 机器人右夹爪持第一支玫瑰向茶几调整，视频 62.0 s 松爪后花横躺在桌面，没有进入花瓶。之后机器人一直重抓并重试这一支花，视频 79.0–81.0 s、94.0 s 及 108.0–114.2 s 均未修复入瓶步骤；此前搬瓶已出现桌面放置，故最早未修复的失败步骤是第1支玫瑰入瓶。"
+  },
+  "unmet": {
+   "roses_in_vase_1": false,
+   "roses_in_vase_2": false,
+   "roses_in_vase_3": false,
+   "vase_on_coffee_table": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 62.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 62.0 s 机器人在送花调整后松爪，玫瑰落成横躺在茶几面的姿态；视频 79.0–81.0 s、94.0 s 重试后仍横躺，视频 113.3–114.2 s 也未呈现花茎进入瓶腔的形态。花在松手时没有到达目标容积，属于放入位姿未到位。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志。花叶、夹爪及镜头朝向遮挡了首次送花时的瓶口细节，不能精确核验持花期间的 inside 几何边界；已检查的松爪结果均是花躺在桌面，未见达标入瓶形态。花瓶曾在桌面，但翻倒移位后的支承关系没有被各视角连续覆盖，不能可靠给出其 ontop 丢失时刻，故该节点 intervals=null，终态由 q_score=0 决定。日志包含多次会话试验，最后 log step 496 的改方案和 log step 498 的搬瓶输出不代表交付录像后续完成；未据此增加进度，也未把会话报错直接当作评分局的终止原因。 已核对log step 484、488的lower误差与inside=False输出，但这些是会话试验，未建立其与交付录像同一次控制执行的对应。视频58.0–62.0 s及79.0–94.0 s支持送花位姿未到位，不能可靠区分抓取几何、规划与执行跟踪的原因，故根因层留空。"
+ },
+ "summary_zh": "机器人曾把花瓶搬到茶几上，随后只操作一支玫瑰，反复松爪后花仍横躺在桌面，三项入瓶节点均未达到；评分器q_score=0决定终态为0/4，最早未修复的断点是视频62.0 s的第1支玫瑰入瓶，现象为位姿不准。花瓶后来翻倒移位，但翻倒本身不等于ontop丢失，无法确定离开台面的时刻；会话送花误差也不足以确定交付轨迹的根因，故根因留空，本轮仍不能确定花瓶ontop丢失时刻，整体conf由5降至4。运行task_text采用目标谓词即时验收版，未额外归因于新版30步共同静置窗口。",
+ "conf": 4,
+ "review": {
+  "status": "disputed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（第1支玫瑰入瓶、62 s 附近）与三个入瓶节点 final=false 可接受；但花瓶节点实际达成过 ontop（视频约 31–82 s 在茶几上），标签却把 intervals 留成 null，丢掉了\"达成后丢失\"这一事实；根因“控制”几乎全靠会话测试日志，证据偏弱。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（第1支玫瑰入瓶，视频约62 s）、三个入瓶节点final=false、现象位姿不准、根因留空均可接受；唯一问题：花瓶节点自己的evidence已写视频26.8–29.0 s花瓶立在茶几上，却把intervals留成null，丢掉了\"曾达成\"这一WHERE信息。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "fix",
+    "summary_zh": "I1 的拒绝不成立：节点自己的 evidence 已写明视频 26.8–29.0 s 花瓶立在茶几上、82.2–83.1 s 仍横躺在同一台面，却把 intervals 留成 null（未知），丢掉了已观察到的达成。可以给出 [[约31.0, 83.1]] 并注明终点仅为最后观察时刻，或至少给起点；SCHEMA 的 null 表示时间线未知，与“曾达成”的证据自相矛盾，peak 也因此被低估。",
+    "n_issues": 1,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [
+   "[I1·第3轮未确认] 写入者的理由（终点不可核实、null 终点表示保持到结束）只能否定把终点当作失效时刻，不能否定已观察到的达成区间；未采用任何带注明的折中，intervals 仍为 null，与节点自身 evidence（视频 26.8–29.0 s、82.2–83.1 s 花瓶在茶几面）矛盾。state 节点规则要求 intervals 记录条件成立的时段。"
+  ],
+  "confirm": {
+   "verdict": "not_confirmed",
+   "summary_zh": "I1 的拒绝不成立：节点自己的 evidence 已写明视频 26.8–29.0 s 花瓶立在茶几上、82.2–83.1 s 仍横躺在同一台面，却把 intervals 留成 null（未知），丢掉了已观察到的达成。可以给出 [[约31.0, 83.1]] 并注明终点仅为最后观察时刻，或至少给起点；SCHEMA 的 null 表示时间线未知，与“曾达成”的证据自相矛盾，peak 也因此被低估。",
+   "checks_ok": "0/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T12:00:15Z",
+  "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/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--zmpt93c/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": "f26d497e856f16c1b74a79a323912c9aa577d28889eaad4072d954d64bf03328",
+   "video_sha256": "fde0920dfb8b6e766ca4d426617248490d13df4b59545349c10e960c166b6edf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/putting_dirty_dishes_in_sink/task_dag.json

@@ -0,0 +1,336 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/putting_dirty_dishes_in_sink",
+ "suite": "behavior-1k",
+ "base": "behavior-putting-dirty-dishes-in-sink-i00",
+ "title_zh": "脏餐具放入水槽",
+ "summary_zh": "餐厅卡座上的两只碗和两只盘全部在厨房水槽内，所有目标物体均离手且静止并共同保持规定窗口。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右各一条七关节机械臂、各配二指夹爪，具可调躯干、全向轮式底盘和头部及双腕相机；使用辅助抓握，任一臂均可搬运餐具。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-putting-dirty-dishes-in-sink-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bowls_in_sink_1",
+    "zh": "第1只碗入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可辨认厨房不锈钢水槽内至少有1只深色小碗，每只物体轴对齐包围盒的中心同时位于水槽包围盒和内腔容积内，容纳关系本身允许持物；仅悬在槽上方、放在槽外台面或地上不算，槽内数量降到1只以下即失去。整项任务还须两碗两盘同时在槽内，四件餐具和水槽均未被夹爪附着、各自线速度不超过0.05米/秒，联合条件连续成立30个控制步（30赫兹，称为1秒）；这个共同验收窗归入success，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹持一只碗的边缘并送入水槽；任选一臂，不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承托机器人及夹爪所持的碗，在餐厅与厨房之间移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:32-35",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:15-27",
+     "inputs/bddl/putting_dirty_dishes_in_sink.literals.json:3-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-275.167s"
+    ],
+    "conf": 6,
+    "note_zh": "同类两只碗任意实例均可先入槽，按至少1只计数，不固定实例身份；碗和盘之间无先后边。入槽关系可在持物时成立，故关闭持物冻结；共同离手和静置属于最终验收。污渍无关，不要求清洁；拿起、搬运、恢复掉落和松手不另建节点。"
+   },
+   {
+    "id": "bowls_in_sink_2",
+    "zh": "第2只碗入槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bowls_in_sink_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可辨认厨房不锈钢水槽内至少有2只深色小碗，每只物体轴对齐包围盒的中心同时位于水槽包围盒和内腔容积内，容纳关系本身允许持物；仅悬在槽上方、放在槽外台面或地上不算，槽内数量降到2只以下即失去。整项任务还须两碗两盘同时在槽内，四件餐具和水槽均未被夹爪附着、各自线速度不超过0.05米/秒，联合条件连续成立30个控制步（30赫兹，称为1秒）；这个共同验收窗归入success，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹持一只碗的边缘并送入水槽；任选一臂，不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承托机器人及夹爪所持的碗，在餐厅与厨房之间移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:32-35",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:15-27",
+     "inputs/bddl/putting_dirty_dishes_in_sink.literals.json:3-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-275.167s"
+    ],
+    "conf": 6,
+    "note_zh": "同类两只碗任意实例均可先入槽，按至少2只计数，不固定实例身份；碗和盘之间无先后边。入槽关系可在持物时成立，故关闭持物冻结；共同离手和���置属于最终验收。污渍无关，不要求清洁；拿起、搬运、恢复掉落和松手不另建节点。"
+   },
+   {
+    "id": "plates_in_sink_1",
+    "zh": "第1只盘入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可辨认厨房不锈钢水槽内至少有1只棕色方盘，每只物体轴对齐包围盒的中心同时位于水槽包围盒和内腔容积内，容纳关系本身允许持物；仅悬在槽上方、放在槽外台面或地上不算，槽内数量降到1只以下即失去。整项任务还须两碗两盘同时在槽内，四件餐具和水槽均未被夹爪附着、各自线速度不超过0.05米/秒，联合条件连续成立30个控制步（30赫兹，称为1秒）；这个共同验收窗归入success，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹持一只盘的边缘并送入水槽；任选一臂，不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承托机器人及夹爪所持的盘，在餐厅与厨房之间移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:36-39",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:15-27",
+     "inputs/bddl/putting_dirty_dishes_in_sink.literals.json:3-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-275.167s"
+    ],
+    "conf": 6,
+    "note_zh": "同类两只盘任意实例均可先入槽，按至少1只计数，不固定实例身份；碗和盘之间无先后边。入槽关系可在持物时成立，故关闭持物冻结；共同离手和静置属于最终验收。污渍无关，不要求清洁；拿起、搬运、恢复掉落和松手不另建节点。"
+   },
+   {
+    "id": "plates_in_sink_2",
+    "zh": "第2只盘入槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "plates_in_sink_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可辨认厨房不锈钢水槽内至少有2只棕色方盘，每只物体轴对齐包围盒的中心同时位于水槽包围盒和内腔容积内，容纳关系本身允许持物；仅悬在槽上方、放在槽外台面或地上不算，槽内数量降到2只以下即失去。整项任务还须两碗两盘同时在槽内，四件餐具和水槽均未被夹爪附着、各自线速度不超过0.05米/秒，联合条件连续成立30个控制步（30赫兹，称为1秒）；这个共同验收窗归入success，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹持一只盘的边缘并送入水槽；任选一臂，不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承托机器人及夹爪所持的盘，在餐厅与厨房之间移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:36-39",
+     "inputs/bddl/putting_dirty_dishes_in_sink.bddl:15-27",
+     "inputs/bddl/putting_dirty_dishes_in_sink.literals.json:3-16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-275.167s"
+    ],
+    "conf": 6,
+    "note_zh": "同类两只盘任意实例均可先入槽，按至少2只计数，不固定实例身份；碗和盘之间无先后边。入槽关系可在持物时成立，故关闭持物冻结；共同离手和静置属于最终验收。污渍无关，不要求清洁；拿起、搬运、恢复掉落和松手不另建节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的世界竖直分量小于0.75（约倾斜超过41.4度），或基座低于地面超过0.03米，连续300个控制步（30赫兹，10秒）即触发跌倒失败；持续不足该窗口的倾斜或翻倒不算，成功窗口先于同一步的跌倒判断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩坏",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，机器人任一位置坐标绝对值超过10000米，或基座线速度超过100米/秒；目标物体位置非有限或任一坐标绝对值超过10000米也触发失败。机器人每控制步检查，目标物体每30控制步检查，发现时立即终止；不把一般掉盘或短暂倾斜等同于崩坏。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "bowls_in_sink_1",
+    "level": "new_code",
+    "source": "inputs/bddl/putting_dirty_dishes_in_sink.literals.json: log flags.lit:(inside bowl.n.01_1 sink.n.01_1) and flags.lit:(inside bowl.n.01_2 sink.n.01_1); evaluate atleast 1. No state logs supplied."
+   },
+   {
+    "atom": "bowls_in_sink_2",
+    "level": "new_code",
+    "source": "inputs/bddl/putting_dirty_dishes_in_sink.literals.json: log flags.lit:(inside bowl.n.01_1 sink.n.01_1) and flags.lit:(inside bowl.n.01_2 sink.n.01_1); evaluate atleast 2. No state logs supplied."
+   },
+   {
+    "atom": "plates_in_sink_1",
+    "level": "new_code",
+    "source": "inputs/bddl/putting_dirty_dishes_in_sink.literals.json: log flags.lit:(inside plate.n.04_1 sink.n.01_1) and flags.lit:(inside plate.n.04_2 sink.n.01_1); evaluate atleast 1. No state logs supplied."
+   },
+   {
+    "atom": "plates_in_sink_2",
+    "level": "new_code",
+    "source": "inputs/bddl/putting_dirty_dishes_in_sink.literals.json: log flags.lit:(inside plate.n.04_1 sink.n.01_1) and flags.lit:(inside plate.n.04_2 sink.n.01_1); evaluate atleast 2. No state logs supplied."
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1434; log flags.success_rule from Session.succeeded and goal_held_steps, goal_objects_held, goal_objects_moving. Goal objects include sink.n.01_1 and all four dishes."
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1546; log Session.status().fallen as flags.fallen."
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1546; log Session.status().breakdown as flags.breakdown."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json没有状态日志。按DECISIONS.md P8，全部节点when、约束never和success均为null；atoms列出需要补录的世界状态字段，不能用目录外或未观察到的字段假装已绑定，也无法完成日志上的成功等价检查。",
+  "联合验收：当前评分器要求四个inside字面量同时成立，全部目标物体（两碗、两盘及水槽）未被辅助抓握附着且线速度不超过0.05米/秒，连续30个控制步；success应表达此共同条件。各节点只计入槽关系，hold_s为0且freeze_held为false；共同窗口没有可绑定日志，已在每个criterion_zh明确说明，不能用q_score等于1代替成功。",
+  "规则版本差异：oracle/run.json的task_text使用旧的目标字面量同时成立即结束规则，其步骤145报告四个inside为真、8255步成功，未报告当前的goal_held_steps或松手静置状态，末帧夹爪仍靠近最后一只盘。此成功仅佐证四件餐具的容纳关系和场景几何，不能证明当前评分器的联合释放静置窗口已完成；遵循DECISIONS.md P19，后续轨迹应按运行时规则判定，不因旧规则而改写当前任务验收。",
+  "门和路线：场景清单列有厨房door_mkcndz_0，oracle步骤74显示推门后j_leaf约1.5476弧度；但输入未给出完整连通拓扑和门初态，也不能排除其他取送路线。采用DECISIONS.md S2允许的仅保留文本目标步骤的读法，从一开始不加入未被文本点名的开门节点，不把oracle下钻吧台翻板、推厨房门的路线强加给全部策略；并非把未核实的必经门改成可选。",
+  "两模式物理核心一致，instance文件逐项相同；privileged评分另要求两次新进程重放成功、末态哈希一致及初态匹配，standard取服务内单次实时场景的结果（privileged/grade.py:168-174；standard/grade.py:29-35）。重放确定性、交付和基础设施有效性不是世界状态步骤，未造节点或未记录的判决条件。",
+  "q_score是评分器记录的原生目标进度，来源rcb_behavior.py:1538-1553及两模式grade.py的q_score字段；阈值1仅表示目标进度满分，当前成功还要求联合离手静置。费用、动作数和普通时间上限不构成约束。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个数量目标直接来自文本与BDDL，初始字面量均为假，同类计数顺序不限制实例策略；评分器阈值和两模式共同验收明确。缺少状态日志，参考录像视角遮挡且按旧规则成功，当前联合验收无法核实，门路线拓扑亦未完整提供，因此不提高置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个计数步骤（碗1/2、盘1/2）与文本和BDDL目标一致；无状态日志，按P8 when/success/never为null合理；约束为跌倒与仿真崩坏，门/路线读法已列入open_questions_zh。未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bowls_in_sink_1', 'bowls_in_sink_2', 'plates_in_sink_1', 'plates_in_sink_2']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:17:12Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__putting_dirty_dishes_in_sink/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__putting_dirty_dishes_in_sink/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "fb50b66af8f707f105e03118ebbde7fe3010f14a18c32c19b7a5229700c87aaa",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--6z4pvdw.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--6z4pvdw",
+ "taskKey": "behavior-1k/putting_dirty_dishes_in_sink",
+ "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 8255,
+   "sim_steps": 8255,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 3156.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 24765,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--6z4pvdw/replay.mp4",
+  "duration_s": 275.167,
+  "fps": 30.0,
+  "frames": 8255,
+  "sha256": "c5189ea9ed87102a69a27df1e33201e6b8f5cd1e08142bee829e38f68b251299"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.5,
+      "log_step": null,
+      "text_zh": "观察：视频 74–79.5 s，机器人右夹爪夹着深色碗从槽上方下降，视频约 77.5 s 碗体进入槽内，随后张爪；视频 81 s 右夹爪撤走，碗留在槽内。按首次进入水槽计第1只碗，视觉时刻误差约0.5秒。"
+     },
+     {
+      "t": 113.5,
+      "log_step": null,
+      "text_zh": "观察：视频 113.5–116 s，槽内原有的碗仍在，另一只碗被左夹爪放入旁边；没有看到原有碗被取出。"
+     },
+     {
+      "t": 275.133,
+      "log_step": 224,
+      "text_zh": "推断：视频 275.133 s 末帧部分遮挡槽内餐具；评分器 reward.success=1、q_score=1.0，且 log step 224 的交付文件新进程重放成功、末态哈希与生成运行相同，支持第1只碗到结束仍在槽内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12–23 s 左右二指夹爪先后夹住两只碗的边缘并各持一只，视频 25–60 s 双臂共同携碗前往厨房；第1只入槽的碗由右夹爪在视频 74–79.5 s 单独下降、松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23–60 s 轮式底盘承托机器人和双臂所持两只碗，从餐厅行驶到厨房水槽前。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      113.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 113.5,
+      "log_step": null,
+      "text_zh": "观察：视频 95–101 s 深色碗仍在水槽前的地面；视频 108–111.5 s 左夹爪带碗抬升并越过槽沿，视频约 113.5 s 碗体下降进入已有一只碗的槽内，视频 114.5–116 s 可见两只碗并列留在槽底，左夹爪张开撤离；入槽时刻误差约0.5秒。"
+     },
+     {
+      "t": 275.133,
+      "log_step": 224,
+      "text_zh": "推断：视频 120 s 后机器人离开取盘，未见再取出槽内的碗；末帧槽内局部遮挡，但评分器 reward.success=1、q_score=1.0 与 log step 224 的成功重放共同支持两只碗的终态入槽条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12–23 s 左右二指夹爪各抓一只碗，视频 25–60 s 双臂携碗同行；后入槽的碗在首次投放未入槽后落到地面，视频 108–113.5 s 由左夹爪重新夹住碗沿、抬起并放入水槽，右臂未共同夹同一只碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23–60 s 底盘载着两只碗从餐厅行驶到厨房；视频约 101 s 前后底盘还向地上的碗靠近以辅助重新抓取。"
+     }
+    ]
+   },
+   "plates_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      221.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 165,
+      "log_step": null,
+      "text_zh": "观察：视频 153–169 s，两只方盘先后离开原桌面，左右夹爪各夹一只盘沿并抬起；机器人随后携盘返回厨房。"
+     },
+     {
+      "t": 221.0,
+      "log_step": null,
+      "text_zh": "推断：视频 213–220.5 s 左夹爪仍在调整第1只方盘；视频约 221 s 左腕视角转为可见槽内，视频 223.5–225 s 左夹爪撤出、方盘留在槽内。结合这些下降前后画面，将第1只盘入槽锚定在视频约 221 s，槽沿遮挡使中心越界时刻约有1秒误差。"
+     },
+     {
+      "t": 275.133,
+      "log_step": 224,
+      "text_zh": "推断：视频 228–239 s 右臂处理的是另一只盘，已入槽的盘没有被取出；评分器 reward.success=1、q_score=1.0 及 log step 224 成功重放支持第1只盘终态仍在槽内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 155–169 s 左右二指夹爪先后夹住两只方盘的边缘，视频 170–200 s 双臂各持一盘协同搬运；第1只盘在视频约 221 s 由左夹爪下降送入槽内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 170–200 s 轮式底盘承托双臂所持两只盘，穿过通道返回厨房并驶向水槽。"
+     }
+    ]
+   },
+   "plates_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      275.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 236,
+      "log_step": null,
+      "text_zh": "观察：视频 228–236 s 右夹爪所持方盘在水槽前方下降、离手，随后盘留在槽前地面，未随空夹爪进入水槽；这一轮不计第2只盘入槽。"
+     },
+     {
+      "t": 275.1,
+      "log_step": 145,
+      "text_zh": "推断：视频 250–263 s 左夹爪从地面重新夹住该盘并将它抬离原处，视频 270–275.133 s 携盘越过槽沿并下降；末帧左腕视角可见盘和槽内已有餐具。槽沿遮挡精确中心位置，但评分器 reward.success=1、q_score=1.0，且 log step 145 输出四个 Inside 均为真，交付文件在 log step 224 新进程重放成功；因此将第2只盘入槽记为视频约 275.1 s，即片尾最后的下降时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 155–169 s 左右夹爪各夹一只盘，视频 170–200 s 双臂携盘共同搬运；后入槽的盘最初由右夹爪夹持并在槽前离手落地，视频 250–275.133 s 改由左夹爪夹住盘沿、抬起并送入槽内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 170–200 s 底盘载着两只盘从餐厅驶往水槽；视频 260–270 s 末次回收时底盘还携左夹爪所持方盘后退并重新靠近槽口。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先搬运两只碗，并回收掉到槽前地面的碗，分别在视频约 77.5 s、113.5 s 达成一碗及两碗入槽；随后运来两只盘，回收最后掉落的盘，在视频约 221 s、275.1 s 达成一盘及两盘入槽，最终4/4节点成立，评分器判定成功。规则版本差异：inputs/run.json 的 task_text 和 log step 143–145 表明本运行按四个 Inside 同时成立即结束，最后一只盘仍由夹爪夹持，不据此证明当前 DAG 所述的共同松手静置窗口已完成，按P19保留本运行成功。没有状态日志，槽沿和近距离视角遮挡了部分入槽边界，尤其第1只盘的时刻约有1秒误差；终态结合视频、评分器结果及交付文件成功重放判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，4/4节点；抽查入槽时刻（碗约77.5 s、113.5 s，第1只盘约221 s）与帧一致，末帧盘仍在夹爪中、遮挡使第2只盘时刻只能由评分器成功界定，标注已如实说明。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:37:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--6z4pvdw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--6z4pvdw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66c0c28c21cf80283cde940b831da3330683c109eded3313898f1230fa29d0ea",
+   "video_sha256": "c5189ea9ed87102a69a27df1e33201e6b8f5cd1e08142bee829e38f68b251299",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp.json

@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp",
+ "taskKey": "behavior-1k/putting_dirty_dishes_in_sink",
+ "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3467,
+   "sim_steps": 3467,
+   "physics_steps": 13868,
+   "steps": 1156,
+   "elapsed_s": 1439.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.418,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.266,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp/replay.mp4",
+  "duration_s": 115.567,
+  "fps": 30.0,
+  "frames": 3467,
+  "sha256": "c7e97af06b8d44825b232d6de794a02838aa36d0d23c8996df6eda2edd070e7a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.0 s 的头部视角扫过卡座桌面，两只深色碗及两只棕色盘仍在桌上，机器人未伸爪取餐具；此时未见任何碗入槽。"
+     },
+     {
+      "t": 115.53,
+      "log_step": 137,
+      "text_zh": "推断：按约每2秒检查视频全程，并密查视频 99.0–115.53 s，机器人始终空手在餐厅转向、行驶，未见取走或搬入水槽的餐具；末帧仍在吧台外倾斜。评分器 q_score=0、live_matches_replay=1，且DAG四个入槽目标初始均不成立，因此末态槽内碗数不足1，本节点 final=false；没有观察到中途成立区间。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.0 s 的头部视角扫过卡座桌面，两只深色碗及两只棕色盘仍在桌上，机器人未伸爪取餐具；此时未见任何碗入槽。"
+     },
+     {
+      "t": 115.53,
+      "log_step": 137,
+      "text_zh": "推断：按约每2秒检查视频全程，并密查视频 99.0–115.53 s，机器人始终空手在餐厅转向、行驶，未见取走或搬入水槽的餐具；末帧仍在吧台外倾斜。评分器 q_score=0、live_matches_replay=1，且DAG四个入槽目标初始均不成立，因此末态槽内碗数不足2，本节点 final=false；没有观察到中途成立区间。"
+     }
+    ]
+   },
+   "plates_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.0 s 的头部视角扫过卡座桌面，两只深色碗及两只棕色盘仍在桌上，机器人未伸爪取餐具；此时未见任何盘入槽。"
+     },
+     {
+      "t": 115.53,
+      "log_step": 137,
+      "text_zh": "推断：按约每2秒检查视频全程，并密查视频 99.0–115.53 s，机器人始终空手在餐厅转向、行驶，未见取走或搬入水槽的餐具；末帧仍在吧台外倾斜。评分器 q_score=0、live_matches_replay=1，且DAG四个入槽目标初始均不成立，因此末态槽内盘数不足1，本节点 final=false；没有观察到中途成立区间。"
+     }
+    ]
+   },
+   "plates_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.0 s 的头部视角扫过卡座桌面，两只深色碗及两只棕色盘仍在桌上，机器人未伸爪取餐具；此时未见任何盘入槽。"
+     },
+     {
+      "t": 115.53,
+      "log_step": 137,
+      "text_zh": "推断：按约每2秒检查视频全程，并密查视频 99.0–115.53 s，机器人始终空手在餐厅转向、行驶，未见取走或搬入水槽的餐具；末帧仍在吧台外倾斜。评分器 q_score=0、live_matches_replay=1，且DAG四个入槽目标初始均不成立，因此末态槽内盘数不足2，本节点 final=false；没���观察到中途成立区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 105.5,
+   "log_step": 134,
+   "where": "探索",
+   "evidence_zh": "观察：视频 6.0–9.0 s 两碗两盘仍在卡座桌面；视频 99.0–101.0 s 机器人空手靠近吧台及红色高脚凳，视频约105.5 s 起多视角明显侧倾，视频115.53 s 仍未恢复。log step 133 的已执行巡查脚本（log step 134 调用）先经过三个吧台周边航点，再采集入口深度和四向图像，并无取碗或取盘动作；log step 137 服务返回 done=True、reason=\"failure: the robot fell over\"。推断：机器人在评分场景内为定位水槽而巡查、测绘，尚未选定某件餐具的搬运，故 where=探索；这不是只依据agent会话测试计划作出的分类。task/task_dag.json:20-24 与108-112的第1只碗和第1只盘均无前置，不能按文件排列认定先做碗；证据无法区分正在准备哪一类入槽步骤，按docs/03_trajectory.md:230-247保留ref=unknown。"
+  },
+  "unmet": {
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "plates_in_sink_1": false,
+   "plates_in_sink_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 105.5,
+    "log_step": 137,
+    "evidence_zh": "观察：视频约105.5–115.53 s，机器人头部与腕部视角中的墙面、地面和吧台持续大幅倾斜，末秒仍在侧翻姿态；log step 137 的机器人服务明确报告跌倒失败。此前视频中的短暂头部仰视曾恢复，本次末段倾斜没有恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 105.5,
+    "log_step": 63,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 63 的 Navigator 虽在 get_state 中计算 tilt_z，drive_to 循环只依据平面位置和航向误差继续发底盘动作；turn_to 中倾斜低于阈值也仅打印警告，没有停止或恢复姿态的分支。log step 97 只改为固定躯干目标，log step 133–134 仍调用该导航器探索吧台；视频约105.5–115.53 s 显示倾斜持续恶化而未恢复。由此支持导航控制缺乏对失衡的纠正，未能挽回这次跌倒；不据此断言最初倾斜由哪一个障碍触发。"
+   }
+  ],
+  "gap_zh": "没有状态日志；腕部图像多被机器人自身遮挡，无法确认最初引发倾斜的接触对、受力或精确基座姿态。agent在log step 140自述地面障碍或门槛致翻倒，视频不足以核实该具体解释。视频中的空手巡查及log step 133已执行脚本的多航点、深度与四向采图支持机器人自身在探索场景；既未开始取碗，也未开始取盘。DAG中bowls_in_sink_1与plates_in_sink_1均无前置，现有证据不能把寻找共用水槽唯一归入其中之一，故断点ref=unknown，四节点不附contact_actual。评审主张按最先未完成节点归入bowls_in_sink_1，但docs/03_trajectory.md:230-247要求依据实际在做的步骤，未规定以DAG文件顺序消除此歧义。水槽末态未直接入镜，四节点final=false同时由初始餐具在桌上、全程无搬运及q_score=0支持。"
+ },
+ "summary_zh": "两碗两盘均未搬入水槽，四个节点全程未达成，最终进度0/4；机器人空手巡查餐厅寻找水槽。视频约105.5 s机器人于吧台旁持续侧倾，至视频115.53 s仍未恢复，服务确认跌倒终止；导航代码缺少失衡纠正，支持控制·反馈控制归因。缺少状态日志，无法确认初始触发接触，且第1只碗与第1只盘同为无前置节点，巡查不能唯一归属；本轮未采纳指定碗节点的主张，因该归属仍无法直接核实，将conf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": "进度 0/4、跌倒现象与反馈控制归因有证据支持；但断点 ref 设为 unknown 不对：证据（初始餐具全在桌上、机器人在去水槽的路上跌倒）已足以定位到第一个未完成的步骤 bowls_in_sink_1，ref 应为该节点。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度0/4、全身·平衡现象（视频约105.5 s起持续侧倾，末帧仍倾倒，服务报告跌倒）有证据；第1只碗与第1只盘均无前置，ref=unknown 在文档“证据无法判断是哪一步”条款下可接受；反馈控制归因有日志支持。",
+    "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": "2026-10-29T11:55:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xvbzdpp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e1f8f17fff5bec5c2da98b2133d281bfd429aadcc7e12d7e1a32b1261937f63",
+   "video_sha256": "c7e97af06b8d44825b232d6de794a02838aa36d0d23c8996df6eda2edd070e7a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/rearranging_kitchen_furniture/task_dag.json

@@ -0,0 +1,399 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/rearranging_kitchen_furniture",
+ "suite": "behavior-1k",
+ "base": "behavior-rearranging-kitchen-furniture-i00",
+ "title_zh": "厨房电器收进橱柜",
+ "summary_zh": "烤面包机、食物料理机和法压壶全部位于同一个候选厨房橱柜内且该柜关闭，所有目标物体离手并以不大于0.05米/秒的线速度连续保持30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右臂各7个关节、各配二指夹爪，另有可调躯干与全向移动底盘，采用辅助抓取；可用头部及左右腕部相机观察。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-rearranging-kitchen-furniture-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "cabinet_opened",
+    "zh": "打开橱柜",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "两个厨房吊柜中至少一个柜门由关闭转为打开，头部或腕部相机可见门板离开柜体、柜内空间露出；open的定义是至少一个可开合关节超过总行程的5%，门板仍贴合柜体且全部关节在关闭端5%以内则未完成。装入物体时还需留出实际通过的空间，不要求两个柜都打开。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右夹爪抓住所选橱柜的把手或门沿向外拉开",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人移动到所选橱柜可操作的位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-8 任务与联合成功要求",
+     "task/privileged/instruction.md:30-32 inside 与 open 的定义",
+     "bddl/rearranging_kitchen_furniture.bddl:25-39 同柜存在量词目标",
+     "bddl/rearranging_kitchen_furniture.literals.json:3-26 两个候选柜及初值",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105 连续30步与静止阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合离手、静止验收",
+     "bddl/rearranging_kitchen_furniture.bddl:14-22 物体和机器人均在厨房"
+    ],
+    "conf": 6,
+    "note_zh": "两柜初态均关闭（initial=00010001）；只需打开任意一个可用于最终收纳的候选柜，不要求两柜都开。必要前提，达到后锁存；同处厨房，无额外必经房门。"
+   },
+   {
+    "id": "toaster_in_cabinet",
+    "zh": "面包机入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见烤面包机进入任一候选厨房橱柜的内腔；严格判据为该物体轴对齐包围盒中心同时位于该柜包围盒和内部容积内，仍在台面或柜外则未完成，移出两柜内腔则失去。最终须三物同柜且该柜关闭，所有目标物体（包括两个候选橱柜）均未被辅助抓取附着，线速度不大于0.05米/秒，联合连续保持30个控制步（30赫兹，约1秒）；此联合窗口属于成功验收，不单独计步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右夹爪抓握烤面包机并把它送入所选橱柜",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人在台面与橱柜之间调整位置以搬放烤面包机",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-8 任务与联合成功要求",
+     "task/privileged/instruction.md:30-32 inside 与 open 的定义",
+     "bddl/rearranging_kitchen_furniture.bddl:25-39 同柜存在量词目标",
+     "bddl/rearranging_kitchen_furniture.literals.json:3-26 两个候选柜及初值",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105 连续30步与静止阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合离手、静止验收"
+    ],
+    "conf": 6,
+    "note_zh": "对应toaster.n.02_1，与另外两种物体不同，分别计步，三者之间无先后边。单步记录进入任一候选柜的关系，三步必须使用同一柜的关联由联合成功验收负责；离手静置也放在联合成功验收，因此关系可在持物时成立，freeze_held=false。"
+   },
+   {
+    "id": "processor_in_cabinet",
+    "zh": "料理机入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见食物料理机进入任一候选厨房橱柜的内腔；严格判据为该物体轴对齐包围盒中心同时位于该柜包围盒和内部容积内，仍在台面或柜外则未完成，移出两柜内腔则失去。最终须三物同柜且该柜关闭，所有目标物体（包括两个候选橱柜）均未被辅助抓取附着，线速度不大于0.05米/秒，联合连续保持30个控制步（30赫兹，约1秒）；此联合窗口属于成功验收，不单独计步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右夹爪抓握食物料理机并把它送入所选橱柜",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人在台面与橱柜之间调整位置以搬放食物料理机",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-8 任务与联合成功要求",
+     "task/privileged/instruction.md:30-32 inside 与 open 的定义",
+     "bddl/rearranging_kitchen_furniture.bddl:25-39 同柜存在量词目标",
+     "bddl/rearranging_kitchen_furniture.literals.json:3-26 两个候选柜及初值",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105 连续30步与静止阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合离手、静止验收"
+    ],
+    "conf": 6,
+    "note_zh": "对应food_processor.n.01_1，与另外两种物体不同，分别计步，三者之间无先后边。单步记录进入任一候选柜的关系，三步必须使用同一柜的关联由联合成功验收负责；离手静置也放在联合成功验收，因此关系可在持物时成立，freeze_held=false。"
+   },
+   {
+    "id": "press_in_cabinet",
+    "zh": "法压壶入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见法压壶进入任一候选厨房橱柜的内腔；严格判据为该物体轴对齐包围盒中心同时位于该柜包围盒和内部容积内，仍在台面或柜外则未完成，移出两柜内腔则失去。最终须三物同柜且该柜关闭，所有目标物体（包括两个候选橱柜）均未被辅助抓取附着，线速度不大于0.05米/秒，联合连续保持30个控制步（30赫兹，约1秒）；此联合窗口属于成功验收，不单独计步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右夹爪抓握法压壶并把它送入所选橱柜",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人在台面与橱柜之间调整位置以搬放法压壶",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-8 任务与联合成功要求",
+     "task/privileged/instruction.md:30-32 inside 与 open 的定义",
+     "bddl/rearranging_kitchen_furniture.bddl:25-39 同柜存在量词目标",
+     "bddl/rearranging_kitchen_furniture.literals.json:3-26 两个候选柜及初值",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105 连续30步与静止阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合离手、静止验收"
+    ],
+    "conf": 6,
+    "note_zh": "对应french_press.n.01_1，与另外两种物体不同，分别计步，三者之间无先后边。单步记录进入任一候选柜的关系，三步必须使用同一柜的关联由联合成功验收负责；离手静置也放在联合成功验收，因此关系可在持物时成立，freeze_held=false。"
+   },
+   {
+    "id": "cabinet_closed",
+    "zh": "关上橱柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "toaster_in_cabinet",
+     "processor_in_cabinet",
+     "press_in_cabinet"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见所选收纳柜门板回到柜框、所有可开合关节均在关闭端总行程的5%以内；该状态从初态计入，所选柜任一关节超过5%则失去，重新关回则恢复，不能用闲置柜关闭替代。最终三物须同在该关闭的柜内，所有目标物体（含两个候选柜）均未被辅助抓取附着且线速度不大于0.05米/秒，联合连续保持30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左或右夹爪或掌面推所选橱柜门板回到关闭端",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人调整到所选橱柜前方以推关柜门",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右夹爪抓住所选橱柜把手将门带回关闭端",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人调整到所选橱柜前方以握持把手关门",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-8 任务与联合成功要求",
+     "task/privileged/instruction.md:30-32 inside 与 open 的定义",
+     "bddl/rearranging_kitchen_furniture.bddl:25-39 同柜存在量词目标",
+     "bddl/rearranging_kitchen_furniture.literals.json:3-26 两个候选柜及初值",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105 连续30步与静止阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合离手、静止验收"
+    ],
+    "conf": 6,
+    "note_zh": "恢复步骤，state不受after门控，after仅记录最终装入后关柜的必要顺序。两候选柜中最终选择一个，不能以未使用柜仍关闭替代收纳柜关闭；自然语言按所选收纳柜判定，因无日志尚未建立跨节点选择的机器绑定。握把关门允许保持接触，故freeze_held=false。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人底座上轴的世界z分量小于0.75（偏离竖直约41.4度以上），或底座高度低于地面0.03米，连续300个控制步（10秒）满足该或条件即倒地失败；短暂倾倒后恢复不触发。若成功与倒地同一步满足，代码先判成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:92-99 倒地常数",
+     "grader/efe_behavior-files/rcb_behavior.py:124-144 倒地计数",
+     "grader/efe_behavior-files/rcb_behavior.py:1393-1398 优先级",
+     "grader/efe_behavior-files/rcb_behavior.py:1483-1489 失败终止"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限值，机器人任一位置分量绝对值超过10000米，或底座线速度超过100米/秒；目标物体每30步检查一次，位置非有限或任一分量绝对值超过10000米也失败。此条件通常需状态或服务日志判断，视频异常跳变只能提供线索。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:106-113 崩溃阈值",
+     "grader/efe_behavior-files/rcb_behavior.py:1437-1471 崩溃检查与终止"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "inside_toaster_candidate_cabinet",
+    "level": "new_code",
+    "source": "需逐帧记录 toaster.n.02_1 对 cabinet.n.01_1、cabinet.n.01_2 的两个原生 inside 谓词（目标 literal 见 bddl/rearranging_kitchen_furniture.literals.json:3-10）；当前无状态日志"
+   },
+   {
+    "atom": "inside_food_processor_candidate_cabinet",
+    "level": "new_code",
+    "source": "需逐帧记录 food_processor.n.01_1 对 cabinet.n.01_1、cabinet.n.01_2 的两个原生 inside 谓词（目标 literal 见 bddl/rearranging_kitchen_furniture.literals.json:3-10）；当前无状态日志"
+   },
+   {
+    "atom": "inside_french_press_candidate_cabinet",
+    "level": "new_code",
+    "source": "需逐帧记录 french_press.n.01_1 对 cabinet.n.01_1、cabinet.n.01_2 的两个原生 inside 谓词（目标 literal 见 bddl/rearranging_kitchen_furniture.literals.json:3-10）；当前无状态日志"
+   },
+   {
+    "atom": "candidate_cabinet_open",
+    "level": "new_code",
+    "source": "需逐帧记录两个候选柜各自的原生 open 布尔值及关节归一化开度；目标 literal 与初值见 bddl/rearranging_kitchen_furniture.literals.json:6-26"
+   },
+   {
+    "atom": "same_cabinet_goal",
+    "level": "new_code",
+    "source": "需记录原生BDDL goal，或同时记录八个目标literal并按 literals.json:12-24 两组选项的合取作析取"
+   },
+   {
+    "atom": "released_and_rest_window",
+    "level": "new_code",
+    "source": "需记录 Session.status 的 goal_held_steps、goal_objects_held、goal_objects_moving；来源 grader/efe_behavior-files/rcb_behavior.py:1543-1544；目标范围由 :181-190、:1309-1314 决定"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需逐帧记录 Session.succeeded 原生成功标志；grader/efe_behavior-files/rcb_behavior.py:1401-1404、:1414-1434"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需逐帧记录 FallWatch.fallen（原生带300步窗口）；grader/efe_behavior-files/rcb_behavior.py:139-144、:1546"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需逐帧记录 Session.breakdown；grader/efe_behavior-files/rcb_behavior.py:1437-1471、:1546"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功参考运行：inputs/oracle_none.txt说明12个目录运行全部失败；未提供参考视频或解法脚本。依据文本、初态与评分代码规划，视觉判据尚未由成功画面核对（暂行：DECISIONS.md N2、N8）。",
+  "inputs/states/index.json的logs为空；依P8所有节点when、约束never与success均为null，atoms列出需补录的原生世界状态，不能据静态初值伪造逐帧绑定或声称回放验证通过。",
+  "存在量词允许选择cabinet.n.01_1或cabinet.n.01_2；三物必须同柜且该柜关闭。视频节点需沿用实际收纳柜的身份，不能把不同柜的放入或闲置柜的关闭拼成成功；未来机器绑定须由原生success_rule或两组literal的完整析取保留关联。两柜初态都关闭，关柜为从初态计数的state；选择切换时怎样分配单步进度尚无日志可验证。",
+  "两模式世界状态验收相同。特权模式还要求两次新进程回放均成功、最终状态哈希一致、冻结实例一致且无breakdown（grader/efe_behavior-files/privileged/grade.py:168-174）；标准模式评实时单次episode并校验finalized等交付状态（grader/efe_behavior-files/standard/grade.py:29-35）。这些复现和交付要求不建立语义节点，也不伪装为世界状态success。",
+  "指令称静止速度低于0.05米/秒，但实际代码只在速度大于0.05时判运动，因此采用不大于0.05（task/privileged/instruction.md的Conventions；grader/efe_behavior-files/rcb_behavior.py:1424-1427）。目标量词使两个候选柜都属于离手静置检查对象，不仅是最后选中的柜（同文件:181-190、:1309-1314）。",
+  "q_score是原生部分目标进度指标，达到1不替代联合离手静置30步；当前输入没有评分器内部q_score公式，只能确认导出来源（grader/efe_behavior-files/rcb_behavior.py:1543-1553；grader/efe_behavior-files/standard/grade.py:50）。",
+  "仅凭实例物体位姿无法确认每步是否一定要移动底盘；按DECISIONS.md S17为操作方案同时标底盘支撑，实际轨迹仍按底盘是否移动标注。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个文本步骤、开柜前提、两个候选柜初态及验收阈值有直接来源；没有成功录像和逐帧日志，同柜选择关联及可见判据不能实测核验，故置信度受限。",
+ "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（开柜前提、三物入柜、关柜）与任务文本和BDDL目标一致；关柜为从t=0计数的state，after仅记录顺序（DYNSPEC §303），符合S4(b)；约束为评分器的倒地与崩溃失败；两柜存在量词与文本/评分差异已列入open_questions_zh。无状态日志与成功参考，when/never/success为null符合P8。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['cabinet_opened', 'toaster_in_cabinet', 'processor_in_cabinet', 'press_in_cabinet', 'cabinet_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:30:17Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__rearranging_kitchen_furniture/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__rearranging_kitchen_furniture/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "5bb8bf1b2a12a36cda34c0fea8f1f00e42150e547f8a3fee12f8f9dbcba4a44c",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--btw7txh.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--btw7txh",
+ "taskKey": "behavior-1k/rearranging_kitchen_furniture",
+ "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3113,
+   "sim_steps": 3113,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1539.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 21,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 8,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearranging-kitchen-furniture-i00-privileged--btw7txh/replay.mp4",
+  "duration_s": 103.767,
+  "fps": 30.0,
+  "frames": 3113,
+  "sha256": "3db3fd27c1d63bca051292078898fbf563f3b4700e1f37122e60f6ec76d12fe9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–17.0 s，机器人到达水槽上方吊柜前，左夹爪在柜门表面附近反复前伸、压擦和后撤；门板仍贴合柜框，未露出柜内空间。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 260,
+      "text_zh": "观察：视频 25.0–31.0 s、51.0–56.0 s，机器人左夹爪在门缝附近不同高度张合，指间未夹住把手并带动门板；柜门始终未出现打开的视觉线索。log step 260 所读取的最终生成运行日志也报告 caught: None、no handle grasp、doors after knob 两门为 0.0。"
+     },
+     {
+      "t": 80.0,
+      "log_step": 261,
+      "text_zh": "观察：视频 78.5–83.0 s 再次清楚看到所选吊柜门板仍贴框。log step 261 记录保存的最终运行仅有极小门角、三物 inside 均为 False，未见后续修复开柜步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 8.0–17.0 s 左夹爪在所选柜门正面压擦、后撤，后续在门面和门缝附近夹合尝试未形成包夹把手的抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–5.5 s 轮式底盘承载机器人驶到所选水槽上方吊柜前。"
+     }
+    ]
+   },
+   "toaster_in_cabinet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": 261,
+      "text_zh": "观察：视频 80.0–87.0 s，机器人从柜前转向灶台旁，白色烤面包机仍在台面；未见夹爪夹持面包机或将它送入吊柜。log step 261 的最终生成运行记录在面包机预抓位 move_ee 处报无逆解，随后转到料理机阶段。"
+     },
+     {
+      "t": 103.733,
+      "log_step": null,
+      "text_zh": "推断：全段已检查画面没有面包机进入候选柜的动作；评分器 q_score=0.0，且柜门关闭为初态已成立、不会新增计分的条件，因此末态不能包含任何新增入柜目标，面包机入柜 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 80.0–87.0 s 底盘承载机器人向面包机所在台面调整位置；未观察到夹指与面包机建立抓握。"
+     }
+    ]
+   },
+   "processor_in_cabinet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.0,
+      "log_step": 261,
+      "text_zh": "观察：视频 88.0–101.0 s，机器人又在灶台旁调整位置，左腕视野由柜门转向上方，未见抓起料理机或搬入橱柜；log step 261 的最终生成运行记录料理机阶段在预抓 move_ee 处报无逆解，随后检查关门并保存 3113 个动作。"
+     },
+     {
+      "t": 103.733,
+      "log_step": null,
+      "text_zh": "推断：未观察到料理机转移入柜；评分器 q_score=0.0 排除末态新增的料理机 inside 目标，故 final=false。末帧未直接展示料理机，末态判断同时使用该评分总量约束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 88.0–101.0 s 底盘承载机器人在料理机所在台面附近调整位置；未观察到夹爪接触或抓持料理机。"
+     }
+    ]
+   },
+   "press_in_cabinet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.0,
+      "log_step": 260,
+      "text_zh": "观察：视频 62.0–65.5 s 左腕视野显示左夹爪两指夹住法压壶顶部细杆的旋钮；视频 66.0–68.5 s，带杆圆盘及壶体随左腕离开台面并转向吊柜，实际发生抓持和搬动。"
+     },
+     {
+      "t": 77.0,
+      "log_step": null,
+      "text_zh": "观察：视频 69.0–78.5 s，机器人持壶移到仍关闭的吊柜外侧，壶体与手臂一度遮挡腕部画面；可见门板没有打开，未见壶体通过开口进入柜内。"
+     },
+     {
+      "t": 94.0,
+      "log_step": 260,
+      "text_zh": "观察：视频 88.0–95.0 s 右腕视野可见黑色带把手壶体落在厨房地面，左夹爪已空；log step 260 的最终生成运行记录 press released、inside press: False。"
+     },
+     {
+      "t": 103.733,
+      "log_step": null,
+      "text_zh": "推断：视频未显示法压壶进入柜内；结合柜门持续贴框、随后壶体在柜外地面及评分器 q_score=0.0，法压壶入柜未达成，末态为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 64.5–68.5 s 左夹爪两指包夹法压壶顶部旋钮，随后持壶向吊柜搬动并在柜外释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 56.5–59.0 s 底盘驶向台面取壶，视频 66.0–78.5 s 搬运期间承载机器人向吊柜调整位置。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两个候选吊柜门板均贴合柜体；视频 5.0–56.0 s 对所选柜的操作中，门板仅有很小扰动，没有露出柜内空间。该 state 节点按关闭条件从初态计入，不受三件入柜前置边门控。"
+     },
+     {
+      "t": 80.0,
+      "log_step": 261,
+      "text_zh": "观察：视频 78.5–83.0 s 所选水槽上方吊柜仍关闭；log step 261 记录最终生成运行关门检查为 closeL closed、closeR closed，最后门角约 0.001 与 0.0，脚本因已关闭跳过推关动作。"
+     },
+     {
+      "t": 103.733,
+      "log_step": null,
+      "text_zh": "推断：视频末段至最后一帧（视频 103.733 s）未发生重新开柜动作；结合全段门板贴框的画面及最终运行的关门检查，所选柜关闭状态保持到结束。q_score=0.0 不否定这项初态已成立的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 8.0,
+   "log_step": 259,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.0–17.0 s 机器人左夹爪在水槽上方所选吊柜门面反复前伸、压擦和后撤，门板仍贴框；视频 25.0–56.0 s 的换位夹取也未带开柜门。机器人随后转去搬法压壶，至视频 103.733 s 结束未修复开柜；这是最早开始操作而始终未完成的步骤。log step 259、260 的最终生成运行日志分别记录压擦后门角回到 0.0、备用把手夹取 caught: None。"
+  },
+  "unmet": {
+   "toaster_in_cabinet": false,
+   "processor_in_cabinet": false,
+   "press_in_cabinet": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 8.0,
+    "log_step": 259,
+    "evidence_zh": "观察：视频 8.0–17.0 s 机器人左夹爪在门面反复施压、后撤，柜门仅微小扰动而始终贴框，未获得开柜所需的转动；视频 25.0–56.0 s 继续换位操作仍未开出内腔。log step 259 最终运行的压擦反馈中门角从 0.016 回到 0.0，与画面中门未开到位一致。此处依据机构未产生所需运动的可见结果，不声称测得具体接触力。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：开门接触方案没有建立能持续向外带动门板的几何约束。log step 258 的最终生成脚本把左夹爪闭成钝头，在门面固定高度反复压入并向外退；视频 8.0–17.0 s 可见末端往复而门不随动，视频 25.0–56.0 s 备用夹取时夹指在平门面、门缝附近张合而未包夹把手，log step 260 对应 caught: None。证据支持该次接触布局未产生有效拉门作用；没有验证成功的替代握法，因此替代可行性为未知。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法逐帧量测门关节的微小开度、接触力及夹指接触对；压擦开门失败和接触布局的归因结合画面与最终生成脚本推断。法压壶搬到柜前时有手臂和壶体遮挡，三件物品的最终未入柜另由评分器 q_score=0.0 约束；没有将其���试验中的开门角度当成交付回放进度。"
+ },
+ "summary_zh": "交付回放中，关柜状态从初态保持到结束，节点最终为 1/5；打开橱柜及三件物品入柜均未完成，原生 q_score=0.0。最早未修复的断点是开柜：机器人左夹爪压擦及换位夹取未带开门板，接触方案未建立有效拉门作用，之后抓持搬动法压壶也在柜外释放。无状态日志和成功参考，微小门角及接触几何的判断存在视觉精度限制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：柜门全程贴框（cabinet_opened 未达成），三件物品未入柜，关门状态从初态保持，final=1/5；断点定在 cabinet_opened、接触力异常（门没开到位）+抓取和接触设计与日志（门角爬到 0.016 后回弹、caught: None）相符，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": "2026-10-29T11:58:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--btw7txh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--btw7txh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "045e94b02589de28b2986aa5b33d62ab3032ece4af08c2a0064ce5684043d837",
+   "video_sha256": "3db3fd27c1d63bca051292078898fbf563f3b4700e1f37122e60f6ec76d12fe9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--4htu9h4.json

@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-rearranging-kitchen-furniture-i00-standard--4htu9h4",
+ "taskKey": "behavior-1k/rearranging_kitchen_furniture",
+ "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6162,
+   "sim_steps": 6162,
+   "physics_steps": 24648,
+   "steps": 1027,
+   "elapsed_s": 6697.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.25,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearranging-kitchen-furniture-i00-standard--4htu9h4/replay.mp4",
+  "duration_s": 205.4,
+  "fps": 30.0,
+  "frames": 6162,
+  "sha256": "137315e24b726d472ec991bf3374ebd67feb353a3568d42b3c2220522e508f76"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": 80,
+      "text_zh": "观察：视频约25.5–28.0 s，机器人左夹爪夹住水槽上方吊柜左门把手向外拉，门板离开柜框，腕部视图可见门侧与间隙；视频37–39 s左门进一步打开、柜内搁板露出。首次达到打开的时刻估计误差约0.5秒。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 96,
+      "text_zh": "观察：视频36–38 s，机器人双臂同时向柜门伸出并扫推，左门明显向外转开；视频205.37 s该柜左侧内腔仍敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住所选吊柜左门把手并向外拉；随后右夹爪也在另一门把附近闭合、尝试拉门（视频约24–28 s、31–34 s及43–47 s）。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "机器人双臂同时扫推柜门，左夹爪将已拉开一条缝的左门进一步推开，右臂同时朝右门扫推（视频约36–38 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘驶近水槽上方吊柜并调整朝向，承载双臂进行开门操作（视频约10–20 s）。"
+     }
+    ]
+   },
+   "toaster_in_cabinet": {
+    "method": "visual",
+    "intervals": [
+     [
+      84.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": 145,
+      "text_zh": "观察：视频约67–69 s，机器人左夹爪夹持白色烤面包机提离灶旁台面；视频83.5–85.5 s将其送过打开的柜门、放到柜内下层搁板，随后张开夹爪撤手。按物体进入内腔判定约视频84.0 s达到，误差约0.5秒。"
+     },
+     {
+      "t": 205.37,
+      "log_step": null,
+      "text_zh": "观察：视频88–90 s、140–148 s、188–205.37 s，白色烤面包机持续可见于同一吊柜左侧下层搁板内，未被再次搬出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左侧二指夹爪夹住烤面包机上部，提起并送入吊柜后张开释放（视频约67–88 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在持有烤面包机时从灶旁台面转向并驶至水槽上方吊柜前（视频约70–81 s）。"
+     }
+    ]
+   },
+   "processor_in_cabinet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 120.5,
+      "log_step": 197,
+      "text_zh": "观察：视频约104–115 s，机器人左夹爪先后伸向料理机顶部，撤回时料理机仍留在灶旁；视频120–124 s终于将料理机提离原台面，之后随底盘运至水槽上方吊柜前。拾起不等于入柜。"
+     },
+     {
+      "t": 139.5,
+      "log_step": 219,
+      "text_zh": "观察：视频134–139 s，机器人左臂将料理机提向柜口，机身始终悬在柜外并发生倾转；��频139–140.5 s料理机与夹爪分离，落到水槽左侧台面，夹爪空着继续执行送入动作。"
+     },
+     {
+      "t": 188.0,
+      "log_step": 267,
+      "text_zh": "观察：视频150–168 s机器人在台面上反复重抓、翻动料理机；视频176–181 s再将它提向柜口，仍未见机身进入内腔，随后掉至机器人前方低处。视频188–205.37 s腕部视图可见料理机在底盘前部附近，左夹爪回到空手姿态，柜内仍只有烤面包机。"
+     },
+     {
+      "t": 205.37,
+      "log_step": null,
+      "text_zh": "推断：全程可见的搬运和掉落均未形成料理机入柜；最终评分器q_score=0.25、live_matches_replay=1，与只有烤面包机这一新增目标文字条件成立相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹持料理机顶部细管并提起、搬运，柜前失去夹持；之后还在台面和底盘前部反复尝试抓取细管或把手（视频约120–140 s、150–188 s、192–205 s）。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪在后续重抓过程中碰推倒卧的料理机，机身在台面上翻转，曾被扶至直立（视频约151–168 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘载着左夹爪持有的料理机从灶旁转移到吊柜前，随后为重抓前后调整位置（视频约124–133 s及149–171 s）。"
+     }
+    ]
+   },
+   "press_in_cabinet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124.5,
+      "log_step": null,
+      "text_zh": "观察：视频55–65 s、93–103 s，法压壶位于灶台左侧、料理机右侧；视频120–126 s料理机被搬离时，细长法压壶仍独立留在原台面，机器人没有抓取或搬运它。此后机器人一直在水槽前重试料理机，未返回搬壶。"
+     },
+     {
+      "t": 205.37,
+      "log_step": null,
+      "text_zh": "推断：视频后段已打开的柜内始终仅见白色烤面包机，无送入法压壶的动作；结合最终评分器q_score=0.25与烤面包机已入柜，法压壶最终入柜判为假。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      25.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s及18–24 s，最终用于放烤面包机的水槽上方吊柜两扇门贴合柜框、没有露出内腔，因此关柜状态从初态计入。"
+     },
+     {
+      "t": 25.5,
+      "log_step": 80,
+      "text_zh": "观察：视频约25.5 s左夹爪向外拉开所选吊柜左门，此后左门保持离开柜框；视频38–49 s、84–90 s、148–205.37 s可见内腔。右门仍在原位不能替代整个所选柜关闭，期间未见机器人实施关柜动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "processor_in_cabinet",
+   "t": 139.0,
+   "log_step": 219,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约139–140.5 s，机器人正将已抓起的料理机送向吊柜，料理机倾转、离开左夹爪并落在柜外台面；夹爪空着继续运动。机器人随后反复重抓，但直到视频205.37 s仍未将料理机送进柜内，故断点为料理机入柜。"
+  },
+  "unmet": {
+   "toaster_in_cabinet": true,
+   "processor_in_cabinet": false,
+   "press_in_cabinet": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 139.0,
+    "log_step": 219,
+    "evidence_zh": "观察：视频120–136 s，料理机确实离开灶旁原台面并随机器人左夹爪搬运；视频137–139.5 s机身逐渐倾转，随后从夹爪下方掉下，视频140.5 s夹爪已空、料理机倒卧在水槽左侧台面。掉落发生在进入柜内及计划释放之前。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 219的执行脚本在提举和送入阶段持续给左夹爪闭合命令，直到预定柜内放置位才指令张开；视频137–140.5 s却在柜外出现料理机倾转、脱手，而手臂继续空手执行路径。目标是把料理机送入柜内，但该搬运控制未维持住物体；后续log step 267的重抓送入在视频176–188 s再次失物。证据支持控制层失败，尚不能确定夹持几何、受阻或跟踪误差哪一项占主因。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供状态日志和成功参考视频；柜门超过5%阈值及物体中心进入内腔的时刻按相机估计，误差约0.5秒。料理机脱���前的夹爪接触区部分被物体与柜门遮挡，没有接触对、辅助抓取标志或接触力读数，不能确定滑脱的具体控制子类；法压壶最终原位置不在末帧视野，其最终未入柜由连续动作观察及评分器总分共同推断。"
+ },
+ "summary_zh": "机器人打开了所选吊柜，并在视频约84.0 s把烤面包机放入，最终完成2/5个节点；关柜状态从初态成立，到视频约25.5 s开门后失去。料理机在视频约139 s向柜口提送时脱手，后续重抓仍未入柜，法压壶未搬动、柜门未关，最终q_score为0.25。现有证据支持搬运控制失败，但缺少接触与辅助抓取状态，不能细分脱手机制。",
+ "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（料理机入柜，约139 s脱手）与q_score=0.25（仅烤面包机入柜、关柜丢失）一致；现象与根因有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:58:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--4htu9h4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--4htu9h4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2d03f3911795c3bfcb56eebed0bc67214f265b2ac540581c81d9cd45d6c1a2f3",
+   "video_sha256": "137315e24b726d472ec991bf3374ebd67feb353a3568d42b3c2220522e508f76",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/sorting_books_on_shelf/task_dag.json

@@ -0,0 +1,696 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/sorting_books_on_shelf",
+ "suite": "behavior-1k",
+ "base": "behavior-sorting-books-on-shelf-i00",
+ "title_zh": "书柜内书籍分类堆叠",
+ "summary_zh": "七本书均在客厅书柜内，两本漫画分别叠在其他漫画上、一本笔记本叠在另一本上、一本精装书叠在另一本上，全部目标松手静置并同时保持30个控制步。",
+ "embodiment_zh": "特权与标准模式均为R1Pro轮式移动双臂机器人，左右各一条七自由度机械臂、各配二指夹爪并使用辅助抓握，具有可调躯干与全向移动底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-sorting-books-on-shelf-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "comics_in_bookcase_1",
+    "zh": "第1本漫画入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少1本漫画已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的漫画少于1本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本漫画的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持漫画，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:28-31",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:3-5",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意1本漫画的柜内数量条件，不指定实例身份；初态全部3本漫画已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "comics_in_bookcase_2",
+    "zh": "第2本漫画入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "comics_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少2本漫画已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的漫画少于2本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本漫画的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持漫画，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:28-31",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:3-5",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意2本漫画的柜内数量条件，不指定实例身份；初态全部3本漫画已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才���去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "comics_in_bookcase_3",
+    "zh": "第3本漫画入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "comics_in_bookcase_2"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少3本漫画已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的漫画少于3本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本漫画的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持漫画，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:28-31",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:3-5",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意3本漫画的柜内数量条件，不指定实例身份；初态全部3本漫画已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "notebooks_in_bookcase_1",
+    "zh": "第1本笔记本入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少1本笔记本已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的笔记本少于1本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本笔记本的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持笔记本，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:41-44",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:8-9",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意1本笔记本的柜内数量条件，不指定实例身份；初态全部2本笔记本已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "notebooks_in_bookcase_2",
+    "zh": "第2本笔记本入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "notebooks_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少2本笔记本已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不���动算失败；离手后符合此关系的笔记本少于2本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本笔记本的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持笔记本，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:41-44",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:8-9",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意2本笔记本的柜内数量条件，不指定实例身份；初态全部2本笔记本已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "hardbacks_in_bookcase_1",
+    "zh": "第1本精装书入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少1本精装书已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的精装书少于1本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本精装书的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持精装书，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:52-55",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:11-12",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意1本精装书的柜内数量条件，不指定实例身份；初态全部2本精装书已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "hardbacks_in_bookcase_2",
+    "zh": "第2本精装书入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "hardbacks_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部或腕部视角可见白色格状书柜内至少2本精装书已离手静止，每本的轴对齐包围盒中心同时位于书柜包围盒及内部容积中，书边伸出不自动算失败；离手后符合此关系的精装书少于2本（例如被放在柜前或掉到地板）即失去。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本精装书的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持精装书，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:52-55",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:11-12",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:16878",
+     "inputs/oracle/replay.mp4 @ 43 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "这是任意2本精装书的柜内数量条件，不指定实例身份；初态全部2本精装书已在柜内，故本节点自初态计入（S4(a)、N4），离手后数量不足才失去，持书搬运期间沿用D17的冻结默认。柜内关系可在不破坏它的情况下完成同类堆叠，因此独立保留；不要求全过程禁止出柜，也不把入柜设为堆叠的前置。"
+   },
+   {
+    "id": "comics_stacked_1",
+    "zh": "第1本漫画叠好",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "从腕部近景或头部书柜视角可见同类漫画封面上下叠放，至少1本不同漫画各自接触并位于另一漫画上方，按上层漫画本数计而非接触对数，相关书本已离手静止；只叠在笔记本或精装书上、悬在另一漫画上方而未接触，或离手后符合关系的漫画少于1本均不成立。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "堆叠"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本漫画的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持漫画，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:32-40",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:6-7",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:20-26",
+     "inputs/oracle/replay.mp4 @ 90 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "三本漫画任意换位均可，计数表示至少有相应数量的不同漫画叠在同类漫画上；完整目标要求两本满足该关系，不指定哪本在上、不要求固定柜格或额外对齐阈值。第2个数量节点只依赖第1个数量节点，和笔记本、精装书无顺序边；柜内要求由独立的初始保持节点覆盖。联合30步窗口在总验收，不逐本重复等待。"
+   },
+   {
+    "id": "comics_stacked_2",
+    "zh": "第2本漫画叠好",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "comics_stacked_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "从腕部近景或头部书柜视角可见同类漫画封面上下叠放，至少2本不同漫画各自接触并位于另一漫画上方（完整目标为恰好2本），按上层漫画本数计而非接触对数，相关书本已离手静止；只叠在笔记本或精装书上、悬在另一漫画上方而未接触，或离手后符合关系的漫画少于2本均不成立。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "堆叠"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本漫画的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持漫画，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:32-40",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:6-7",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:20-26",
+     "inputs/oracle/replay.mp4 @ 90 s, 130 s, 154 s"
+    ],
+    "conf": 6,
+    "note_zh": "三本漫画任意换位均可，计数表示至少有相应数量的不同漫画叠在同类漫画上；完整目标要求两本满足该关系，不指定哪本在上、不要求固定柜格或额外对齐阈值。第2个数量节点只依赖第1个数量节点，和笔记本、精装书无顺序边；柜内要求由独立的初始保持节点覆盖。联合30步窗口在总验收，不逐本重复等待。"
+   },
+   {
+    "id": "notebooks_stacked",
+    "zh": "笔记本叠好",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部书柜视角或腕部近景中两本笔记本上下叠放，上本与下本接触且下本在其正下方，书本已离手静止，任一本在上都可；两本并排、叠在异类书上、仍悬空或离手后滑开而不再上下接触，均不成立。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "堆叠"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本笔记本的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持笔记本，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:45-51",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:10,17-19",
+     "inputs/oracle/replay.mp4 @ 128 s, 130 s"
+    ],
+    "conf": 6,
+    "note_zh": "两本笔记本可交换上下位置，只需一条同类上下支撑关系，不按两个相反方向各建节点；不强加漫画、其他类别书或某个具体实例先完成。两本都在柜内的要求单列为初始保持计数步骤，松手静置为验收条件。"
+   },
+   {
+    "id": "hardbacks_stacked",
+    "zh": "精装书叠好",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "头部书柜视角或腕部近景中两本精装书上下叠放，上本与下本接触且下本在其正下方，书本已离手静止，任一本在上都可；两本并排、叠在异类书上、仍悬空或离手后滑开而不再上下接触，均不成立。最终联合验收另要求全部目标同时成立，七本书及书柜均未被辅助抓握且线速度不大于0.05米/秒，连续30个控制步（1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "堆叠"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一本精装书的书角或书边，移到目标位置后张开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地板支撑机身及所持精装书，持书时可沿书柜换位；底盘移动的必要性未能排除，按S17列入典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:56-58",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/bddl/sorting_books_on_shelf.bddl:56-62",
+     "inputs/bddl/sorting_books_on_shelf.literals.json:13-16",
+     "inputs/oracle/replay.mp4 @ 43 s, 90 s"
+    ],
+    "conf": 6,
+    "note_zh": "两本精装书可交换上下位置，只需一条同类上下支撑关系，不按两个相反方向各建节点；不强加漫画、其他类别书或某个具体实例先完成。两本都在柜内的要求单列为初始保持计数步骤，松手静置为验收条件。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人底座的竖直轴世界z分量小于0.75（倾斜超过约41.4度），或底座高度低于场景地板3厘米以上，连续300个控制步（10秒）后触发倒地终止；短暂倾倒后及时恢复不构成此失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:135-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，底座任一位置坐标绝对值大于10000米，或底座线速度大于100米/秒；目标物位置非有限或任一位置坐标绝对值大于10000米也触发失败（目标物每30控制步检查）。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "comics_in_bookcase_1",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside comic_book.n.01_1 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_2 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_3 bookcase.n.01_1); count >= 1; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "comics_in_bookcase_2",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside comic_book.n.01_1 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_2 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_3 bookcase.n.01_1); count >= 2; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "comics_in_bookcase_3",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside comic_book.n.01_1 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_2 bookcase.n.01_1), flags.lit:(inside comic_book.n.01_3 bookcase.n.01_1); count >= 3; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "notebooks_in_bookcase_1",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside notebook.n.01_1 bookcase.n.01_1), flags.lit:(inside notebook.n.01_2 bookcase.n.01_1); count >= 1; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "notebooks_in_bookcase_2",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside notebook.n.01_1 bookcase.n.01_1), flags.lit:(inside notebook.n.01_2 bookcase.n.01_1); count >= 2; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "hardbacks_in_bookcase_1",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside hardback.n.01_1 bookcase.n.01_1), flags.lit:(inside hardback.n.01_2 bookcase.n.01_1); count >= 1; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "hardbacks_in_bookcase_2",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside hardback.n.01_1 bookcase.n.01_1), flags.lit:(inside hardback.n.01_2 bookcase.n.01_1); count >= 2; also log per-book assisted-grasp attachment and linear velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "comics_stacked_1",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop comic_book.n.01_1 comic_book.n.01_2), flags.lit:(ontop comic_book.n.01_1 comic_book.n.01_3), flags.lit:(ontop comic_book.n.01_2 comic_book.n.01_1), flags.lit:(ontop comic_book.n.01_2 comic_book.n.01_3), flags.lit:(ontop comic_book.n.01_3 comic_book.n.01_1), flags.lit:(ontop comic_book.n.01_3 comic_book.n.01_2); count distinct upper books satisfying any same-kind ontop >= 1; assisted-grasp and velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "comics_stacked_2",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop comic_book.n.01_1 comic_book.n.01_2), flags.lit:(ontop comic_book.n.01_1 comic_book.n.01_3), flags.lit:(ontop comic_book.n.01_2 comic_book.n.01_1), flags.lit:(ontop comic_book.n.01_2 comic_book.n.01_3), flags.lit:(ontop comic_book.n.01_3 comic_book.n.01_1), flags.lit:(ontop comic_book.n.01_3 comic_book.n.01_2); count distinct upper books satisfying any same-kind ontop >= 2; assisted-grasp and velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "notebooks_stacked",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop notebook.n.01_1 notebook.n.01_2), flags.lit:(ontop notebook.n.01_2 notebook.n.01_1); any orientation of the pair; assisted-grasp and velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "hardbacks_stacked",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop hardback.n.01_1 hardback.n.01_2), flags.lit:(ontop hardback.n.01_2 hardback.n.01_1); any orientation of the pair; assisted-grasp and velocity from inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1427. No state log is supplied."
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "Log flags.success_rule = Session.succeeded (inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1404); RestWatch.done requires the complete BDDL goal plus no assisted-grasp attachment and all goal-object linear speeds <= 0.05 m/s for 30 consecutive control steps (inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1414-1435)."
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Log FallWatch.fallen (inputs/grader/efe_behavior-files/rcb_behavior.py:139-144,1483-1489), preserving the native 300-step window; no state log is supplied."
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Log Session.breakdown (inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471); no state log is supplied."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "本任务inputs/states/index.json的logs为空，未提供任何逐帧状态日志；依DECISIONS.md P8全部11个节点when=null，约束never=null且success=null，不能将BDDL静态谓词清单或一次评分结果当成已记录的逐帧字段。atoms标出后续需记录的原生谓词与计数；当前仅能以录像判据评判，状态证据检验分母为0。",
+  "评分版本差异：inputs/oracle/run.json的task_text明确写目标一成立即结束，reward也没有当前版本的goal_held_steps或settle_steps字段；参考录像154秒附近在最后一本漫画就位时结束，不能据此验证当前评分器要求的松手静止30控制步。DAG依据当前两模式instruction及rcb_behavior.py:100-105、1414-1435保留联合验收；旧运行按执行时规则解释（DECISIONS.md P19），不因此删除任一整理步骤。",
+  "同类书可交换，按DECISIONS.md N4用每类至少第k本计数；初态literals.json:16878显示七个inside目标均已成立，故依S4(a)保留七个独立柜内保持节点，初始应计7/11，而非把它们隐入堆叠验收。节点默认冻结持书搬运，离手后重新判断；这一默认沿用D17。 本轮审查I1建议将七个柜内保持计数合并为一个节点；此粒度分歧按N4当前规则保留计数：DECISIONS.md:266-272及01_task_dag.md:247-253明确包含forall，要求同类第k个、异类分别计数；S4(a)要求可保持的初始真值从t=0计入，未规定将多本书合并。",
+  "模式差异：特权模式评分还核对两次新进程回放均成功、终态哈希一致及初始实例一致（privileged/grade.py:168-174）；标准模式采用服务现场success（standard/grade.py:25-35及sim/server.py:344-345）。两者世界目标和松手静置规则相同，回放、交付与实例有效性不建语义节点，也没有可绑定的逐帧字段。",
+  "原生q_score仅作为基准进度信号，不能替代本DAG的11步进度或联合松手静置判定；成功参考运行在最终值为1，此前原生计分与七个初始柜内节点的计数不同。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本、BDDL目标及初始真值支持七个柜内保持计数与四个同类堆叠步骤，边仅为同类计数递增；已核对成功录像和两模式评分入口。缺少全部逐帧状态日志，且成功参考运行使用较早的即时成功规则，无法验证当前联合静置窗口，因此降低置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "11个节点中有7个“第k本X入柜”计数节点过细：文本只说“Keep all seven inside the bookcase”（一个保持条件，七本书初态已全在柜内，literals.json:16878），人不会列出七步；按类别×计数拆成7个节点是照搬BDDL三个forall，而forall要求全部成立，atleast k(k<N)与终局重复计数。其余（四个同类堆叠计数节点、边、约束、success=null、open_questions）与文本、BDDL目标及P8一致。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "11个节点与文本和BDDL目标一致：七本书柜内保持按N4的forall计数（初态literals.json initial前三位、第6/7/9/10位均为1，七个inside初始成立）、forn(2)漫画堆叠两步、笔记本与精装书各一步堆叠；边仅为同类计数顺序；constraints为倒地与崩溃（立即终止）；无状态日志故when=null、success=null符合P8；freeze_held默认可用，因为各节点判据要求离手静止。上一轮合并七个入柜节点的建议已被作者按N4/S4(a)有据驳回，无新证据，不再重提。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['comics_in_bookcase_1', 'comics_in_bookcase_2', 'comics_in_bookcase_3', 'notebooks_in_bookcase_1', 'notebooks_in_bookcase_2', 'hardbacks_in_bookcase_1', 'hardbacks_in_bookcase_2', 'comics_stacked_1', 'comics_stacked_2', 'notebooks_stacked', 'hardbacks_stacked']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:37:49Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_books_on_shelf/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_books_on_shelf/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_books_on_shelf/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_books_on_shelf/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "b9c0df9057873a334eb9bab83520980f642083495e59d20ee680fd0a5f087c08",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--asmjr2k.json

@@ -0,0 +1,488 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-books-on-shelf-i00-privileged--asmjr2k",
+ "taskKey": "behavior-1k/sorting_books_on_shelf",
+ "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 4628,
+   "sim_steps": 4628,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1347.4,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 1,
+   "agent_sim_steps": 33992,
+   "agent_records": 2,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-privileged--asmjr2k/replay.mp4",
+  "duration_s": 154.267,
+  "fps": 30.0,
+  "frames": 4628,
+  "sha256": "5a52cac3b8f9a090f081fded24e7d339b3a77c714089e653597527a51e5e2ad0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 7,
+  "peak": 11,
+  "final": 11,
+  "nodes": {
+   "comics_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s可见上层精装书下面及下层两处的漫画；视频71—85 s及142—154.23 s被移动的两本均随左夹爪离开原书堆并送回柜格。结合DAG注明的初态全部3本漫画已在柜内，至少1本漫画的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少1本漫画在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住漫画的书角或书边，视频约71—85 s将下层漫画提起送到上层漫画上，视频约142—154.23 s再搬运最后一本漫画；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约45—52 s机器人在柜前换位，视频约130—132 s及145—148 s分别空手和持最后一本漫画横移，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "comics_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s可见上层精装书下面及下层两处的漫画；视频71—85 s及142—154.23 s被移动的两本均随左夹爪离开原书堆并送回柜格。结合DAG注明的初态全部3本漫画已在柜内，至少2本漫画的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少2本漫画在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住漫画的书角或书边，视频约71—85 s将下层漫画提起送到上层漫画上，视频约142—154.23 s再搬运最后一本漫画；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约45—52 s机器人在柜前换位，视频约130—132 s及145—148 s分别空手和持最后一本漫画横移，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "comics_in_bookcase_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s可见上层精装书下面及下层两处的漫画；视频71—85 s及142—154.23 s被移动的两本均随左夹爪离开原书堆并送回柜格。结合DAG注明的初态全部3本漫画已在柜内，至少3本漫画的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少3本漫画在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住漫画的书角或书边，视频约71—85 s将下层漫画提起送到上层漫画上，视频约142—154.23 s再搬运最后一本漫画；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约45—52 s机器人在柜前换位，视频约130—132 s及145—148 s分别空手和持最后一本漫画横移，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "notebooks_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s可见下层混合书堆；视频112—118 s蓝色笔记本从原位置被左夹爪提走，视频123—126 s可见它与黑色线圈笔记本叠放在柜格中。结合DAG注明的初态全部2本笔记本已在柜内，至少1本笔记本的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少1本笔记本在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住蓝色笔记本的书角或书边，视频约112—118 s将其提离原先压着的漫画，再于视频约122—124 s放到另一本黑色线圈笔记本上；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约98—100 s机器人空手向取书位置横移，视频约119—122 s持笔记本横移到目标柜格，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "notebooks_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s可见下层混合书堆；视频112—118 s蓝色笔记本从原位置被左夹爪提走，视频123—126 s可见它与黑色线圈笔记本叠放在柜格中。结合DAG注明的初态全部2本笔记本已在柜内，至少2本笔记本的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少2本笔记本在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住蓝色笔记本的书角或书边，视频约112—118 s将其提离原先压着的漫画，再于视频约122—124 s放到另一本黑色线圈笔记本上；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约98—100 s机器人空手向取书位置横移，视频约119—122 s持笔记本横移到目标柜格，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "hardbacks_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s上层两个柜格各有一本浅青色精装书；视频35—40.5 s左夹爪将其中一本移到另一精装书上，视频41—43 s可见两本留在柜内。结合DAG注明的初态全部2本精装书已在柜内，至少1本精装书的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少1本精装书在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住浅青色精装书的书角或书边，视频约35—40.5 s将其从上层一格提出并移到另一精装书上，随后张爪撤离；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0—9 s机器人驶向白色书柜并调整朝向，开始精装书堆叠操作，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "hardbacks_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：视频6—9 s上层两个柜格各有一本浅青色精装书；视频35—40.5 s左夹爪将其中一本移到另一精装书上，视频41—43 s可见两本留在柜内。结合DAG注明的初态全部2本精装书已在柜内，至少2本精装书的柜内条件从视频0 s成立；搬运中持书时按DAG的freeze_held默认冻结，未观察到离手后有书留在柜前或落地，故不切断此区间。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 289,
+      "text_zh": "推断：视频154.23 s最后一本漫画已降到柜内书堆上，其余已整理书堆未见散落；评分器reward.success=1、q_score=1.0、deterministic=1，且log step 289两次新进程回放均成功，支持至少2本精装书在终态仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住浅青色精装书的书角或书边，视频约35—40.5 s将其从上层一格提出并移到另一精装书上，随后张爪撤离；右夹爪未协同持书。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0—9 s机器人驶向白色书柜并调整朝向，开始精装书堆叠操作，轮式底盘经地板支撑机器人及搬运中的书本。 此处记录该类书整理搬运时的实际接触，柜内计数是初态保持条件。"
+     }
+    ]
+   },
+   "comics_stacked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 85.0,
+      "log_step": null,
+      "text_zh": "观察：视频71—78 s机器人左夹爪夹住下层白边黑封面漫画，原书堆上该漫画被提走并随夹爪向上移动；视频84—85 s将其降到上层蓝色漫画上并张爪，视频85.5—87.5 s夹爪后撤而两本保持上下接触。首次成立约为视频85 s，误差约0.5 s。"
+     },
+     {
+      "t": 90.0,
+      "log_step": 214,
+      "text_zh": "观察：视频90—93 s两本漫画仍叠放，机器人转向笔记本；log step 214输出COMIC STACK True，log step 233及评分器终态为成功。视频153.75—154.23 s最后一本降在此书堆上，未见原有上下关系被拆开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约71—85 s机器人左二指夹爪夹住白边黑封面漫画的书角，将其从下层笔记本上提走、移到上层漫画上后张爪；右夹爪未协同持书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约45—52 s机器人在柜前横移并调整工作位置，轮式底盘经地板支撑机身，随后左夹爪完成第一本漫画的搬运。"
+     }
+    ]
+   },
+   "comics_stacked_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      154.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 154.2,
+      "log_step": null,
+      "text_zh": "观察：视频142—145 s机器人左夹爪夹住黄字封面漫画并将它从下层原位置提走，视频150—154.23 s将其送至上层已经叠好的两本漫画上，末帧可见封面上下重合、夹爪仍靠近书角，录像随即结束；不能从末帧证明已松手静置1秒。"
+     },
+     {
+      "t": 154.23,
+      "log_step": 233,
+      "text_zh": "推断：log step 233记录最终交付候选STATUS success=True、sim_steps=4628、q_score=1.0，log step 289两次新进程回放均成功且终态哈希相同，评分器reward亦为success=1、deterministic=1。结合视频153.75—154.23 s最后一本降至既有漫画堆的画面，按本次任务文本的目标关系成立即结束规则，第二个不同漫画的同类上下关系在视频约154.2 s达成；不追加新版的离手静置窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约142—154.23 s机器人左二指夹爪夹住最后一本黄字封面漫画的书角，提离原处并送到上层两本漫画上；末帧夹爪仍靠近书角，未能确认完全松手。右夹爪未协同持书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约130—132 s机器人空手移向最后一本漫画，视频约145—148 s持该漫画横移回目标柜格，轮式底盘经地板支撑机身及所持漫画。"
+     }
+    ]
+   },
+   "notebooks_stacked": {
+    "method": "visual",
+    "intervals": [
+     [
+      123.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 123.5,
+      "log_step": null,
+      "text_zh": "观察：视频112—118 s机器人左夹爪将蓝色笔记本提离原先下面的漫画，视频119—122 s持它横移至另一本黑色线圈笔记本上方；视频123—123.5 s蓝色本下降贴在黑色本上，夹爪张开，视频124.5—126 s撤离时两本留在柜格内上下相叠。首次成立约为视频123.5 s，误差约0.5 s。"
+     },
+     {
+      "t": 129.5,
+      "log_step": 225,
+      "text_zh": "观察：视频129.5—132 s蓝色笔记本仍在黑色线圈笔记本上，机器人开始取走其原先下面的最后一本漫画；log step 225输出NOTEBOOK STACK True，log step 233最终候选完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住蓝色笔记本的书角或书边，视频约112—118 s将其提离原先压着的漫画，再于视频约122—124 s放到另一本黑色线圈笔记本上；右夹爪未协同持书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约98—100 s机器人空手向取书位置横移，视频约119—122 s持笔记本横移到目标柜格，轮式底盘经地板支撑机器人及搬运中的书本。"
+     }
+    ]
+   },
+   "hardbacks_stacked": {
+    "method": "visual",
+    "intervals": [
+     [
+      40.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40.5,
+      "log_step": null,
+      "text_zh": "观察：视频35—39.5 s机器人左夹爪夹持浅青色精装书移出原格并送至另一精装书上；视频40—40.5 s夹爪张开，视频40.75—43 s夹爪撤走而两本仍上下叠在上层柜格内。首次成立约为视频40.5 s，视觉时间误差约0.5 s。"
+     },
+     {
+      "t": 43.0,
+      "log_step": 201,
+      "text_zh": "观察：视频43 s两本精装书留在同一上层柜格，随后机器人转向下层漫画；log step 201对应最终候选开头1274个控制步之后的检查输出HARD STACK True。该日志仅辅助核对动作顺序，节点时间取自视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住浅青色精装书的书角或书边，视频约35—40.5 s将其从上层一格提出并移到另一精装书上，随后张爪撤离；右夹爪未协同持书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0—9 s机器人驶向白色书柜并调整朝向，开始精装书堆叠操作，轮式底盘经地板支撑机器人及搬运中的书本。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "七个柜内计数条件从视频0 s成立；机器人用左夹爪配合底盘换位，依次于视频约40.5 s、85 s、123.5 s和154.2 s完成精装书、第一本漫画、笔记本与第二本漫画的堆叠，终态11/11，评分器success=1且两次新进程回放���功。评分版本差异：本次task_text规定目标关系一成立即结束，最后一本漫画就位时视频立即终止，按P19记为达成，不强加当前DAG的联合松手静置30控制步条件。未提供状态日志，柜内精确包围盒关系及末次松手无法逐帧测定；终态结合成功判定，时刻来自视频，oracle也是本运行而非独立参照。",
+ "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，11/11。抽查视频40–42 s、84–86 s、123–125 s三个堆叠时刻，与标注的40.5 s、85 s、123.5 s相符；最后一本漫画约154.2 s就位，与评分器success=1及log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": "2026-10-29T11:58:34Z",
+  "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/behavior-sorting-books-on-shelf-i00-privileged--asmjr2k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--asmjr2k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3db479d6bd24a685cc49370a0c491cc4696e152e80e856ab19b9a07a0960cdd2",
+   "video_sha256": "5a52cac3b8f9a090f081fded24e7d339b3a77c714089e653597527a51e5e2ad0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--gxgtbdo.json

@@ -0,0 +1,481 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-books-on-shelf-i00-privileged--gxgtbdo",
+ "taskKey": "behavior-1k/sorting_books_on_shelf",
+ "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce",
+ "outcome": {
+  "success": 0,
+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 3581,
+   "sim_steps": 3581,
+   "fallen": 0,
+   "final_reward": 0.09090909090909091,
+   "q_score": 0.09090909090909091,
+   "replay_wall_s": 1049.3,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 4,
+   "agent_sim_steps": 3581,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-privileged--gxgtbdo/replay.mp4",
+  "duration_s": 119.367,
+  "fps": 30.0,
+  "frames": 3581,
+  "sha256": "f46eec17c954e34599d487e6f42149eac9e9f34d649a9853f0e26f91da79468d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 7,
+  "peak": 8,
+  "final": 8,
+  "nodes": {
+   "comics_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初态3本漫画均在柜内；视频8.0–12.0 s可见柜内各格的混放书堆，视频24.0–60.0 s腕部近景仍见漫画位于笔记本上，后续视频96.0–117.0 s也未见漫画被运出柜外。按至少1本计数，初态关系从视频0 s计入；局部拨动未见改变柜内容纳关系。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频118.3–119.3 s末段视野被柜顶遮挡，但此前逐次退爪后书仍留在柜格，未观察到掉出或被携走，故延续柜内计数；此为前后帧推断，非末帧直接看到全部书。"
+     }
+    ]
+   },
+   "comics_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初态3本漫画均在柜内；视频8.0–12.0 s可见柜内各格的混放书堆，视频24.0–60.0 s腕部近景仍见漫画位于笔记本上，后续视频96.0–117.0 s也未见漫画被运出柜外。按至少2本计数，初态关系从视频0 s计入；局部拨动未见改变柜内容纳关系。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频118.3–119.3 s末段视野被柜顶遮挡，但此前逐次退爪后书仍留在柜格，未观察到掉出或被携走，故延续柜内计数；此为前后帧推断，非末帧直接看到全部书。"
+     }
+    ]
+   },
+   "comics_in_bookcase_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初态3本漫画均在柜内；视频8.0–12.0 s可见柜内各格的混放书堆，视频24.0–60.0 s腕部近景仍见漫画位于笔记本上，后续视频96.0–117.0 s也未见漫画被运出柜外。按至少3本计数，初态关系从视频0 s计入；局部拨动未见改变柜内容纳关系。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频118.3–119.3 s末段视野被柜顶遮挡，但此前逐次退爪后书仍留在柜格，未观察到掉出或被携走，故延续柜内计数；此为前后帧推断，非末帧直接看到全部书。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频27.0–35.5 s，机器人右夹爪指尖抵向下层柜格内黑色封面漫画的边角，书在下面的线圈笔记本上受到拨动；未见两指将漫画夹持带走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频22.0–26.0 s及后续重试间，机器人沿柜前横移底盘，对准下层漫画的书边。"
+     }
+    ]
+   },
+   "notebooks_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载两本笔记本初态均在柜内；视频25.0–35.5 s可见线圈笔记本仍在下层漫画下，视频63.0–94.0 s另一处蓝紫色薄册在原柜格中受到右夹爪反复接近而未被带走。按至少1本计数从视频0 s保持；末段遮挡下延续此关系，未见出柜或落地。"
+     }
+    ]
+   },
+   "notebooks_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载两本笔记本初态均在柜内；视频25.0–35.5 s可见线圈笔记本仍在下层漫画下，视频63.0–94.0 s另一处蓝紫色薄册在原柜格中受到右夹爪反复接近而未被带走。按至少2本计数从视频0 s保持；末段遮挡下延续此关系，未见出柜或落地。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频68.0–94.0 s，机器人右夹爪指尖反复抵向蓝紫色薄册的前角，薄册仍贴在下层漫画上；未见包夹后离开支承。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频60.0–63.0 s，机器人底盘沿柜前换位到另一处下层书本前。"
+     }
+    ]
+   },
+   "hardbacks_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG初态两本精装书已在柜内，视频8.0–12.0 s可见两处上层书堆；视频15.5–20.5 s右爪将其中一本搬到另一册上，持书时按D17冻结柜内节点，松手后两册仍在柜内，故不产生出柜区间。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频21.0–26.0 s，右爪退开后蓝绿色书叠在另一册上，书堆留在上层柜格，后续机器人操作转向下层柜格。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频26.0 s后机器人未再搬动上层精装书，末段虽不直接显示该书堆，未见其被扰动或掉出；延续柜内关系至视频结束。"
+     }
+    ]
+   },
+   "hardbacks_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG初态两本精装书已在柜内，视频8.0–12.0 s可见两处上层书堆；视频15.5–20.5 s右爪将其中一本搬到另一册上，持书时按D17冻结柜内节点，松手后两册仍在柜内，故不产生出柜区间。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频21.0–26.0 s，右爪退开后蓝绿色书叠在另一册上，书堆留在上层柜格，后续机器人操作转向下层柜格。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频26.0 s后机器人未再搬动上层精装书，末段虽不直接显示该书堆，未见其被扰动或掉出；延续柜内关系至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频13.0–20.5 s，机器人右二指夹爪夹住蓝绿色精装书前边，将其从原柜格抽出并搬到另一册精装书上，随后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频15.5–17.5 s，机器人持精装书时沿柜前横移底盘，车轮经地板支撑机身与书。"
+     }
+    ]
+   },
+   "comics_stacked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–35.5 s，机器人右爪多次靠向下层黑色漫画前角并退出，漫画仍在带线圈的笔记本上，没有随爪抽离；视频38.0–60.0 s仍在同一混放书堆处重试，未见搬到同类漫画上的过程。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频63.0–117.0 s后续重试也未见漫画同类堆叠成立；评分器q_score=0.09090909090909091仅允许1个新增目标字面量，已由可见的精装书堆叠解释，因此此节点终态为false。初态柜内字面量不计入q_score，不能把它读成总共只有1个DAG节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频27.0–35.5 s，机器人右夹爪指尖抵向下层柜格内黑色封面漫画的边角，书在下面的线圈笔记本上受到拨动；未见两指将漫画夹持带走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频22.0–26.0 s及后续重试间，机器人���柜前横移底盘，对准下层漫画的书边。"
+     }
+    ]
+   },
+   "comics_stacked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.0,
+      "log_step": null,
+      "text_zh": "观察：视频96.0–117.0 s，机器人右爪继续在另一处蓝紫色薄册与漫画混放的柜格前伸缩，书边仍位于格内，未见将下层漫画搬到另一漫画上的过程。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见第一层同类漫画堆叠成立，末段评分器q_score=1/11且唯一新增关系为精装书堆叠，故至少2本漫画各叠在漫画上的终态条件为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频96.0–117.0 s，右爪反复朝被蓝紫色薄册盖住的漫画位置接近；底下漫画与指尖接触处被上层薄册遮挡，无法确认漫画本身受到何种接触，不能把抓取命令当成已抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频95.0–100.0 s，机器人在下层柜格前调整底盘位置，支撑机身进行下一次漫画整理尝试。"
+     }
+    ]
+   },
+   "notebooks_stacked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 74.0,
+      "log_step": null,
+      "text_zh": "观察：视频63.0–94.0 s，机器人右爪反复接近蓝紫色薄册前角，退爪后薄册仍留在下层原书堆，未见笔记本被搬到另一本笔记本上。"
+     },
+     {
+      "t": 119.3,
+      "log_step": null,
+      "text_zh": "推断：评分器终态q_score=1/11，唯一新增堆叠由视频21.0 s后的精装书书堆解释，未留下额外笔记本堆叠字面量，因此终态false；后续视频96.0–117.0 s也仍可见该薄册留在混放处。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频68.0–94.0 s，机器人右夹爪指尖反复抵向蓝紫色薄册的前角，薄册仍贴在下层漫画上；未见包夹后离开支承。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频60.0–63.0 s，机器人底盘沿柜前换位到另一处下层书本前。"
+     }
+    ]
+   },
+   "hardbacks_stacked": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频13.0–15.5 s，机器人右爪将蓝绿色精装书从原格抽出，原位置留下下面的另一类书；视频17.5–20.5 s将该书移到邻格精装书上，视频21.0–24.0 s爪退开，蓝绿色封面上下重叠并留在格内，取约视频21.0 s为松手后堆叠成立时刻。"
+     },
+     {
+      "t": 26.0,
+      "log_step": 60,
+      "text_zh": "推断：视频26.0 s以后机器人只在下层书堆处重试，未再搬动已叠精装书；结合评分器终态q_score=1/11，保持此新增堆叠至结束。log step 60记录交付脚本同一次新进程运行的精装书OnTop=True、Inside=True，作为与视频一致的辅助证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频13.0–20.5 s，机器人右二指夹爪夹住蓝绿色精装书前边，将其从原柜格抽出并搬到另一册精装书上，随后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频15.5–17.5 s，机器人持精装书时沿柜前横移底盘，车轮经地板支撑机身与书。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.09090909090909091,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "comics_stacked_1",
+   "t": 27.5,
+   "log_step": 61,
+   "where": "操作中",
+   "evidence_zh": "观察：视频26.0–35.5 s，机器人在已完成精装书堆叠后，用右爪接近线圈笔记本上的漫画，退爪时漫画仍在下面书的支承上；视频38.0–60.0 s继续重试也未将其搬到同类漫画处。推断：这是首次未修复的堆叠失败；后来换格尝试笔记本和另一漫画均未修复此节点。log step 56的交付脚本按精装书、漫画、笔记本、漫画顺序运行，log step 61记录该次漫画转移失败，与视频顺序吻合。"
+  },
+  "unmet": {
+   "comics_in_bookcase_1": true,
+   "comics_in_bookcase_2": true,
+   "comics_in_bookcase_3": true,
+   "notebooks_in_bookcase_1": true,
+   "notebooks_in_bookcase_2": true,
+   "hardbacks_in_bookcase_1": true,
+   "hardbacks_in_bookcase_2": true,
+   "comics_stacked_1": false,
+   "comics_stacked_2": false,
+   "notebooks_stacked": false,
+   "hardbacks_stacked": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 27.5,
+    "log_step": 61,
+    "evidence_zh": "观察：视频27.0–35.5 s及38.0–60.0 s，右爪指尖靠向漫画边角后退出，黑色漫画始终仍由线圈笔记本支承，没有随手离开原书堆。推断：此处缺失的是能带起漫画的有效夹持接触，并非书已经被抓起后滑落；log step 61的交付脚本输出各策略held None及TRANSFER FAILED与此一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 27.5,
+    "log_step": 46,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：视频27.0–35.5 s，右爪在上层薄漫画的前角反复闭合、退回，漫画仍在突出于其边缘的笔记本上；会话诊断log step 45–48在相同grasp_book2握法下记录未持物、两指虽碰到漫画但辅助抓握射线集合为空，提示指尖接触未形成包夹薄书的几何。log step 52定义的抓取重试被log step 56编入交付脚本，log step 61显示交付运行仍全部held None，因此归因于该接触设计，未以会话中一次偶然抓起代替交付进度。具体底面接触在视频中不可见，无法确定哪种替代握法已验证可行。"
+   }
+  ],
+  "gap_zh": "观察：本次没有逐帧状态日志；视频约38.0 s以后头部主要被柜顶遮住，腕部只间歇看到书角和指尖，视频118.3–119.3 s也没有七本书的终态全景。推断：柜内保持与精装书末态由可见的前后状态及后续未见搬离推断，漫画和笔记本堆叠终态再由评分总量约束；无法核验毫米级夹持几何、每册线速度或联合30控制步静置窗口。根因中的接触几何由会话诊断辅助推断，不能当作交付轨迹逐帧接触事实。"
+ },
+ "summary_zh": "七个初始柜内计数保持，机器人在视频约21.0 s完成精装书同类堆叠，终态为8/11；评分器q_score=1/11只计新增目标，与此一致。最早未修复的断点是第1本漫画叠好：右爪反复接近薄书边角却未形成可带起漫画的夹持，后续笔记本和另一漫画也未叠成，接触设计不足有视频与会话诊断支持。没有状态日志，后半段与末帧遮挡较重，柜内保持末态及具体接触根因含推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与评分总量 q=1/11（7个初态节点不计，仅精装书堆叠一项）一致；断点在首个未修复的漫画堆叠、现象与根因均有日志与视频支持，未发现需改内容的错误。视频头部视野后段多被遮挡，细节只能部分核验。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:57:57Z",
+  "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/behavior-sorting-books-on-shelf-i00-privileged--gxgtbdo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--gxgtbdo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "96f18c5a9c672b8e056f3c62ac564082da6f60fe0d05c3b079c91c3b84862436",
+   "video_sha256": "f46eec17c954e34599d487e6f42149eac9e9f34d649a9853f0e26f91da79468d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/task_dag.json

@@ -0,0 +1,545 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/boot_sole_brush",
+ "suite": "dexhand",
+ "base": "dexhand-boot-sole-brush-i00",
+ "title_zh": "刷净靴底泥块",
+ "summary_zh": "六块泥均离开朝上的靴底并留在收集盘内，刷子撤离后全体静止达到规定窗口，满足评分器刷毛接触历史且全程无禁碰、掉落或靴子移位。",
+ "embodiment_zh": "两种模式均为固定底座的天机 Marvin 双臂机器人，实际只由右侧7关节臂及右灵巧手操作；默认 Sharpa Wave（22指关节执行器），也支持 Wuji Hand 2.2（20指关节执行器），左臂及左灵巧手停放不用，底座不移动。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-boot-sole-brush-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "brush_in_hand",
+    "zh": "拿起鞋刷",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "freeze_held": false,
+    "criterion_zh": "总览画面中，右侧灵巧手握住黄褐色木背鞋刷并使刷子离开台面，刷子由右手带动而非仍放在台上；仅手碰刷子但未拿离台面不算完成。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与其他手指夹握鞋刷木背，拿离台面；不限定具体手指组合或握持位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:181-209",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-110",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258",
+     "inputs/oracle/replay.mp4 @ 0.0, 8.0 s"
+    ],
+    "conf": 7,
+    "note_zh": "按 Y17/D2 保留必需工具步骤：文本明确拿起鞋刷；评分器首阶段要求手接触刷子且刷子离开台面，刷毛接触高处鞋底，后续还要求逐块刷毛接触。该拿起状态不要求刷毛已触鞋底，累计10控制步的刷鞋底接触留在总体成功验收。"
+   },
+   {
+    "id": "clods_in_tray_1",
+    "zh": "第1块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "brush_in_hand"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少1块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于1块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因��日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   },
+   {
+    "id": "clods_in_tray_2",
+    "zh": "第2块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "clods_in_tray_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少2块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于2块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   },
+   {
+    "id": "clods_in_tray_3",
+    "zh": "第3块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "clods_in_tray_2"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少3块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于3块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块��类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   },
+   {
+    "id": "clods_in_tray_4",
+    "zh": "第4块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "clods_in_tray_3"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少4块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于4块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   },
+   {
+    "id": "clods_in_tray_5",
+    "zh": "第5块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "clods_in_tray_4"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少5块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于5块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   },
+   {
+    "id": "clods_in_tray_6",
+    "zh": "第6块泥入盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "clods_in_tray_5"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少6块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于6块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
+     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
+    ],
+    "conf": 6,
+    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "boot_displaced",
+    "zh": "靴子移位倾斜",
+    "never": null,
+    "criterion_zh": "任一2 ms物理子步，靴子原点相对静置后初态位移>0.03 m，或自身轴相对初始轴倾角>0.35 rad，立即永久判负；画面中靴子明显偏离支架或倾倒是可见线索，精确边界需物理状态。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:123-128",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:152-154",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256-257",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-108"
+    ]
+   },
+   {
+    "id": "debris_outside_tray",
+    "zh": "泥块落出台面",
+    "never": null,
+    "criterion_zh": "任一泥块接触台面或地面、中心低于z=0.886 m，或中心离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，任一2 ms子步立即永久判负；仅尚未入盘且仍在工作空间中飞行不自动判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:155-159",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:171-177",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:13",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-275"
+    ]
+   },
+   {
+    "id": "hand_touched_debris",
+    "zh": "右手碰泥",
+    "never": null,
+    "criterion_zh": "右手任一有效碰撞几何与任一泥块直接接触，在首个2 ms子步永久判负；不得用手指直接拨、夹、接住泥块。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-66",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183"
+    ]
+   },
+   {
+    "id": "brush_dropped",
+    "zh": "刷子掉落禁碰",
+    "never": null,
+    "criterion_zh": "刷子接触地面、收集盘或支架，中心低于z=0.886 m或离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，或刷子除泥块外无任何外部接触且质心竖直速度<-0.2 m/s，任一2 ms子步立即永久判负；在空中滑脱后接回不能撤销失败，刷子放回台面或暂靠鞋底本身并非此项违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:160-162",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:184-199",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-276"
+    ]
+   },
+   {
+    "id": "robot_collision",
+    "zh": "非右手部件碰撞",
+    "never": null,
+    "criterion_zh": "除工作右手外，底座、躯干、两臂连杆或法兰、停放左手的任一有效碰撞接触均在首个2 ms子步永久判负，包括自碰撞；右手与鞋刷的正常接触允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-59",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:130-137",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:164-170"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理状态不稳定",
+    "never": null,
+    "criterion_zh": "MuJoCo出现BADQPOS、BADQVEL或BADQACC警告，首个检查到的2 ms子步永久判负；仅从画面无法可靠判定此项，需原生警告记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:32",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:149-151"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "brush_in_hand",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:156-174; log features.hand_on_brush, features.brush_on_counter and brush/hand poses"
+   },
+   {
+    "atom": "clods_in_tray_count",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142,243-247; log features.in_tray, features.clods_in_tray and latched hand_touched_debris"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:249-267; log checker.success, stage, brush_contact_controls, brushed, hold and failure"
+   },
+   {
+    "atom": "boot_displaced",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   },
+   {
+    "atom": "debris_outside_tray",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   },
+   {
+    "atom": "hand_touched_debris",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   },
+   {
+    "atom": "brush_dropped",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   },
+   {
+    "atom": "robot_collision",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:245-260"
+   ]
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:202-211,245-260"
+   ]
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258"
+   ]
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:262-267"
+   ]
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:262"
+   ]
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256"
+   ]
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:257"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "状态日志为空（inputs/states/index.json）；按 P8 所有节点 when、全部约束 never 与 success 均为 null，不能把源码中的 features 当作已记录字段。spec.atoms 的 new_code 是未来应记录的量；现有成功视频及其顶部计数可判断结果，但没有逐帧日志来核实毫米级边界、子步接触和精确累计窗口。",
+  "工具拿起的 D2/Y17 应用：保留非可选“拿起鞋刷”。instruction.md:3明确要求右手拿刷；checker.py:255-258要求刷毛接触高处鞋底、手接触刷子且刷子不接触台面，checker.py:202-211、259-267要求每块泥在鞋底上被刷毛碰过。刷子初始在台面且未安装在机器人上，因此每条合法成功路线都需要拿起这把刷子；不要求采用成功视频的夹持位置或后续换握。",
+  "任务设计问题：D9规定清洁节点按泥块离开鞋底并入盘的结果计，允许刷动一块泥间接挤落另一块；但checker.py:202-211、259-263会拒绝未获逐块刷毛直接接触历史的结果。当前instruction.md:3也明写该限制，因此并非当前文本漏写；按D9仍将它仅保留在总体成功验收说明，绝不作为六个清洁节点的额外判据，success待有日志时绑定原生成功状态。",
+  "D16(a)接触边界仍开放：本任务泥块为无粘连刚体，刷毛沿鞋底推扫使其落盘，故暂取手持工具×推/扫；材料·清洁表示去除鞋底泥污，盘内收集是接受条件。未据分类表中的旧例机械采用压/擦，也未把工具握持重复标在清洁节点。",
+  "总体成功的精确验收（当前success=null）：刷毛触靴、右手触刷且刷子离台面累计至少10控制步；每块泥中心不低于当时鞋底平面0.01 m时曾被刷毛代理触碰且六块都在盘内，进入阶段2；之后六块持续在盘内、最大线速度≤0.05 m/s，刷子不碰靴或泥且刷毛中心高于当时鞋底平面至少0.04 m或水平距鞋底中心至少0.18 m，连续50控制步（hold原生计数达到50），无任何历史失败。刷子撤离与联合静置归success，不各建节点或推迟每一块泥已入盘的进度；累计刷靴10步也不是拿起工具的完成条件。",
+  "评分器要求，文本未提：in_tray还严格要求泥块中心z>0.886 m（checker.py:139-142）；文本给出z<0.931 m并仅对z<0.886 m即时判负。节点标准采用源码上下界；在盘底的正常落稳状态高于此下界。",
+  "privileged与standard的checker.py、task.json、runtime.py逐字相同，物理成功条件共用；privileged外层另要求两次新进程回放成功且终态哈希相同，standard按最后一次现场episode判定（各自tests/grade.py）。交付格式、复现有效性、时间上限不是世界状态节点或约束。",
+  "唯一成功参考为inputs/oracle/oracle.json指定的Sharpa privileged运行；视频已查看初态、拿刷、扫落计数和终态（顶部stage 3/3、in tray 6/6、hold 50/50），不据它先鞋尖后鞋跟、重复刷扫及换握的策略增加步骤或顺序。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "七个步骤来自文本中的必需鞋刷及六个计数对象，初态和所有阈值可由源码核实，成功视频显示全部完成；无状态日志，���确接触历史与子步失败不能自动核验，工具步骤应用及推扫接触边界仍按临时规则处理。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点（拿起鞋刷+六个入盘计数节点）与文本一致；无状态日志故所有 when/never/success 为 null 符合 P8；约束与评分器失败条件一致且均为立即终止；刷毛累计10步、刷子撤离与50步静置并入总体说明，未另建节点；标签（材料·清洁、手持工具×推/扫）按临时规则可接受，D9/D16 开放点已写入 open_questions_zh。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['brush_in_hand', 'clods_in_tray_1', 'clods_in_tray_2', 'clods_in_tray_3', 'clods_in_tray_4', 'clods_in_tray_5', 'clods_in_tray_6']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:27:31Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__boot_sole_brush/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__boot_sole_brush/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "35f04b53e023b4a4828bfa8cd2728a7a70f73712a77d21e54e75e9fa2995c4ae",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--nwsm8wh.json

@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--nwsm8wh",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1565,
+   "sim_steps": 1565,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.867,
+   "peak_processes": 12,
+   "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/dexhand-boot-sole-brush-i00-privileged--nwsm8wh/replay.mp4",
+  "duration_s": 27.2,
+  "fps": 10.0,
+  "frames": 272,
+  "sha256": "4b74313f3837a4898b038e92b77f203da12fcbfa851f4dd3246f8690820d8faf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黄褐色木背鞋刷仍在右手前方台面上，右手尚未握住；绿色收集盘内无泥块，六块泥仍在朝上的靴底。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7–3.4 s，机器人右侧灵巧手的拇指与弯曲手指夹住鞋刷木背，刷子随右手上升，原台面位置空出；视频 3.0 s 左右已拿离台面，起点约有 0.2 s 不确定性，后续持刷移向靴底。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手拇指和其余弯曲手指从木背两侧夹持鞋刷，握持后抬离台面；左手未参与。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.7,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–9.7 s，机器人右手持刷在靴底一端扫动，两块泥先后离开鞋底向下掉落；盘中出现第一块棕色泥，画面顶部 in tray 从 0/6 变为 1/6。这里按已入盘数量计第1块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第1块计数对应的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–9.9 s，同一次刷扫落下的第二块泥已到绿色收集盘内，顶部 in tray 从 1/6 变为 2/6；鞋底这一端的泥块减少。这里按已入盘数量计第2块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第2块计数对应的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.7,
+      "log_step": null,
+      "text_zh": "观察：视频 14.6–14.7 s，机器人右手持刷反向扫过靴底同一端，另一块泥离开鞋底落到绿色收集盘内，顶部 in tray 从 2/6 变为 3/6。这里按已入盘数量计第3块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第3块计数对应的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.9,
+      "log_step": null,
+      "text_zh": "观察：视频 18.8–18.9 s，机器人右手将鞋刷移至靴底另一端后扫动，第四块泥落到绿色收集盘，顶部 in tray 从 3/6 变为 4/6。这里按已入盘数量计第4块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第4块计数对应的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频 23.7–23.8 s，机器人右手持刷扫动靴底余下两块泥所在区域，泥块下落；第五块已进入绿色收集盘，顶部 in tray 从 4/6 变为 5/6。这里按已入盘数量计第5块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第5块计数对应的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频 23.8–23.9 s，最后一块泥也已离开靴底进入绿色收集盘，顶部 in tray 从 5/6 变为 6/6，stage 变为 2/3；视频 23.8 s 时还只有 5/6。这里按已入盘数量计第6块，不固定泥块身份。"
+     },
+     {
+      "t": 27.1,
+      "log_step": 42,
+      "text_zh": "观察：视频 26.1–27.1 s，六块棕色泥均在绿色收集盘内，鞋底已清空，机器人右手持刷撤至鞋底上方；顶部持续显示 SUCCESS、stage 3/3、clods brushed 6/6、in tray 6/6、hold 50/50。log step 40 保存的交付文件在 log step 42 的两次新进程回放均由基准回放程序报告 success=True、steps=1565 且终态哈希相同；run.json 的 reward.success=1、deterministic=1，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手握持鞋刷，以刷毛沿靴底扫推泥块；第6块计数对��的泥从鞋底边缘落入收集盘。清洁作用端是鞋刷刷毛，未见右手直接拨泥；工具握持不在此重复标注。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右手约在视频 3.0 s 拿起鞋刷，随后分次扫落六块泥；盘内计数分别在视频 9.7、9.9、14.7、18.9、23.8、23.9 s 达到一至六块，最终七个节点全部保持。视频 26.1–27.1 s 显示刷子已撤离、六块泥留在盘中以及 SUCCESS、stage 3/3、hold 50/50，与评分器成功和交付文件两次一致回放相符。无状态日志，毫米级边界、逐子步接触及速度无法独立核验；reward 未单独报告 DAG 所列原生指标的数值，因此 native_metrics 的 value 留为 null，节点时刻采用视频帧而未换算 agent 时间或控制步。",
+ "conf": 9,
+ "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，七个节点均为 visual 且全部达成；各节点时刻与顶部计数条一致（误差≤0.1 s），接触标注合理，无失败故无断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:54:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--nwsm8wh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--nwsm8wh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a625f2d8babf0e8026a7d44ad1986092b19edbbba6d6195ee686a54e67cce6c0",
+   "video_sha256": "4b74313f3837a4898b038e92b77f203da12fcbfa851f4dd3246f8690820d8faf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--dpx4ky8.json

@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-standard--dpx4ky8",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 444,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 420,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 13,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 420,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.428,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.986,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-boot-sole-brush-i00-standard--dpx4ky8/replay.mp4",
+  "duration_s": 9.6,
+  "fps": 5.0,
+  "frames": 48,
+  "sha256": "0a32746bf9b71fcc99edb2c959bb2b533cb334e6fe3984429a128ec7209b5fb0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 鞋刷刷毛朝下放在台面；视频 1.2–1.6 s 右手降到木背旁，手指接触后使刷子沿台面移动，未见整把鞋刷离开台面。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 163,
+      "text_zh": "观察：视频 7.4–8.4 s 右手卷指后向上抬起，鞋刷未随手抬起；视频 8.6–9.4 s 右手与仍在台面的鞋刷分离。log step 163 的最后一次运行输出为 control_steps=420、done=False，与视频 8.4 s 起顶部 control 420 的停留画面一致；此前重置轮次不计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.2–7.8 s 右手手指及拇指在鞋刷木背上方和侧边接触、卷曲并推移鞋刷；刷子未形成随手上提的承载夹持，实际作用为沿台面推移。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少1块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少2块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少3块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少4块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少5块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–9.4 s，右手和鞋刷始终在台面拿刷区域，未到达靴底；靴底棕色泥块保持原位，收集盘未出现落入的泥块，顶部评分器画面 in tray 始终为 0/6，因此未达到至少6块入盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_in_hand",
+   "t": 7.8,
+   "log_step": 163,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.4–8.0 s 右手卷指后上提，鞋刷留在台面并与手分离；到视频 9.4 s 仍未提起。log step 158 的脚本将此段设为卷指后抬腕，log step 162–163 修复返回值顺序后执行至 control_steps=420，log step 167 仍为同一 episode 14、control_steps=420；失败发生在拿刷步骤，尚未开始刷泥。"
+  },
+  "unmet": {
+   "clods_in_tray_1": false,
+   "clods_in_tray_2": false,
+   "clods_in_tray_3": false,
+   "clods_in_tray_4": false,
+   "clods_in_tray_5": false,
+   "clods_in_tray_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.8,
+    "log_step": 163,
+    "evidence_zh": "观察：视频 1.2–7.8 s 右手虽碰到并推移鞋刷，视频 7.8–8.4 s 却空手上提，鞋刷始终未被手带离台面，最后一秒仍留在原拿刷区域。推断：拿起所需的有效承载抓握未建立；没有先持刷搬运再掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频",
+    "evidence_zh": "推断：本次手指接触布局只能推移木背，未形成提起刷子所需的有效夹持：视频 1.2–1.6 s 刷子被推移，视频 7.4–8.4 s 手卷曲并上提而刷子留下；log step 158 的脚本明确采用侧面手指钩取、卷指再抬腕，log step 162–163 为其修正后的最终执行。agent 在 log step 176 也自述夹取退化成推移，但其关于全部合法抓法不可行的结论没有采信。成功参考视频 8.0 s 显示同款 Sharpa 手已持刷离台，参考视频 29.2 s 显示 SUCCESS，故可行替代已获参考运行验证；参考只证明替代存在，不计入本次进度。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法核实指腹对向接触、接触力及每个物理子步的精确几何；抓取布局归因为视频动作和最终脚本共同支持的推断。run.json 的 reward 未报告 DAG 所列七项原生指标，故 native_metrics 的值均为 null；画面上的 in tray、clods brushed 和 hold 计数仅用于视频判断。"
+ },
+ "summary_zh": "评分尝试只进行了拿刷：右手接触并推移鞋刷，视频 7.8–8.4 s 上提时空手离开，鞋刷仍在台面，七个节点均未达到。断点为拿起鞋刷，现象是未建立有效抓握，证据支持抓取和接触设计不适配；六块泥始终留在靴底。无状态日志，无法核实接触力与子步几何，原生指标也未在评分记录中单列。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0–9.6 s 与 log 一致：右手只推移鞋刷，7.4–9.0 s 卷指上提后刷子仍留在台面，七个节点均未达到；断点、现象与根因均有证据支持。",
+    "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": "2026-10-29T11:54:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-standard--dpx4ky8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-standard--dpx4ky8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "21275570b6b388d46e1b0e99ae21e94821ab1c2d9cf21a39593869719eb9bda1",
+   "video_sha256": "0a32746bf9b71fcc99edb2c959bb2b533cb334e6fe3984429a128ec7209b5fb0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/envelope_letter_insert/task_dag.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/envelope_letter_insert",
+ "suite": "dexhand",
+ "base": "dexhand-envelope-letter-insert-i00",
+ "title_zh": "信纸插入信封",
+ "summary_zh": "信纸经信封口部送入袋腔，露出长度不超过 4.95 毫米，右手离开信纸及信封且两物体静止连续 50 个控制步，同时全程不触发掉落、越界、穿壁、信封过度移动或倾斜、非右手接触及物理不稳定的失败条件。",
+ "embodiment_zh": "两个模式均为固定底座的天机 Marvin 双臂机器人，每臂七个关节、腕端各有灵巧手；仅右臂及右手操作，左臂停放在躯干旁。默认使用 Sharpa Wave 灵巧手，每手 22 个手指执行器；也支持 Wuji Hand 2.2 灵巧手，每手 20 个手指执行器；两种手共用场景与成功判据。底座固定于桌子正 x 侧，不需要移动底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-envelope-letter-insert-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "letter_in_envelope",
+    "zh": "信纸插入信封",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "俯视总览或末段近景可见白色信纸从信封口部滑入前壁下，末端只余窄边而非大块露在袋外：以信封自身坐标计，最外角超过口线 x=55 毫米的距离不大于 4.95 毫米，四角均满足 |y|≤107.6 毫米、x≥-51.6 毫米、中面高度在 1.2～4.4 毫米之间。须先经过两前角入袋至少 10 毫米、两后角仍在口外的口部阶段，再达到上述插入状态，右手与信纸及信封均无有效接触、两物体各自线速度≤0.01 米每秒且角速度≤0.2 弧度每秒，连续 50 个控制步；视频叠字阶段 3/3、接触 L0/E0、静置 50/50 可辅助确认，仍有大片信纸露出、信纸仅叠在封面上、手仍接触或静置不足均未完成，完成后若退回口外、离开袋腔或重新接触或运动速度超限则失去该状态。",
+    "step": {
+     "cat": "关系",
+     "item": "插入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手指腹带动信纸沿桌面滑行，随后右手指尖推信纸外露的后缘进入信封窄口；操作过程中可以改换接触位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "替代方案：右手拇指与其他手指捏住信纸外露边缘送入口部，随插入深度改变握点，最后撤离信纸和信封；无掉落及穿壁约束仍须满足。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/standard/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:30-49",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:95-117",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:139-159",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:248-254",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:131-151",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-72",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/eca9b98723/scene.py:111-158",
+     "inputs/oracle/replay.mp4: 视频约 0、6、10、11.4、12 秒；末段近景阶段 3/3、接触 L0/E0、静置 50/50",
+     "inputs/oracle/run.json: steps id 57、60、62、66，成功轨迹及两次新进程复核"
+    ],
+    "conf": 6,
+    "note_zh": "一个对象的一次插入关系；对准口部、部分进入、改换接触点与退手静置均为途中动作或本步验收，不另建节点。口部、插入、释放三阶段在本步内部按评分器顺序验收，不是三个语义步骤。窄口属于紧配合槽，故用关系·插入。信封翻盖初始展开，口唇虽称闭合但其下有 4 毫米间隙，2 毫米信纸无需先打开口唇；本步初始不成立。hold_s=0 表示不额外叠加等待：验收已经要求评分器 released_hold_steps 达到 50；无状态日志时由视频及原生读数判定。接受状态要求离手，采用默认持物冻结。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "object_below_desk",
+    "zh": "物体低于桌面",
+    "never": null,
+    "criterion_zh": "信纸或信封的物体原点世界高度小于 0.698 米；每个 2 毫秒物理子步检查，首次触发即永久失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66"
+    ]
+   },
+   {
+    "id": "object_floor_contact",
+    "zh": "物体触地",
+    "never": null,
+    "criterion_zh": "信纸或信封与地面发生有效接触（接触的 efc_address 非负），立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201"
+    ]
+   },
+   {
+    "id": "unsupported_drop",
+    "zh": "物体失去支承",
+    "never": null,
+    "criterion_zh": "信纸或信封没有任何有效接触，且质心竖直速度小于 -0.1 米每秒；不设防抖，首个违规子步即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70"
+    ]
+   },
+   {
+    "id": "object_outside_workspace",
+    "zh": "物体离开桌区",
+    "never": null,
+    "criterion_zh": "信纸或信封的原点世界坐标超出 x∈[0.18,0.78] 米、y∈[-0.40,0.40] 米，或 z>1.00 米，立即失败；边界数值由桌面中心、半宽和最大高度推得。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67"
+    ]
+   },
+   {
+    "id": "letter_through_envelope",
+    "zh": "信纸穿透信封",
+    "never": null,
+    "criterion_zh": "信纸与信封的有效接触穿透深度超过 0.7 毫米，或信纸中面采样点落入信封背壁、前壁、侧封、底封或口唇实体内，即失败；采样点按评分器的 7×15 网格生成，距信纸平面边缘内缩 1 毫米。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72"
+    ]
+   },
+   {
+    "id": "envelope_displaced",
+    "zh": "信封移位过大",
+    "never": null,
+    "criterion_zh": "信封原点在水平面上偏离初始位置 (0.48,0.16) 米的欧氏距离超过 0.05 米，立即失败；不是累计路程，也不检查竖直位移。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68"
+    ]
+   },
+   {
+    "id": "envelope_tipped",
+    "zh": "信封倾斜过大",
+    "never": null,
+    "criterion_zh": "信封局部向上轴相对世界竖直方向倾斜超过 0.35 弧度，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69"
+    ]
+   },
+   {
+    "id": "forbidden_robot_contact",
+    "zh": "非右手接触",
+    "never": null,
+    "criterion_zh": "机器人臂连杆、支架或停放的左手与信纸或信封发生有效接触即失败；允许操作物体的是右手，口唇也属于信封。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理状态不稳定",
+    "never": null,
+    "criterion_zh": "物理子步出现位置、速度或加速度异常警告，或广义位置出现非有限值，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "letter_inserted_released_hold",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:157-170；需逐帧记录 features() 的 stage_completed、stage_steps、inserted、corners_envelope_frame、hand_letter_contacts、hand_envelope_contacts、两物体线速度与角速度、released_hold_steps；按 :131-151 的有序阶段与 50 步计数验收。"
+   },
+   {
+    "atom": "object_below_desk",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "object_floor_contact",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "unsupported_drop",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "object_outside_workspace",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "letter_through_envelope",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "envelope_displaced",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "envelope_tipped",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "forbidden_robot_contact",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209；inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "outside_m",
+   "unit": "m",
+   "threshold": 0.00495,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_shift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功参考视频也没有状态日志；依暂行 DECISIONS.md P8，全部 when、never 和 success 均为 null，不能声称已经在状态回放中验证。毫米级袋内高度、穿透与瞬时速度无法仅由总览图精确量测；节点判据结合口部/近景、视频原生叠字及评分器读数，缺少这些证据且被遮挡时仍需保留未知。",
+  "粒度解释：按 S1、S2、S8，把口部进入阶段并入信纸插入步骤的有序验收，释放静置也并入该步；不根据三个原生阶段拆成三个节点。task.json:10 明说口唇闭合时的 4 毫米间隙允许 2 毫米信纸进入，故打开口唇不是每条合法路线的必经前置状态。",
+  "模式差异：privileged 的 grade.py:113-123 要求两次新进程均成功且终态哈希相同；standard 的 grade.py:22-38 读取服务实时终态。已逐字节确认两个模式 checker.py、runtime.py、scene.py、task.json 一致，DAG 表达共同物理结果；交付有效性、哈希复现与服务记录有效性不作为世界状态节点。",
+  "文本与评分实现差异：instruction.md:3 将穿壁表述为信纸中面任意点进入壁体，而 checker.py:52-57、225-245 实际只检查内缩 1 毫米的 7×15 个采样点，并辅以有效接触穿透大于 0.7 毫米的检查；约束按实际采样实现记录，不能声称检查了连续中面的全部点。",
+  "文本约束未单独受评：instruction.md 要求左臂停放并仅由右手操作；runtime.py:96-155 未比较左臂关节与初值，checker.py:76-85、206-209 仅在左手、臂或支架触碰信纸/信封时立即失败。保留右手接触方案与非右手接触失败约束，不额外发明左臂回位步骤或未实现的关节漂移阈值。",
+  "视频的秒数与叠字模拟时间不同：参考视频总长 13.28 秒，末段显示模拟时间 84.22 秒并附最终静帧；这里只用视频秒数定位外观，不把工作日志时间或模拟时间直接当视频时间。参考成功仅用于确认可见结果，接触方案按暂行 DECISIONS.md P14 分列推送与捏持。",
+  "inserted_fraction 在 checker.py:122-125 标为诊断量，不能用其达到 95% 替代四角深度、侧封、袋内高度及有序阶段验收；native_metrics 仅列实际参与成功或立即失败判定的连续量，阈值来自 task.json:25-72、checker.py:95-117、188-191、248-254。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本语义支持单个插入步骤，所有几何阈值、阶段顺序、接触释放和静置计数均有评分源码，初态与口唇间隙可核实，成功视频及原生叠字支持最终结果；没有任何状态日志，无法逐帧绑定或核验毫米级袋内位置和子步失败条件，因此置信度为 6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点原子任务：文本步骤“把信纸送入信封口并松手”折叠为一个目标节点，口部阶段与释放静置并入其验收，符合 S1/S8；阈值（4.95 mm、|y|≤107.6、x≥-51.6、1.2–4.4 mm、0.01 m/s、0.2 rad/s、50 控制步）与失败条件均与说明文字一致，约束为立即终止；无状态日志故 when/never/success 为 null（P8），已列入 open_questions_zh。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['letter_in_envelope']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:30:01Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__envelope_letter_insert/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__envelope_letter_insert/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "767e881d2217837e1dddfd412d18a760905fe118eff4e1910f8c390c3259a46a",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--2mil8ts.json

@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-envelope-letter-insert-i00-standard--2mil8ts",
+ "taskKey": "dexhand/envelope_letter_insert",
+ "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 423,
+   "control_steps_total": 33350,
+   "elapsed_s": 3651.534,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2590,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 18,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2590,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.579,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.267,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-envelope-letter-insert-i00-standard--2mil8ts/replay.mp4",
+  "duration_s": 54.0,
+  "fps": 5.0,
+  "frames": 270,
+  "sha256": "1b140579de09c4fa648c45dd885b4b669d44d21a76b6da1b76aaa12749fb9138"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "letter_in_envelope": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，信纸与信封分开放在桌面，插入关系尚未成立。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0、12.0、24.0、36.0、40.0 s，机器人右手以伸出的手指推动信纸，先沿桌面平移，再把信纸送向信封；视频 40.0 s 两者仍分开，叠字阶段 0/3、外露 160.9 毫米。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0～47.0 s 的连续近距裁图显示信纸与信封逐渐重叠，右手反复推送时信封也沿桌面移位；视频 46.0 s 原生叠字仍为阶段 0/3、外露 72.4 毫米，未出现完成插入的窄边及释放静置状态。"
+     },
+     {
+      "t": 51.8,
+      "log_step": 417,
+      "text_zh": "观察：视频 51.8 s 出现 FAIL: envelope_displaced；原生叠字阶段 0/3、外露 70.7 毫米、hand contacts L2/E0、released hold 0/50。L/E 分别是右手与信纸/信封的有效接触计数，released hold 是离手静置计数；机器人此时仍以右手指尖接触信纸。视频 53.8 s 的最终静帧保持同一失败状态。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 417,
+      "text_zh": "推断：log step 410 重置到第 19 局，log step 414 启动最后控制器，log step 417 的服务状态为 episode=19、control_steps=2590、done=True、reason=task_failure，与评分视频末端的物理失败一致。节点按本局视频判为从未完成；log step 419 中 agent 自述已进入口部、会话时间结束，不作为该节点成立的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 8.0～40.0 s，机器人右手伸出的中指指腹/指尖推动信纸在桌面滑移、对准信封；视频 40.0～51.8 s，右手指尖继续推送信纸外露部分，期间抬指换点后再次下推，信封随之被带动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "outside_m",
+   "unit": "m",
+   "threshold": 0.00495,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "letter_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "letter_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_shift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "letter_in_envelope",
+   "t": 51.8,
+   "log_step": 417,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 40.0～51.8 s，机器人右手反复推动信纸进入信封，两物体重叠后信封也被推离原位；视频 51.8 s 再次下指接触信纸时出现 FAIL: envelope_displaced，阶段仍为 0/3、外露 70.7 毫米。视频 53.8 s 最终静帧没有恢复；log step 417 的第 19 局服务状态确认 task_failure。"
+  },
+  "unmet": {
+   "letter_in_envelope": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 51.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 40.0～47.0 s，机器人右手向信封方向推信纸时，原本应留在桌面原位的信封随信纸一起滑动；视频 48.0～51.8 s，右手抬起换点并继续下推，信纸相对信封仍大幅外露，最终原生叠字报 envelope_displaced。推断：插入操作带动了接纳信纸的信封本体，所需的相对插入运动不足，并触发信封移位判负。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 51.8,
+    "log_step": 411,
+    "evidence_zh": "推断：log step 411 的最后控制方案通过预设接触高度与推送航点把信纸后缘向口部送入；视频 43.0～51.8 s 可见机器人反复换点推送，信封却被共同带走，原生阶段始终未通过。执行中的接触控制未能把推送转化为稳定的相对插入，因此归于控制；现有证据不足以进一步区分接触几何、轨迹跟踪或力调节的具体问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触力或逐步物体位姿读数，无法独立量测袋内毫米级高度及各次推送的受力，也不能确定控制失败的更细子类。run.json 的 reward 未报告 DAG 所列连续原生指标，故 native_metrics 的 value 留 null；视频叠字只用于节点与失败证据。"
+ },
+ "summary_zh": "机器人右手将信纸沿桌面移动、对准并部分推向信封，但完整插入及离手静置从未达成，节点最终为 0/1。视频 51.8 s，推送信纸带动信封移位，出现 envelope_displaced 判负；末帧仍为阶段 0/3、外露 70.7 毫米、静置 0/50，失败归于接触控制。无状态及力读数，不能进一步确定具体控制子类；agent 在 log step 419 的口部进展和时间结束自述与视频终止证据有别，以评分视频为准。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未完成、断点（视频 51.8 s、FAIL: envelope_displaced）、带动本体现象和停在“控制”的根因均与帧及 log step 417 的服务状态一致；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": "2026-10-29T11:54:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--2mil8ts/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--2mil8ts/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8eb8bf0a9233d8634474652c0df71c2711f72ee97785147ee6993f621b738578",
+   "video_sha256": "1b140579de09c4fa648c45dd885b4b669d44d21a76b6da1b76aaa12749fb9138",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--93xylns.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-envelope-letter-insert-i00-standard--93xylns",
+ "taskKey": "dexhand/envelope_letter_insert",
+ "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 132,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 5051,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 5051,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.567,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.974,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-envelope-letter-insert-i00-standard--93xylns/replay.mp4",
+  "duration_s": 61.8,
+  "fps": 5.0,
+  "frames": 309,
+  "sha256": "42f9eb78ae0ffd05e76ee003e4a0ace0a9d2b4efb11c2e59c5baf884d5b14cff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "letter_in_envelope": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，信纸和信封分别平放在桌面两处，叠字阶段 0/3，插入节点初始不成立。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s，机器人右手多个指腹压在信纸上；结合视频 6.0～20.0 s 的连续位移，信纸沿桌面滑到信封口外一侧，未被相向手指夹起。"
+     },
+     {
+      "t": 39.4,
+      "log_step": null,
+      "text_zh": "观察：视频 37.6～39.4 s，机器人改用右手单指推进信纸，信纸前缘逐渐隐入信封前壁下；视频 39.4 s 原生叠字阶段 1/3、外露 88.0 毫米，此时仍有大片信纸在口外，尚未完成本节点。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：视频 58.4 s 原生叠字阶段 1/3、外露 5.4 毫米；视频 58.6 s 变为阶段 2/3、外露 4.3 毫米，但右手接触读数 L2/E0、静置 0/50，释放静置验收尚未完成。L/E 是右手与信纸/信封的有效接触计数。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：视频 59.0、59.2、59.4 s，右手撤离接触，原生静置计数依次为 14/50、31/50、48/50；视频 59.6 s 首次显示 PASS、阶段 3/3、外露 3.8 毫米、右手接触 L0/E0、静置 50/50，信纸仅留窄边，故以该帧作为节点首次完成时刻，时间精度约 0.2 s。"
+     },
+     {
+      "t": 61.6,
+      "log_step": null,
+      "text_zh": "观察：视频 59.8～61.6 s 的终态近景显示右手指尖与物体分离，信纸留在信封中，叠字持续为 PASS、阶段 3/3、接触 L0/E0、静置 50/50，最后一秒无退回口外或重新接触。"
+     },
+     {
+      "t": null,
+      "log_step": 97,
+      "text_zh": "观察：log step 97 的机器人服务回报 control_steps=5051、done=True、reason=success；inputs/run.json 的评分器字段 live_success=1、replay_success=1、live_matches_replay=1、resets=0，与视频完成结果一致。此处不将 agent 时间或控制步数换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手在视频 6.0～20.0 s 以多个指腹接触信纸表面，沿桌面滑移并调整朝向；视频 33.0～59.0 s 改用单个伸出的中指指腹及指尖带动信纸，并多次撤指改换位置、从外露后缘向信封口内推送，最后卷指退手。没有相向夹持信纸的可见抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "outside_m",
+   "unit": "m",
+   "threshold": 0.00495,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "letter_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "letter_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_shift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "envelope_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "右手先让信纸沿桌面滑移并调整方向，送入口部后改换单指接触点继续推送，最终完成信纸插入信封，节点进度由 0/1 在视频 59.6 s 达到 1/1 并保持至结束。视频 59.6 s 显示 PASS、阶段 3/3、外露 3.8 毫米、接触 L0/E0、静置 50/50，末段近景与成功参考的袋内留窄边、离手外观一致，评分器也确认实时及回放均成功。没有状态日志，袋内毫米级几何和瞬时速度依赖视频原生验收叠字及成功判定，不能独立精确量测；run.json 的评分器字段未报告 DAG 所列连续指标数值，native_metrics 均留 null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，单节点 letter_in_envelope 在视频 59.6 s 首次显示 PASS、阶段 3/3、L0/E0、静置 50/50，与帧一致；接触为推/扫，符合画面；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": "2026-10-29T11:52:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--93xylns/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--93xylns/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "98c7c03e996a7e8e63be321ec9280bf07d527f7cb91e94bc2f22975c77fe2262",
+   "video_sha256": "42f9eb78ae0ffd05e76ee003e4a0ace0a9d2b4efb11c2e59c5baf884d5b14cff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/picture_hang/task_dag.json

@@ -0,0 +1,420 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/picture_hang",
+ "suite": "dexhand",
+ "base": "dexhand-picture-hang-i00",
+ "title_zh": "双钩挂画",
+ "summary_zh": "相框曾抬离台面，左右挂环挂在匹配墙钩上，由双钩承重且无人手接触，水平竖直静止保持50个控制步。",
+ "embodiment_zh": "两种模式均为固定支架上的天机Marvin双臂机器人，每臂7个关节、各配一只灵巧手，无移动底盘；默认双Sharpa Wave（右手原型、左手镜像），亦支持厂家左右Wuji Hand 2.2。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-picture-hang-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "picture_lifted",
+    "zh": "相框离台",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "freeze_held": false,
+    "criterion_zh": "总览中白色相框底边离开棕色台面且出现间隙，底边中心由初始高度0.72米升至至少0.74米、相框及挂环均不接触台面；仅扶住或抬动但未离台不算。录像顶部阶段由0/3进入1/3可作佐证，完成后不因高度改变撤销本事件。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左手抓住相框左侧边框，右手抓住右侧边框，共同抬持并引导背后的挂环对准墙钩。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 2,
+      "note_zh": "候选接触名：双手对向夹压。左、右手从相框两侧向内夹压边框以摩擦承重；手指不包围边框，现有抓握、托/舀均不准确，按 D12 使用其他；成功录像采用此方案。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:231-234",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:87",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:112-116",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/95e2695c2d/scene.py:144-147",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/95e2695c2d/scene.py:255-264"
+    ],
+    "conf": 7,
+    "note_zh": "文本明确要求的离台状态，评分器锁存该阶段；允许在双手持框时暂停。不是另加抓握、搬运或靠近阶段；后续只要求曾经离台，因此采用event且不标终态目标。"
+   },
+   {
+    "id": "left_ring_on_hook",
+    "zh": "左环挂上钩",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "picture_lifted"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "左侧D形环真正穿过同侧墙钩的承重座并与钩接触，环处在翘唇与墙之间，该钩通过挂环承担至少20%的总重；环搭在钩唇顶、只对准未接触、脱钩或失去该承重均不成立；总览中的挂环常被相框遮挡，应结合钩部特写或录像顶部threaded L=1及同侧hook load至少0.20 W判断；手仍扶框时可成立。整体成功还须左右环同时穿挂并接触各自墙钩、每钩竖直承重占总重至少20%且合计至少85%，双手均不接触相框（含挂环），相框不碰台面或地面，顶边偏离水平不超过3度、离竖直倾角不超过0.10弧度、质心速度不超过0.02米/秒、角速度不超过0.15弧度/秒，连续50个控制步；这些是跨两步的共同验收，任一不满足都会重置保持计数。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左手抓住相框左侧边框，右手抓住右侧边框，共同抬持并引导背后的挂环对准墙钩。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 2,
+      "note_zh": "候选接触名：双手对向夹压。左、右手从相框两侧向内夹压边框以摩擦承重；手指不包围边框，现有抓握、托/舀均不准确，按 D12 使用其他；成功录像采用此方案。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:94-111",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:129-138",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:156-169",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:229-257",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:88-95"
+    ],
+    "conf": 7,
+    "note_zh": "左右挂环各有固定的匹配墙钩，按两项穿挂关系分别建节点；两步无左右先后边，可同时完成。接触由双手操纵相框传到被动挂环，不要求手直接抓环。单环承重是本步验收；双环共同承重、整体姿态、松手静止及保持窗口归success，避免把操作另一侧时的手接触误判为本侧倒退。"
+   },
+   {
+    "id": "right_ring_on_hook",
+    "zh": "右环挂上钩",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "picture_lifted"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "右侧D形环真正穿过同侧墙钩的承重座并与钩接触，环处在翘唇与墙之间，该钩通过挂环承担至少20%的总重；环搭在钩唇顶、只对准未接触、脱钩或失去该承重均不成立；总览中的挂环常被相框遮挡，应结合钩部特写或录像顶部threaded R=1及同侧hook load至少0.20 W判断；手仍扶框时可成立。整体成功还须左右环同时穿挂并接触各自墙钩、每钩竖直承重占总重至少20%且合计至少85%，双手均不接触相框（含挂环），相框不碰台面或地面，顶边偏离水平不超过3度、离竖直倾角不超过0.10弧度、质心速度不超过0.02米/秒、角速度不超过0.15弧度/秒，连续50个控制步；这些是跨两步的共同验收，任一不满足都会重置保持计数。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左手抓住相框左侧边框，右手抓住右侧边框，共同抬持并引导背后的挂环对准墙钩。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 2,
+      "note_zh": "候选接触名：双手对向夹压。左、右手从相框两侧向内夹压边框以摩擦承重；手指不包围边框，现有抓握、托/舀均不准确，按 D12 使用其他；成功录像采用此方案。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:94-111",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:129-138",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:156-169",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:229-257",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:88-95"
+    ],
+    "conf": 7,
+    "note_zh": "左右挂环各有固定的匹配墙钩，按两项穿挂关系分别建节点；两步无左右先后边，可同时完成。接触由双手操纵相框传到被动挂环，不要求手直接抓环。单环承重是本步验收；双环共同承重、整体姿态、松手静止及保持窗口归success，避免把操作另一侧时的手接触误判为本侧倒退。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_collision",
+    "zh": "非手部碰撞",
+    "never": null,
+    "criterion_zh": "任一机械臂、躯干或支架连杆接触任何物体即失败，包含相框、墙钩、墙、台面、地面或另一只手；只允许双手接触环境。每个0.002秒物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:44-55",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:182-185",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:210-221"
+    ]
+   },
+   {
+    "id": "picture_touches_floor",
+    "zh": "相框触地",
+    "never": null,
+    "criterion_zh": "相框或其挂环与地面发生接触即失败，每个物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:74",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:143-144",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:186-187"
+    ]
+   },
+   {
+    "id": "picture_left_workspace",
+    "zh": "相框越界",
+    "never": null,
+    "criterion_zh": "相框原点即底边中心离开闭区间工作盒：x为[0.20,0.76]米、y为[-0.45,0.45]米、z为[0.60,1.30]米；每个物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:188-189",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:98-108"
+    ]
+   },
+   {
+    "id": "picture_tipped",
+    "zh": "相框倾倒",
+    "never": null,
+    "criterion_zh": "相框偏离竖直的倾角严格超过0.6弧度即失败，每个物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:190-191",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:96"
+    ]
+   },
+   {
+    "id": "picture_below_support",
+    "zh": "相框跌低",
+    "never": null,
+    "criterion_zh": "曾完成离台后，相框底边中心低于初始0.72米减0.01米，即严格低于0.71米，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:192-193",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:97",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:112-116"
+    ]
+   },
+   {
+    "id": "ring_fell_off",
+    "zh": "挂环脱钩",
+    "never": null,
+    "criterion_zh": "评分器曾锁存双环穿挂并接触双钩后，在无手接触相框及挂环时任一挂环不再穿挂即失败；每个物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:194-195",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:233-234"
+    ]
+   },
+   {
+    "id": "picture_unsupported",
+    "zh": "相框无支承",
+    "never": null,
+    "criterion_zh": "曾离台后，无手接触、无台面接触，且不满足左右环均穿挂并接触同侧墙钩：每个控制步末立即失败；控制步内部若同时质心向下速度严格超过0.2米/秒，也立即失败，不允许落下再接住。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:196-208",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:210-217",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:235-238",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:110"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理失稳",
+    "never": null,
+    "criterion_zh": "物理步产生MuJoCo的BADQPOS、BADQVEL或BADQACC警告时立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/969b07e0b2/runtime.py:106-114"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "picture_lifted",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:231-234; log Checker.stage >= 1 (latched lift-off)"
+   },
+   {
+    "atom": "left_ring_on_hook",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:156-169,244; log Checker.last.threaded.l, ring_touches_hook.l, hook_load_share.l"
+   },
+   {
+    "atom": "right_ring_on_hook",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:156-169,244; log Checker.last.threaded.r, ring_touches_hook.r, hook_load_share.r"
+   },
+   {
+    "atom": "released_stable_hang",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:241-257; log Checker.stage, Checker.hold and Checker.last (both_hanging, hook_load_share, hand_contacts, touch_console, touch_floor, roll_deg, tilt_rad, speed_m_s, angular_speed_rad_s)"
+   },
+   {
+    "atom": "failure_invariants",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf1c141a55/checker.py:179-221; inputs/grader/efe_dexhand-files/privileged/environment/variants/969b07e0b2/runtime.py:106-114; log per-substep Checker.last, Checker.stage, Checker.failure and MuJoCo warnings"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "lift_clearance_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:87"
+   ]
+  },
+  {
+   "name": "hook_load_share_l",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:89"
+   ]
+  },
+  {
+   "name": "hook_load_share_r",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:89"
+   ]
+  },
+  {
+   "name": "total_hook_load_share",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:90"
+   ]
+  },
+  {
+   "name": "abs_roll_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:91"
+   ]
+  },
+  {
+   "name": "tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:92"
+   ]
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:93"
+   ]
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:94"
+   ]
+  },
+  {
+   "name": "hold_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/cf26dc5048/task.json:95"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空；依P8所有when、never和success均为null，不能从状态日志验证几何、接触力、速度或失败历史；atoms列出需要新增记录的原生特征，视频顶部读数可辅助判定。",
+  "粒度边界：按S2保留文本明确且被锁存验收的相框离台，再将固定配对的左右挂环各列为穿挂一步；不是按三个评分阶段照搬，松手稳挂阶段并入跨两步的共同验收。两环同属一个相框，整体穿挂也有合并理解的空间，当前依逐固定目标规则拆分。",
+  "两种模式的物理checker逐字一致；privileged额外要求两个独立回放都成功且终态哈希相同，standard采用服务端最后一次实时episode的判定（privileged/tests/grade.py:113-124；standard/tests/grade.py:22-29）。这些交付和确定性要求不变成世界状态步骤，success保留共同物理语义。",
+  "文本要求用双手抬框，但checker只检查离台高度与无台面接触，不检查左右手均接触（checker.py:231-232）；双臂协作作为任务级接触方案，不额外添加双手接触成功条件。",
+  "目录摘要中的withdraws未被独立检查：任务正文要求无人手接触，checker没有额外撤离距离（checker.py:246）；按N3采用正文，撤手计入联合验收。",
+  "成功录像只提供遮挡较多的总览；逐环穿挂和20%承重不能仅凭外观精确量化，需结合顶部threaded、hook load、hand contacts及hold显示。录像时间与顶部模拟时间不同，未用单个回放拟合时间或阈值。"
+ ],
+ "conf": 7,
+ "conf_reason_zh": "文本、初态、共享评分器及阈值均有直接依据，成功录像显示离台、双环穿挂和最终50步保持；无状态日志且挂环遮挡，数值验收无法独立复核，逐环拆分仍有粒度边界。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三节点（相框离台→左环挂钩、右环挂钩）与说明文字相符；松手稳挂并入联合验收，不另设节点；无状态日志，按P8 when/success为null；约束与checker失败条件一致且均为立即终止，ring节点已设freeze_held=false，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['picture_lifted', 'left_ring_on_hook', 'right_ring_on_hook']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:26:06Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__picture_hang/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__picture_hang/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "18addf668709ff7c2841f25748533e388352a44fca190e76f06fe38e39590ed8",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--yyveuyv.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-picture-hang-i00-privileged--yyveuyv",
+ "taskKey": "dexhand/picture_hang",
+ "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 420,
+   "sim_steps": 365,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.917,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.248,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-picture-hang-i00-privileged--yyveuyv/replay.mp4",
+  "duration_s": 8.32,
+  "fps": 25.0,
+  "frames": 208,
+  "sha256": "55afa91630b76a67982289b10258d64d9913e7d4a0a5f6327459e957465fd038"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "picture_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.56,
+      "log_step": null,
+      "text_zh": "观察：视频 1.52 s 顶部仍为 stage 0/3；视频 1.56 s 变为 stage 1/3，机器人双手将相框上抬，底边与棕色台面出现间隙；视频 2.60 s 可清楚看到相框完全离开台面。离台事件此后保持锁存。"
+     },
+     {
+      "t": 7.32,
+      "log_step": 95,
+      "text_zh": "观察：视频 7.32 s 顶部显示 PASS、stage 3/3；log step 95 对最终交付文件的独立回放返回 success=true、stage=3、steps=365，与 inputs/run.json 的 success=1、stages_completed=3 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.80–2.60 s，机器人左右灵巧手分别在相框两侧屈指夹持，手指绕到边框前侧，双臂共同抬框；视频 2.60–5.80 s 保持夹持并向墙移动、下放相框，随后张指撤手。推断：结合 log step 65 交付脚本的拇指与其余手指闭合指令，按两手各夹住一侧边框记抓握；不是手直接抓住挂环。"
+     }
+    ]
+   },
+   "left_ring_on_hook": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.92,
+      "log_step": null,
+      "text_zh": "观察：视频 4.24–4.48 s 的 L 环虽显示 threaded=1，但同侧 hook load=0.00 W；视频 4.72–5.40 s 虽出现承重读数，L 环却显示 threaded=0，不能计为挂上。视频 5.44–5.84 s 的逐帧读数仍未同时满足该环穿挂和至少0.20 W承重；视频 5.88 s 顶部仍为 stage 1/3、threaded L=0 R=1，虽左侧 hook load=1.63 W，左环尚不满足穿挂条件；视频 5.92 s 首次显示 threaded L=1 R=1、stage 2/3，左侧 hook load=1.49 W，机器人正张指卸载相框。顶部 hook load 的 W 表示占相框总重的份额。"
+     },
+     {
+      "t": 6.32,
+      "log_step": null,
+      "text_zh": "观察：视频 5.92–6.60 s 的密集帧显示双环持续趋于就位，视频 6.00 s 有一帧 threaded=0、视频 6.28 s 有一帧承重不足，均在随后一帧恢复，短于0.3秒，不拆分区间；视频 6.04 s 起 hand contacts=0。视频 6.32 s 开始累计保持，至视频 7.32 s 为 PASS、hold 50/50，L 环 threaded=1、同侧 hook load=0.54 W；视频 7.44–8.28 s 保留同一成功终态。"
+     },
+     {
+      "t": 7.32,
+      "log_step": 95,
+      "text_zh": "推断：挂环位于相框背面，单凭总览难以看清环钩接触；依据本次视频顶部穿挂、承重与保持读数，并结合 log step 95 的交付回放 success=true 及评分器 success=1，判定该环最终满足节点。成功参考视频呈现相同的双手撤离、双环承重及50步保持线索，但不作为本次运行的事实来源。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.80–2.60 s，机器人左右灵巧手分别在相框两侧屈指夹持，手指绕到边框前侧，双臂共同抬框；视频 2.60–5.80 s 保持夹持并向墙移动、下放相框，随后张指撤手。推断：结合 log step 65 交付脚本的拇指与其余手指闭合指令，按两手各夹住一侧边框记抓握；不是手直接抓住挂环。"
+     }
+    ]
+   },
+   "right_ring_on_hook": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.88,
+      "log_step": null,
+      "text_zh": "观察：视频 4.24–4.48 s 的 R 环虽显示 threaded=1，但同侧 hook load=0.00 W；视频 4.72–5.40 s 虽出现承重读数，R 环却显示 threaded=0，不能计为挂上。视频 5.44–5.84 s 的逐帧读数仍未同时满足该环穿挂和至少0.20 W承重；视频 5.88 s 首次显示 threaded R=1（此时 L=0、stage 1/3）且同侧 hook load=1.63 W，机器人正张指卸载相框。顶部 hook load 的 W 表示占相框总重的份额。"
+     },
+     {
+      "t": 6.32,
+      "log_step": null,
+      "text_zh": "观察：视频 5.92–6.60 s 的密集帧显示双环持续趋于就位，视频 6.00 s 有一帧 threaded=0、视频 6.28 s 有一帧承重不足，均在随后一帧恢复，短于0.3秒，不拆分区间；视频 6.04 s 起 hand contacts=0。视频 6.32 s 开始累计保持，至视频 7.32 s 为 PASS、hold 50/50，R 环 threaded=1、同侧 hook load=0.52 W；视频 7.44–8.28 s 保留同一成功终态。"
+     },
+     {
+      "t": 7.32,
+      "log_step": 95,
+      "text_zh": "推断：挂环位于相框背面，单凭总览难以看清环钩接触；依据本次视频顶部穿挂、承重与保持读数，并结合 log step 95 的交付回放 success=true 及评分器 success=1，判定该环最终满足节点。成功参考视频呈现相同的双手撤离、双环承重及50步保持线索，但不作为本次运行的事实来源。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.80–2.60 s，机器人左右灵巧手分别在相框两侧屈指夹持，手指绕到边框前侧，双臂共同抬框；视频 2.60–5.80 s 保持夹持并向墙移动、下放相框，随后张指撤手。推断：结合 log step 65 交付脚本的拇指与其余手指闭合指令，按两手各夹住一侧边框记抓握；不是手直接抓住挂环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lift_clearance_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hook_load_share_l",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hook_load_share_r",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "total_hook_load_share",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "abs_roll_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hold_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人双手屈指夹持相框，视频 1.56 s 离台，视频 5.88 s 右环首次满足穿挂与承重条件，视频 5.92 s 左环也满足，双环此时首次同时满足条件，三个节点最终全部完成。视频 7.32 s 显示 PASS、hand contacts=0、hold 50/50，视频 8.28 s 仍保留成功终态，交付文件独立回放也成功。挂环被相框遮挡，穿挂与承重主要依据本次视频顶部读数及评分器，缺少状态日志独立复核；run.json 的评分器字段未报告 DAG 所列原生指标的数值，故这些 value 留 null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "三个节点的值与时间基本正确（离台 1.56 s、双环 ≈5.9 s 起保持到 PASS）；仅有一处观察性描述与帧不符：5.88 s 帧左环 threaded L=0。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点的值与时间（离台 1.56 s、右环 5.88 s、左环 5.92 s、PASS 7.32 s）与帧顶栏读数一致，上一轮意见已改正；成功运行无失败节点，未见错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:58:01Z",
+  "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/dexhand-picture-hang-i00-privileged--yyveuyv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--yyveuyv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--yyveuyv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--yyveuyv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "61a5b58fd3ca55b0746da0f1b4330f0eb307fe8c21565aaef5ba59e87d1a2c5f",
+   "video_sha256": "55afa91630b76a67982289b10258d64d9913e7d4a0a5f6327459e957465fd038",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--6hhad9o.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-picture-hang-i00-standard--6hhad9o",
+ "taskKey": "dexhand/picture_hang",
+ "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 165,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 161,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 161,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.394,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.253,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-picture-hang-i00-standard--6hhad9o/replay.mp4",
+  "duration_s": 4.4,
+  "fps": 5.0,
+  "frames": 22,
+  "sha256": "efdcf70c3be5cbe28baf16ef3eb2aaed8de50deae85cc6c770ff68aecc837a9a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "picture_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 112,
+      "text_zh": "观察：视频1.8 s相框底部仍在台面处，视频2.0 s机器人已把相框抬高，顶部评分显示由stage 0/3进入1/3；视频2.2–3.2 s底边与台面间有明显空隙。离台首次达成取视频2.0 s，采样误差约0.2 s；该事件锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频1.6–2.2 s，两只灵巧手弯曲手指扣持相框左右竖边框并共同抬框；每只手作用于自己一侧的边框。视频2.6–3.2 s，双手继续持框向墙钩搬运，接触逐渐丢失。"
+     }
+    ]
+   },
+   "left_ring_on_hook": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": 112,
+      "text_zh": "观察：视频0.0–4.2 s顶部评分叠字的threaded L=0，且同侧hook load=0.00 W（按画面记法表示以整框重量W归一化的钩承重）；从未出现左环穿挂并承重的读数。视频2.6–3.2 s机器人持框向墙钩搬运，尚未落钩，视频3.4 s首次显示FAIL: picture_unsupported，终态仍stage 1/3、双侧threaded=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频1.6–2.2 s，两只灵巧手弯曲手指扣持相框左右竖边框并共同抬框；每只手作用于自己一侧的边框。视频2.6–3.2 s，双手继续持框向墙钩搬运，接触逐渐丢失。"
+     }
+    ]
+   },
+   "right_ring_on_hook": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": 112,
+      "text_zh": "观察：视频0.0–4.2 s顶部评分叠字的threaded R=0，且同侧hook load=0.00 W（按画面记法表示以整框重量W归一化的钩承重）；从未出现右环穿挂并承重的读数。视频2.6–3.2 s机器人持框向墙钩搬运，尚未落钩，视频3.4 s首次显示FAIL: picture_unsupported，终态仍stage 1/3、双侧threaded=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频1.6–2.2 s，两只灵巧手弯曲手指扣持相框左右竖边框并共同抬框；每只手作用于自己一侧的边框。视频2.6–3.2 s，双手继续持框向墙钩搬运，接触逐渐丢失。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lift_clearance_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hook_load_share_l",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hook_load_share_r",
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "total_hook_load_share",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "abs_roll_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hold_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_ring_on_hook",
+   "t": 3.4,
+   "log_step": 112,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.6–3.2 s机器人在把已离台的相框运向配对墙钩，双环均未穿挂；视频3.0 s顶部hand contacts为6，视频3.2 s为1，视频3.4 s为0并显示FAIL: picture_unsupported（叠字终止仿真时刻3.22 s）。log step 112最后一局执行A/B/C/D后，在墙面接近段F执行31个控制步即task_failure；计划落钩和松手段尚未执行。左右环同步操作且同时未完成，以左环节点记录这一共同搬运失败。"
+  },
+  "unmet": {
+   "left_ring_on_hook": false,
+   "right_ring_on_hook": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.4,
+    "log_step": 112,
+    "evidence_zh": "观察：视频2.2–2.6 s相框被机器人双手持起并随手移动，随后持框接触逐渐减少；视频3.2 s仍有1处hand contacts，视频3.4 s降至0，相框已远离台面且双环穿挂和双钩承重均为0，评分叠字立即提示picture_unsupported。log step 112记录本局停在持框向墙搬运的F段，尚未执行计划张手的J段，属于搬运中失去持框接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 106给出的控制序列在抬升D段和向墙接近F段均维持CLOSED手指目标，log step 112仅提高弯指目标后重跑，服务仍报告F段提前task_failure；视频2.2–3.4 s可见相框曾随手移动、随后失去全部手接触。目标是持框搬向双钩而非主动释放，因此可归为持物控制失败；没有足够接触力或关节跟踪数据进一步区分接触设计、逆解或反馈控制。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "无状态日志；本次输入仅有总览视频，远侧手和挂环部分遮挡，无法可靠确定哪只手先失效及具体接触力、摩擦或跟踪误差。根因只标到控制，不采信log step 113对质心偏置、左手滑脱和座位容差的自述为已验证事实；此前试验执行到落钩或松手的结果不计入最后一局。评分器reward未报告DAG各原生指标数值，native_metrics.value均保留null。"
+ },
+ "summary_zh": "评分尝试在视频约2.0 s完成相框离台，随后双手向墙钩搬运，左右挂环始终未穿挂承重，终态进度为1/3。视频3.4 s首次显示持框接触归零及picture_unsupported，断在双环同步挂钩的搬运过程中，现象为没保持住，根因保留为控制。无状态日志且远侧手遮挡，不能进一步确认先失效的手或具体控制子因；log step 112之前的重置试验不作为本局进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "复核视频：视频2.0 s顶部由stage 0/3变1/3，3.0 s hand contacts 6、3.2 s 1、3.4 s 0并显示FAIL: picture_unsupported，threaded L/R始终为0；节点值、时间、断点与现象均有画面支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:52:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-standard--6hhad9o/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-standard--6hhad9o/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fbda7697f7519a917eed002342e0646a487a40a12788bc1de21e4260960b97bf",
+   "video_sha256": "efdcf70c3be5cbe28baf16ef3eb2aaed8de50deae85cc6c770ff68aecc837a9a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/sweep_dustpan/task_dag.json

@@ -0,0 +1,584 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/sweep_dustpan",
+ "suite": "dexhand",
+ "base": "dexhand-sweep-dustpan-i00",
+ "title_zh": "扫屑入箕并抬起",
+ "summary_zh": "六件碎屑完整进入簸箕并由簸箕承接，逐件曾被刷毛触碰，装载簸箕抬高至少50毫米且碎屑低速共同保持约一秒，全程不触发失败。",
+ "embodiment_zh": "两模式均为固定天机Marvin基座、两条七关节机械臂；左右臂各装一只灵巧手，同局两手同型号，可为默认Sharpa Wave（每手22个手指执行器）或Wuji Hand 2.2（每手20个）。左手开局握簸箕柄、右手开局握扫帚杆；底座不移动，工具和碎屑为自由刚体。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-sweep-dustpan-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {
+   "dustpan": {
+    "body": "dustpan"
+   },
+   "broom": {
+    "body": "broom"
+   },
+   "debris_0": {
+    "body": "debris_0"
+   },
+   "debris_1": {
+    "body": "debris_1"
+   },
+   "debris_2": {
+    "body": "debris_2"
+   },
+   "debris_3": {
+    "body": "debris_3"
+   },
+   "debris_4": {
+    "body": "debris_4"
+   },
+   "debris_5": {
+    "body": "debris_5"
+   }
+  },
+  "milestones": [
+   {
+    "id": "orange_package_in_pan",
+    "zh": "橙包装入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，橙色小方块包装碎片已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫橙色小方块包装碎片进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接橙色小方块包装碎片；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_0 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_0颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保持窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "red_cap_in_pan",
+    "zh": "红瓶盖入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，红色圆瓶盖已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫红色圆瓶盖进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接红色圆瓶盖；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_1 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_1颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保持窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "wood_chip_in_pan",
+    "zh": "木屑入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，棕色细长木屑已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫棕色细长木屑进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接棕色细长木屑；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_2 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_2颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保持窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "blue_package_in_pan",
+    "zh": "蓝包装入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，浅蓝色小方块包装碎片已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫浅蓝色小方块包装碎片进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接浅蓝色小方块包装碎片；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_3 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_3颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保持窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "paper_ball_in_pan",
+    "zh": "纸球入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，米白色不规则皱纸球已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫米白色不规则皱纸球进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接米白色不规则皱纸球；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_4 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_4颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保持窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "yellow_cap_in_pan",
+    "zh": "黄瓶盖入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中，黄色圆瓶盖已越过绿色簸箕入口斜坡，全部碰撞形状位于簸箕本体坐标的 |x|≤0.229 m、−0.131≤y≤0.131 m、0.003≤z≤0.110 m 内，并与底板、斜坡或内壁之一接触（力≥0.001 N）；仍在地上、仅搭在入口或有部分越界均未完成，扫出或失去接触即失去此状态。最终还须与其余五件及抬箕条件共同满足低速并保持2000个物理步，刷毛逐件接触历史按总成功验收，不作为本步骤的独立进度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，以刷毛推扫黄色圆瓶盖进入簸箕；左手同时握持簸箕接料。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕斜坡和底板承接黄色圆瓶盖；与右手扫帚的推扫同时配合。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 debris_5 geometry/color and pan_floor geometry",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170 whole-shape containment",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212 pan support contacts",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 joint terminal acceptance",
+     "inputs/task/privileged/environment/instance.json:59-93 thresholds"
+    ],
+    "conf": 6,
+    "note_zh": "debris_5颜色或形状可与其余五件区别，按不同物件建节点，不强加扫入顺序。入箕只计世界结果；刷毛接触历史是总成功的手段限制。静止与共同保��窗口在总成功验收，不能用各件分别保持代替。扫起、短暂飞行、补刷与扫帚撤离不另列节点。"
+   },
+   {
+    "id": "pan_raised",
+    "zh": "抬起簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "工作视角中绿色簸箕抬离灰色地面，簸箕原点比 z=−0.10 m 的地面高至少0.05 m（原点世界 z≥−0.05 m）；仍贴地或降低到该高度以下均不成立。最终六件须同时完整入箕且各有≥0.001 N的簸箕接触，线速度均<0.03 m/s、角速度均<0.8 rad/s，每件曾有≥0.001 N刷毛接触、无失败且已过1.2 s握持沉降期，并与抬箕条件共同连续保持2000个0.0005 s物理步（总成功窗口，约1 s；用原生terminal_run≥2000确认，视频需按画面模拟时钟且排除末尾定格）。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左手灵巧手保持握住簸箕柄，左臂抬高簸箕；右手继续握扫帚属于工具保持约束。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/privileged/environment/instance.json:58-93 lift/speeds/hold",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:227-239 settling and grip reference",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311 terminal predicate and hold counter",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:185-206 frozen reset",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719 pan origin initially at floor"
+    ],
+    "conf": 6,
+    "note_zh": "这是文本明确要求的装载后抬箕结果。节点本身只检查抬高；装载、静止、刷毛历史和共同窗口在总成功验收；手不松开，freeze_held=false。评分器无先扫入再抬高的阶段锁，允许扫入与抬箕重叠，故不加门控或习惯顺序边；所有目标最终须同时成立。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "debris_outside_workspace",
+    "zh": "碎屑离开工区",
+    "never": null,
+    "criterion_zh": "任一碎屑本体中心世界x<0.45或>1.00 m，y<−0.50或>0.40 m，或相对z=−0.10 m地面高度>0.25或<−0.01 m，即永久失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:255-269",
+     "inputs/task/privileged/environment/instance.json:106-115"
+    ]
+   },
+   {
+    "id": "robot_touched_debris",
+    "zh": "机器人直碰碎屑",
+    "never": null,
+    "criterion_zh": "任一机器人部位与任一碎屑的接触力≥0.001 N即永久失败；允许扫帚刷毛和簸箕接触碎屑，不能用手或臂直接搬动。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:270-271",
+     "inputs/task/privileged/environment/instance.json:61"
+    ]
+   },
+   {
+    "id": "tool_grip_lost",
+    "zh": "工具脱手",
+    "never": null,
+    "criterion_zh": "从物理步起始时间≥1.2 s起，任一工具柄上由其所属手的不同碰撞部件提供的≥0.01 N接触少于2个，即永久失败；左手只负责簸箕，右手只负责扫帚。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:221-232",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:276-281",
+     "inputs/task/privileged/environment/instance.json:74-80",
+     "inputs/task/privileged/environment/instance.json:92-104"
+    ]
+   },
+   {
+    "id": "tool_slipped",
+    "zh": "工具滑移",
+    "never": null,
+    "criterion_zh": "从1.2 s起，以首次受检时的手掌相对工具姿态为基准，任一柄握持标记漂移≥0.025 m或工具相对手掌转角≥0.25 rad即永久失败，之后恢复也不能挽回。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:233-249",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:282-283",
+     "inputs/task/privileged/environment/instance.json:77-78"
+    ]
+   },
+   {
+    "id": "wrong_link_pressed_tool",
+    "zh": "异侧部位压工具",
+    "never": null,
+    "criterion_zh": "扫帚或簸箕被其所属手以外的机器人部位接触，历史最大接触力>0.01 N即永久失败；包括另一只手、手臂或躯干。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:218-220",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:274-275",
+     "inputs/task/privileged/environment/instance.json:79"
+    ]
+   },
+   {
+    "id": "robot_self_collision",
+    "zh": "机器人自碰撞",
+    "never": null,
+    "criterion_zh": "机器人两个不同手之间或手、臂、躯干之间任一受检碰撞接触力≥0.001 N即永久失败；同一手内部的碰撞允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-217",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:272-273"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理仿真失稳",
+    "never": null,
+    "criterion_zh": "出现MuJoCo BADQPOS、BADQVEL、BADQACC警告或非有限广义加速度时终止并失败，不能仅凭画面安静推定不存在。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:35",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:245-253"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "debris_0_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_0_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "debris_1_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_1_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "debris_2_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_2_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "debris_3_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_3_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "debris_4_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_4_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "debris_5_in_pan",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170,199-212; log dyn.debris_5_in_pan = whole-geometry contained AND pan support contact >=0.001 N"
+   },
+   {
+    "atom": "pan_raised",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:285-291; log dyn.pan_lift_m"
+   },
+   {
+    "atom": "joint_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311; log native per-frame checker success and terminal_run, plus brushed/direct/failure"
+   },
+   {
+    "atom": "debris_outside_workspace",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:255-269; log workspace violation"
+   },
+   {
+    "atom": "robot_touched_debris",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212,270-271; log direct mask"
+   },
+   {
+    "atom": "tool_grip_lost",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:221-232,276-281; log shaft_contacts and min_contacts by side"
+   },
+   {
+    "atom": "tool_slipped",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:233-249,282-283; log max_drift and max_rotation"
+   },
+   {
+    "atom": "wrong_link_pressed_tool",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:218-220,274-275; log max_nonholding_force"
+   },
+   {
+    "atom": "robot_self_collision",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:213-217,272-273; log max_self_contact_force"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:245-253; log native instability warnings/failure"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_steps",
+   "threshold": 2000,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的logs为空，没有可安全绑定的状态字段；七个节点when、七条约束never和success均为null（P8）。spec.atoms列出将来需要补录的原生评分量，当前不伪造日志路径；毫米边界、接触力及速度只能由评分诊断精确确认，视频只能提供几何和运动证据。",
+  "D16(b)接触边界仍开放：扫入碎屑时两臂各持工具协作，本文件按工具链标手持工具×推/扫（扫帚→碎屑）及同时的手持工具×托/舀（簸箕→碎屑），不再重复握工具；双臂协作也是候选读法。抬箕本身以簸箕为受评物，标左手手指/夹爪×抓握。",
+  "D2/Y17核查：文本和checker.py:210,295要求每件有刷毛接触，checker.py:276-283要求保持各自工具握持，因此工具确为合法成功路线所需；但二者开局已在手中，丢失或滑移即失败，作为约束而不重复工具拿起节点。",
+  "N4读法：六件是两块不同颜色包装、两只不同颜色瓶盖、一块木屑和一个纸球，场景及工作相机可辨其身份，因此用逐件节点；没有按橙色先于蓝色或红瓶盖先于黄瓶盖添加边。",
+  "评分器与文本的阈值边界差异：文本称握持漂移或转角“more than 25 mm / 0.25 rad”才失败，checker.py:282实际为≥阈值即失败，本文件采用代码的≥边界。",
+  "两模式共用逐物理步SweepChecker、实例参数及初始几何（standard/sim/checker.py与privileged checker逐字一致）；privileged另要求两次独立重放成功且终态哈希相同，standard以服务最后一局的现场判定为准。这些交付和有效性条件不构造世界状态节点，也不当成两个独立任务场景。",
+  "总成功语义：沉降后无任何失败，六件逐件完整入箕并与簸箕接触、簸箕原点高于地面至少0.05 m、所有碎屑线速度<0.03 m/s且角速度<0.8 rad/s、每件曾被刷毛以≥0.001 N接触，共同连续2000个物理步；success无日志只能留null。共同保持窗口不分摊为每件单独一秒，不另设静置节点；hold_s=0保留各世界状态的即时进度，未来应另录原生terminal_run。",
+  "成功视频为4倍速，末尾另加2秒定格（replay.py:74-82,95）；末尾定格不能当作保持窗口。视频可见六件从地面进入绿色簸箕后抬高，run.json步骤47、48报告44279步成功且两次哈希相同，但没有逐帧状态日志可做自动证据自检。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "七步直接来自文本，物件身份、初态和全部阈值有场景、评分器及成功视频支持；没有状态日志，精确几何、力、速度及共同保持只能依赖未来诊断补录，且双工具协作接触标签D16(b)仍开放。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个目标节点（六件碎屑逐件入箕＋抬箕）与文本步骤及评分器 checker.py:284-311 的成功合取一致，无习惯边，七条失败约束均为立即终止并带 file:line。无状态日志，when/never/success 为 null 可接受，criterion_zh 足以按视频判断。接触标签与 open_questions_zh 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['orange_package_in_pan', 'red_cap_in_pan', 'wood_chip_in_pan', 'blue_package_in_pan', 'paper_ball_in_pan', 'yellow_cap_in_pan', 'pan_raised']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:29:14Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__sweep_dustpan/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__sweep_dustpan/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "cd220746d8af9e84afdfc41f83dc254dcca2ce0e0d5bdbda66811ec214ea41e2",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--4sidtjp.json

@@ -0,0 +1,448 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-privileged--4sidtjp",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 112150,
+   "sim_steps": 112150,
+   "stages_completed": 7,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.964,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.771,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-sweep-dustpan-i00-privileged--4sidtjp/replay.mp4",
+  "duration_s": 16.1,
+  "fps": 10.0,
+  "frames": 161,
+  "sha256": "3a2b072aedbf3e525bb981085190289db09e24876a7865dea670db6836c466af"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "orange_package_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–3.7 s，扫帚越过入口，橙色包装随浅蓝包装移入绿色底板；视频 4.5 s 后两块包装在底板后侧可见，至视频 14.1 s 成功画面仍留在箕内。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "推断：结合入箕前后位置和画面原生 in pan 计数，将该物的首次入箕约记于视频 3.2 s；刷毛局部遮挡，边界时刻误差约 0.3 s。视频 3.2–3.6 s 的接触计数有短促波动，不据此拆分不足约 0.3 s 的丢失区间。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 14.1 s，原生回放显示 PASS、in pan 6/6；log step 129 的两次交付文件重放均为 success=True、steps=112150，终态哈希相同。评分记录 reward.success=1、stages_completed=7，支持此目标终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚的刷毛推扫橙色包装，物件随刷毛前移进入簸箕；不重复标注握扫帚的手柄接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕以斜坡、底板承接橙色包装，随后带着该物件抬升；与右手扫帚配合。"
+     }
+    ]
+   },
+   "red_cap_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.4–3.6 s，红色瓶盖从刷毛左侧越过入口；视频 3.7–4.0 s，瓶盖已落在绿色底板内，之后随簸箕抬升。视频 13.0–14.1 s，红盖留在箕内右侧。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "推断：结合入箕前后位置和画面原生 in pan 计数，将该物的首次入箕约记于视频 3.6 s；刷毛局部遮挡，边界时刻误差约 0.3 s。视频 3.2–3.6 s 的接触计数有短促波动，不据此拆分不足约 0.3 s 的丢失区间。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 14.1 s，原生回放显示 PASS、in pan 6/6；log step 129 的两次交付文件重放均为 success=True、steps=112150，终态哈希相同。评分记录 reward.success=1、stages_completed=7，支持此目标终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚的刷毛推扫红色瓶盖，物件随刷毛前移进入簸箕；不重复标注握扫帚的手柄接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕以斜坡、底板承接红色瓶盖，随后带着该物件抬升；与右手扫帚配合。"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6–3.8 s，刷毛前方的棕色细条越过入口并露出在底板上；视频 3.8–4.7 s，木屑与簸箕一起移动，至视频 14.1 s 仍由底板承接。"
+     },
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "推断：结合入箕前后位置和画面原生 in pan 计数，将该物的首次入���约记于视频 3.7 s；刷毛局部遮挡，边界时刻误差约 0.3 s。视频 3.2–3.6 s 的接触计数有短促波动，不据此拆分不足约 0.3 s 的丢失区间。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 14.1 s，原生回放显示 PASS、in pan 6/6；log step 129 的两次交付文件重放均为 success=True、steps=112150，终态哈希相同。评分记录 reward.success=1、stages_completed=7，支持此目标终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚的刷毛推扫棕色木屑，物件随刷毛前移进入簸箕；不重复标注握扫帚的手柄接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕以斜坡、底板承接棕色木屑，随后带着该物件抬升；与右手扫帚配合。"
+     }
+    ]
+   },
+   "blue_package_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.1–3.3 s，浅蓝色包装被刷毛推过绿色入口，随后在橙色包装旁露出；视频 4.5–6.9 s 及视频 13.0–14.1 s，两块包装均随簸箕移动而未回到地面。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "推断：结合入箕前后位置和画面原生 in pan 计数，将该物的首次入箕约记于视频 3.2 s；刷毛局部遮挡，边界时刻误差约 0.3 s。视频 3.2–3.6 s 的接触计数有短促波动，不据此拆分不足约 0.3 s 的丢失区间。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 14.1 s，原生回放显示 PASS、in pan 6/6；log step 129 的两次交付文件重放均为 success=True、steps=112150，终态哈希相同。评分记录 reward.success=1、stages_completed=7，支持此目标终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚的刷毛推扫浅蓝色包装，物件随刷毛前移进入簸箕；不重复标注握扫帚的手柄接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕以斜坡、底板承接浅蓝色包装，随后带着该物件抬升；与右手扫帚配合。"
+     }
+    ]
+   },
+   "paper_ball_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频 3.3 s，米白色纸球从刷毛右侧露出并处于绿色底板内；视频 3.5–4.7 s 及视频 13.0–14.1 s，纸球留在两块包装前方，随簸箕移动。"
+     },
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "推断：结合入箕前后位置和画面原生 in pan 计数，将该物的首次入箕约记于视频 3.3 s；刷毛局部遮挡，边界时刻误差约 0.3 s。视频 3.2–3.6 s 的接触计数有短促波动，不据此拆分不足约 0.3 s 的丢失区间。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 14.1 s，原生回放显示 PASS、in pan 6/6；log step 129 的两次交付文件重放均为 success=True、steps=112150，终态哈希相同。评分记录 reward.success=1、stages_completed=7，支持此目标终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚的刷毛推扫米白色纸球，物件随刷毛前移进入簸箕；不重复标注握扫帚的手柄接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕以斜坡、底板承接米白色纸球，随后带着该物件抬升；与右手扫帚配合。"
+     }
+    ]
+   },
+   "yellow_cap_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.2,
+      6.3
+     ],
+     [
+      6.8,
+      10.2
+     ],
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.1,
+      "log_step": null,
+      "text_zh": "观察：视频 3.7–5.9 s，五件碎屑已在绿色底板上，黄色瓶盖随刷头悬在箕内上方，原生 in pan 显示 5/6；瓶盖尚未稳定由簸箕承接，不能仅凭投影在箕内记为完成。"
+     },
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–6.1 s 原生 in pan 为 5/6，视频 6.2 s 为 6/6，视频 6.3–6.7 s 又为 5/6；视频 6.8–7.0 s 恢复 6/6。黄色瓶盖此时主要被机器人右手扫帚的刷毛遮挡，不能从轮廓直接判定其与簸箕的接触。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "推断：其余五件此前已入箕，结合原生计数，将黄色瓶盖首次获得簸箕承接记为视频 6.2 s，视频 6.3–6.8 s 为承接暂失，视频 6.8 s 恢复。该节点 hold_s=0，不要求先持续成立；视频 7.1–7.2 s、7.4–7.5 s 的 5/6 各在约 0.2 s 后恢复，依 docs/03_trajectory.md Step 2 不另拆丢失区间。视频 7.6–9.0 s 为 6/6，视频 9.1 s 短暂为 4/6、视频 9.2 s 即回到 6/6，同样不另拆区间。各边界仅精确到视频帧间隔约 0.1 s。"
+     },
+     {
+      "t": 10.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–10.1 s 原生 in pan 为 6/6，视频 10.2–10.9 s 连续为 5/6，视频 11.0 s 恢复 6/6。机器人右手扫帚旁的黄色瓶盖在视频 10.9 s 仍贴近刷毛，视频 11.0 s 已脱离刷毛向簸箕右下方移动，视频 11.1–11.2 s 到达箕内右下角。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "推断：结合黄色瓶盖随刷毛运动、其余五件留在箕内及原生计数，将视频 10.2–11.0 s 的计数下降归于黄色瓶盖承接暂失，恢复时刻记为视频 11.0 s；此处依据计数推断簸箕承接，不能以视频 10.6 s 的瓶盖投影或刷毛接近作为恢复证据。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 129,
+      "text_zh": "观察：视频 13.0–14.1 s 黄色瓶盖留在箕内右下角，视频 14.1 s 原生回放显示 PASS、in pan 6/6；评分记录 reward.success=1，log step 129 两次交付文件重放均成功，支持终态入箕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：机器人右手所持扫帚刷毛推扫黄色瓶盖，瓶盖随后夹挂在刷毛旁并随刷头移动，最终脱离刷毛落入簸箕。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左手所持簸箕继续抬高，从下方承接刷毛旁的黄色瓶盖；瓶盖最终留在底板与侧壁围成的内部。"
+     }
+    ]
+   },
+   "pan_raised": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频 4.2 s 簸箕仍贴近地面，视频 4.3–4.7 s 机器人左臂带动簸箕明显抬升，底板和地面阴影之间的分离增大；之后直至视频 14.1 s，簸箕保持悬空。"
+     },
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "推断：以视频 4.3–4.7 s 连续抬升画面估计，簸箕达到至少 50 mm 抬高阈值约在视频 4.6 s，误差约 0.3 s；缺少状态日志，无法逐帧精确测量高度。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 135,
+      "text_zh": "观察：视频 14.1 s 原生回放显示仿真 56.08 s、PASS、in pan 6/6，之后至视频 16.0 s 为相同终帧定格；log step 135 的交付生成复核输出 success=True、terminal_run=2000。定格不作为保持窗口证据，联合保持由原生成功判定及交付重放确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：机器人左手保持握住簸箕柄，左臂通过手柄抬起簸箕；工作视角只显示延伸出画面的柄，抓握由初始持柄条件、持续随臂运动及成功验收所要求的工具握持共同支持。右手所持扫帚未共同承载簸箕。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_steps",
+   "threshold": 2000,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以右手扫帚将六件碎屑扫向左手簸箕，前五件约于视频 3.2–3.7 s 入箕，簸箕约于视频 4.6 s 抬至阈值，黄色瓶盖在视频 6.2 s 短暂获得承接，视频 6.3–6.8 s 暂失后恢复，并在视频 10.2–11.0 s 再次暂失后恢复，最终七个节点全部成立。视频 14.1 s 的原生 PASS、评分记录 success=1 和 log step 129 的两次同哈希成功重放确认联合验收通过，末尾约两秒定格未计入保持窗口。无状态日志，刷毛遮挡导致首次入箕、精确接触力和抬高阈值时刻存在估计；reward 未单列四项原生指标故数值留空，双工具协作接触按 DAG 的 D16(b) 当前读法分别标工具推扫与承接。 审查建议从视频 7.8 s 起计；本次按 docs/03_trajectory.md Step 2 与 D17 当前处理保留此前原生计数支持的成立区间，短于约 0.3 s 的下降不另记丢失。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "成功局，六件入箕与簸箕抬升整体成立，接触标注合理；但黄色瓶盖区间的起点和恢复时刻与画面原生 in pan 计数不符：证据写“6.1–6.9 s 为 6/6”和“10.6 s 恢复 6/6”，逐帧读数并非如此。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功局，七节点终态为真与原生 PASS 6/6、reward=1、stages_completed=7 一致；上一轮对黄色瓶盖区间的修正已落实，接触标注合理，无需再改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T12:01:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--4sidtjp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--4sidtjp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--4sidtjp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--4sidtjp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d239071ea590a5452853958ad74d17b1bba63757bee9db5d09578e1916cfb9b",
+   "video_sha256": "3a2b072aedbf3e525bb981085190289db09e24876a7865dea670db6836c466af",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--ponot4t.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-privileged--ponot4t",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 35500,
+   "sim_steps": 35497,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.064,
+   "peak_processes": 10,
+   "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/dexhand-sweep-dustpan-i00-privileged--ponot4t/replay.mp4",
+  "duration_s": 6.5,
+  "fps": 10.0,
+  "frames": 65,
+  "sha256": "be144769d14ed326387374f8799ce1465e850c69c7fd1e20fd90aa6f8d18e98a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "orange_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s位于簸箕入口外；视频 1.7–2.7 s扫帚经过该碎屑群后，橙色包装仍在灰色地面，视频 4.5–6.4 s仍未越过入口。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手所持扫帚的刷毛推扫橙色包装；按刷毛经过和前后位移判断。左手所持簸箕留在地面；未见该件完整被簸箕接住。"
+     }
+    ]
+   },
+   "red_cap_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–1.0 s扫帚刷毛抵到红色瓶盖附近并拨动它；视频 1.7–2.7 s继续扫动后，红瓶盖仍在入口外，与纸球相邻，视频 6.4 s也未入箕。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手所持扫帚的刷毛推扫红色瓶盖；按刷毛经过和前后位移判断。左手所持簸箕留在地面；未见该件完整被簸箕接住。"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s木屑在入口外，视频 2.4–3.7 s被推到入口斜坡处，仍有部分在入口外，并未完整越过斜坡；视频 4.5–6.4 s扫帚遮住木屑的大部分，露出的木屑仍在入口边。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手所持扫帚的刷毛推扫棕色木屑；按刷毛经过和前后位移判断。左手所持簸箕留在地面；未见该件完整被簸箕接住。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手所持簸箕的入口斜坡接到部分木屑，木屑搭在入口边；并未完整托入簸箕内部。"
+     }
+    ]
+   },
+   "blue_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、1.7、2.7、4.5、6.4 s浅蓝色包装均在绿色簸箕入口外的地面上；扫帚曾从其附近经过，但没有可辨的完整入箕过程。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人右手持扫帚扫过浅蓝色包装附近，属于对六件碎屑的同一次扫入尝试；刷毛遮挡且包装无明确位移，无法确认刷毛是否真正碰到该件。"
+     }
+    ]
+   },
+   "paper_ball_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察��视频 1.7–2.4 s扫帚刷毛经过米白色纸球，视频 2.7 s纸球位于红瓶盖旁、仍在入口外；视频 4.5–6.4 s该关系保持，未被簸箕承接。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手所持扫帚的刷毛推扫米白色纸球；按刷毛经过和前后位移判断。左手所持簸箕留在地面；未见该件完整被簸箕接住。"
+     }
+    ]
+   },
+   "yellow_cap_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5–1.0 s刷毛抵到黄色瓶盖，视频 1.7–2.4 s再次扫动但瓶盖仍在入口外；视频 3.8–4.2 s瓶盖向远离入口的方向移动，视频 6.4 s停在簸箕外地面上。 本次视频已检查全程，画面原生计数 in pan 始终为0/6（评分器报告完整入箕件数），包括视频 4.5 s判负后至视频 6.4 s的定格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人右手所持扫帚的刷毛推扫黄色瓶盖；按刷毛经过和前后位移判断。左手所持簸箕留在地面；未见该件完整被簸箕接住。"
+     }
+    ]
+   },
+   "pan_raised": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.5 s绿色簸箕入口一直贴近灰色地面，没有抬离地面的动作，视频 4.5–6.4 s判负定格也保持该姿态。成功参考视频约 4.3–5.5 s可见装载簸箕明显抬升，本次没有相应变化；参考仅用于辨认动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_steps",
+   "threshold": 2000,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "red_cap_in_pan",
+   "t": 1.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.4–1.0 s机器人用扫帚推扫红、黄瓶盖，视频约 1.7 s起扫帚明显倾转并抬离原来的贴地扫动姿态，视频 2.7 s红瓶盖仍在入口外；此后未扫入。视频 4.5 s画面原生状态转为 FAIL: robot_self_collision，六件均未入箕，随后定格至视频 6.4 s。推断：失败发生在最初未完成的瓶盖扫入工作中；红、黄瓶盖属同一批扫动，以最先受到刷毛推扫的红瓶盖节点作断点导航，未将后续尚未启动的抬箕作为断点。"
+  },
+  "unmet": {
+   "orange_package_in_pan": false,
+   "red_cap_in_pan": false,
+   "wood_chip_in_pan": false,
+   "blue_package_in_pan": false,
+   "paper_ball_in_pan": false,
+   "yellow_cap_in_pan": false,
+   "pan_raised": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.7–3.3 s机器人所持扫帚从贴地姿态倾转、升高，刷毛越过碎屑上方，红瓶盖和其余碎屑未被连续推过簸箕入口；视频 3.8–4.4 s扫帚进一步转为近乎侧立。推断：扫帚的位置和朝向未保持所需的贴地推扫姿态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 1.7,
+    "log_step": 51,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 39 的控制脚本用扫帚位置反馈驱动右手，朝向反馈跟随扫帚当前朝向并含初始朝向恢复项；该旧版的 log step 42 输出显示 rot 从0增至0.1987、relang 最终为0.199，inpan=0，并以 robot_self_collision 结束。log step 48 修改后的版本由 log step 50 启动，log step 51 输出显示 rot 从0总体增至0.1985、relang 最终为0.199，扫帚 z 从−0.025 m升至0.049、0.073、0.121 m，inpan=0，并以 robot_self_collision 结束；log step 52 核验最终交付为35500行。视频 1.7–4.4 s机器人所持扫帚持续倾转、升高和摆动，未保持贴地推扫。推断：两版跟随工具朝向的反馈均未稳定扫帚姿态，支持反馈控制归因；旧版仅作会话内对照，最终版日志与交付核验及视频相符。两版均失败，且同时改变了扫动时长，不能把移除恢复项认定为导致本次失败的因果分界；具体接触力和逐帧控制误差缺失，不���一步归责某个增益参数。"
+   }
+  ],
+  "gap_zh": "无状态日志；视频为工作近景，评分器报告自碰撞，但画面不能辨认具体阻挡接触，不能确定碰撞链接或接触力，也不能把agent在log step 53所称“扫帚杆碰机器人”当作已证实的自碰撞机制。浅蓝色包装是否实际被刷毛触碰不明；其余逐件刷毛接触依照可见经过与位移判断，未逐件测量接触力。原生pan_lift_m、linear_speed_m_s、angular_speed_rad_s及最终terminal_run未在评分字段中报告，全部填null。红、黄瓶盖在同批扫动中失败，细分到红瓶盖的断点是导航代表，不表示有独立逐件控制阶段；视频约4.5–6.4 s为判负后的定格。"
+ },
+ "summary_zh": "本次交付中机器人持扫帚推扫碎屑，但六件均未完整入箕，木屑最多搭到入口边，簸箕未抬起，最终进度0/7。最初的瓶盖扫入未完成，扫帚倾转并离开贴地姿态，视频约4.5 s评分器报告机器人自碰撞而终止；旧版与最终版的反馈均未稳定工具姿态，支持反馈控制归因，不能将单次修改认定为失败原因。置信度由7降至6：反馈控制根因仍属结合脚本、运行输出和视频的推断，缺少接触力与逐帧控制误差，具体碰撞部件和部分逐件接触无法确定；末尾约两秒定格不计作继续操作。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "进度全 false、断点 red_cap_in_pan（视频约1.7 s）与帧一致（六件始终在簸箕外，簸箕未抬）。问题在第5项：把评分器终止事件 robot_self_collision 单列为现象「被挡/碰撞」没有阻挡性接触证据（S14/S15）；反馈控制根因的证据链把 log step 48 的改动当作原因，但改动前的运行同样以自碰撞结束。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度全 false、断点 red_cap_in_pan（视频约1.7 s）、位姿不准现象与反馈控制根因均与帧一致：六件碎屑始终在簸箕外、簸箕未抬、扫帚倾转离地，视频约4.5 s起 FAIL: robot_self_collision 并定格。第1轮意见已落实，未发现新的错误。",
+    "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": "2026-10-29T11:58:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--ponot4t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--ponot4t/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--ponot4t/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--ponot4t/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "59036456738dd0464175ed10f35ae485bc8cec6694525a34fce430f6f7cfffa5",
+   "video_sha256": "be144769d14ed326387374f8799ce1465e850c69c7fd1e20fd90aa6f8d18e98a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_red_brush_sweep_forward/trajectories/dextoolbench_brush_red_brush_sweep_forward-privileged--6tavdq6.json

@@ -0,0 +1,1077 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_red_brush_sweep_forward-privileged--6tavdq6",
+ "taskKey": "dextoolbench/brush_red_brush_sweep_forward",
+ "dag_sha256": "6425ae0c1619cb8d2636e96ce5070223f446188f5f3e75956fa74d57134731f4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6579,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.6579,
+   "goals_reached": 25,
+   "n_goals": 38,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 3013,
+   "control_steps_used": 3013,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 68,
+   "agent_resets": 102,
+   "agent_control_steps": 278765,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 57,
+   "agent_trace_videos": 6,
+   "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/dextoolbench_brush_red_brush_sweep_forward-privileged--6tavdq6/replay.mp4",
+  "duration_s": 12.567,
+  "fps": 30.0,
+  "frames": 377,
+  "sha256": "f5fcfeebfe3367319adf962ef3894a3e71d5080cfcb308de7ae14372fff3d1d2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 38,
+  "base": 0,
+  "peak": 25,
+  "final": 25,
+  "nodes": {
+   "brush_goal_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.13,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.13,
+      "log_step": null,
+      "text_zh": "观察：视频约4.13 s，机器人灵巧手在桌面对刷柄合指夹持，随后实体刷离开原来的桌面位置；实体刷与第1目标靠拢后，绿色虚影向上切换。"
+     },
+     {
+      "t": 4.13,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第1目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约0.7–4.13 s，KUKA末端左侧Sharpa灵巧手合指夹住刷柄，并带动实体刷抬离桌面、靠近第1目标。"
+     }
+    ]
+   },
+   "brush_goal_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.23,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.23,
+      "log_step": null,
+      "text_zh": "观察：视频约4.23 s，机器人仍夹持刷柄上提，实体刷跟随绿色目标的升高，绿色虚影再次向上切换。"
+     },
+     {
+      "t": 4.23,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第2目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.23 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.3,
+      "log_step": null,
+      "text_zh": "观察：视频约4.30 s，机器人夹持刷柄继续上提，随后绿色虚影的刷头朝向改变；第3、4目标相邻，分界为近似读帧。"
+     },
+     {
+      "t": 4.3,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第3目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.30 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.33,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.33,
+      "log_step": null,
+      "text_zh": "观察：视频约4.33 s，机器人夹持刷柄转动实体刷，实体��高度接近绿色虚影，随后虚影朝向继续改变。"
+     },
+     {
+      "t": 4.33,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第4目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.33 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频约4.50 s，机器人转动手腕，使夹持的实体刷刷头翻转，随后绿色虚影转到下一朝向。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第5目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.50 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频约4.60 s，机器人夹持的实体刷完成初段转动；绿色目标随后保持为第7位姿，机器人抬高手并重新安排对刷柄的握持，直到视频约8.7 s继续通过目标。"
+     },
+     {
+      "t": 4.6,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第6目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.60 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": null,
+      "text_zh": "观察：视频约8.70 s，机器人重新合指握住刷柄并把实体刷降回目标附近，绿色虚影开始连续切换。"
+     },
+     {
+      "t": 8.7,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第7目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.6–8.7 s，KUKA末端左侧Sharpa灵巧手张合手指重新安排对刷柄的握持，随后夹住刷柄带动实体刷下降到第7目标附近。"
+     }
+    ]
+   },
+   "brush_goal_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.77,
+      "log_step": null,
+      "text_zh": "观察：视频约8.77 s，机器人夹持实体刷降低高度，绿色虚影连续微调；第8、9目标很近，当前视频帧率无法可靠分开两次命中。"
+     },
+     {
+      "t": 8.77,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第8目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8.77 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.77,
+      "log_step": null,
+      "text_zh": "观察：视频约8.77 s，机器人保持对刷柄的夹持并微调实体刷，第8、9目标在同一相邻帧范围内通过，随后绿色虚影换到较低的下一目标。"
+     },
+     {
+      "t": 8.77,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第9目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8.77 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.83,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.83,
+      "log_step": null,
+      "text_zh": "观察：视频约8.83 s，机器人夹持实体刷下移，绿色虚影向较低、较前的位置切换。"
+     },
+     {
+      "t": 8.83,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第10目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8.83 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_11_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.97,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.97,
+      "log_step": null,
+      "text_zh": "观察：视频约8.97 s，机器人夹持实体刷继续下降并前移，绿色虚影切换到下一前扫位置。"
+     },
+     {
+      "t": 8.97,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第11目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8.97 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_12_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.13,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.13,
+      "log_step": null,
+      "text_zh": "观察：视频约9.13 s，机器人持刷沿桌面上方前移，随后绿色虚影进一步前移并改变刷头倾角。"
+     },
+     {
+      "t": 9.13,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第12目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约9.13 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_13_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.63,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.63,
+      "log_step": null,
+      "text_zh": "观察：视频约9.63 s，机器人持刷前移并转动刷头，随后绿色虚影小幅前移，实体刷仍跟随手部运动。"
+     },
+     {
+      "t": 9.63,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第13目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约9.63 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_14_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.7,
+      "log_step": null,
+      "text_zh": "观察：视频约9.70 s，机器人持刷微调高度与朝向，绿色虚影变为下一较低姿态。"
+     },
+     {
+      "t": 9.7,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第14目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约9.70 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_15_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频约10.00 s，机器人持刷继续下降，绿色虚影向前且向下切换。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第15目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约10.00 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_16_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.23,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.23,
+      "log_step": null,
+      "text_zh": "观察：视频约10.23 s，机器人保持夹持并调整刷头倾角，绿色虚影切换到更前方的位姿。"
+     },
+     {
+      "t": 10.23,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第16目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约10.23 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_17_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.07,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.07,
+      "log_step": null,
+      "text_zh": "观察：视频约11.07 s，机器人持刷到达前扫中的较前位置，绿色虚影再次小幅前移。"
+     },
+     {
+      "t": 11.07,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第17目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约11.07 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_18_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.1,
+      "log_step": null,
+      "text_zh": "观察：视频约11.10 s，机器人持刷微调到下一前方位置；绿色目标随后升高，实体刷继续由手指夹持。"
+     },
+     {
+      "t": 11.1,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第18目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约11.10 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_19_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.67,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.67,
+      "log_step": null,
+      "text_zh": "观察：视频约11.67 s，机器人持刷稍抬刷头，随后绿色虚影向回程方向切换。"
+     },
+     {
+      "t": 11.67,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第19目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约11.67 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_20_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.97,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.97,
+      "log_step": null,
+      "text_zh": "观察：视频约11.97 s，机器人持刷向回程方向移动，随后绿色虚影横向及纵向换位。"
+     },
+     {
+      "t": 11.97,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第20目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约11.97 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_21_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.23,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.23,
+      "log_step": null,
+      "text_zh": "观察：视频约12.23 s，机器人持刷回移，随后绿色虚影再次回移。"
+     },
+     {
+      "t": 12.23,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第21目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.23 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_22_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.33,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.33,
+      "log_step": null,
+      "text_zh": "观察：视频约12.33 s，机器人持刷贴近回移后的目标，绿色虚影转向下一处较前、较低的位姿。"
+     },
+     {
+      "t": 12.33,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第22目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.33 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_23_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频约12.40 s，机器人持刷向前并降低刷头，绿色虚影向更前、更低的位置切换。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第23目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.40 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_24_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频约12.50 s，机器人持刷下移、调整刷头朝向，绿色虚影切到第25目标附近。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第24目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.50 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_25_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.53,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 182,
+      "text_zh": "观察：视频约12.53 s，机器人手指仍夹着刷柄，末帧实体刷与新出现的绿色虚影存在偏差；交付回放已记录第25目标通过，当前虚影是第26目标。"
+     },
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25且deterministic=1，log step 182、186确认交付文件共3013个控制步并依次通过25/38目标，故第25目标的累计事件成立；上述时间来自视频中的实体刷运动及绿色虚影切换，约有0.1–0.3 s读帧误差，非agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.53 s，KUKA末端左侧Sharpa灵巧手的手指弯曲包住刷柄，实体刷随手部平移或转动。"
+     }
+    ]
+   },
+   "brush_goal_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "观察：视频12.40–12.53 s，机器人持刷完成末段调整后画面结束；log step 182、186中实际交付文件的回放reached=25、steps_on_goal=0、steps=3013，未记录任何第26目标的后续控制动作。"
+     }
+    ]
+   },
+   "brush_goal_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第27目标须在前26个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第28目标须在前27个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第29目标须在前28个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第30目标须在前29个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第31目标须在前30个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第32目标须在前31个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第33目标须在前32个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第34目标须在前33个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第35目标须在前34个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第36目标须在前35个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第37目标须在前36个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   },
+   "brush_goal_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.53,
+      "log_step": 186,
+      "text_zh": "推断：评分器reward.goals_reached=25，log step 182、186核实交付文件只累计通过前25目标；第38目标须在前37个目标通过后才能计入，故本次未轮到该目标，视频12.53 s结束时仍未通过。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.6579
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_goal_26_reached",
+   "t": 12.53,
+   "log_step": 182,
+   "where": "首步前",
+   "evidence_zh": "观察：视频12.40–12.53 s只包含机器人持刷完成第25目标的末段动作；log step 182、186核实交付回放为3013个控制步、reached=25、steps_on_goal=0，文件在第26目标成为当前目标时结束。推断：首个未修复步骤是第26目标，但其后续运动尚未写入交付轨迹；“首步前”指该节点开始前，不指整段任务未动。"
+  },
+  "unmet": {
+   "brush_goal_01_reached": true,
+   "brush_goal_02_reached": true,
+   "brush_goal_03_reached": true,
+   "brush_goal_04_reached": true,
+   "brush_goal_05_reached": true,
+   "brush_goal_06_reached": true,
+   "brush_goal_07_reached": true,
+   "brush_goal_08_reached": true,
+   "brush_goal_09_reached": true,
+   "brush_goal_10_reached": true,
+   "brush_goal_11_reached": true,
+   "brush_goal_12_reached": true,
+   "brush_goal_13_reached": true,
+   "brush_goal_14_reached": true,
+   "brush_goal_15_reached": true,
+   "brush_goal_16_reached": true,
+   "brush_goal_17_reached": true,
+   "brush_goal_18_reached": true,
+   "brush_goal_19_reached": true,
+   "brush_goal_20_reached": true,
+   "brush_goal_21_reached": true,
+   "brush_goal_22_reached": true,
+   "brush_goal_23_reached": true,
+   "brush_goal_24_reached": true,
+   "brush_goal_25_reached": true,
+   "brush_goal_26_reached": false,
+   "brush_goal_27_reached": false,
+   "brush_goal_28_reached": false,
+   "brush_goal_29_reached": false,
+   "brush_goal_30_reached": false,
+   "brush_goal_31_reached": false,
+   "brush_goal_32_reached": false,
+   "brush_goal_33_reached": false,
+   "brush_goal_34_reached": false,
+   "brush_goal_35_reached": false,
+   "brush_goal_36_reached": false,
+   "brush_goal_37_reached": false,
+   "brush_goal_38_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 12.53,
+    "log_step": 182,
+    "evidence_zh": "观察：视频12.53 s机器人仍握着刷柄，绿色目标与实体刷有偏差，画面随即结束；log step 182、186明确交付回放在第25次命中后steps_on_goal=0。推断：交付中没有开始执��第26目标的动作；log step 184的第26目标尝试属于另一个测试文件，未包含在本次3013步交付中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 115、123给出的agent优化脚本用短期MuJoCo rollout搜索臂和手指关节目标，若最佳距离未比当前距离改善0.0005 m则退出；log step 124–128在相同25目标前缀后反复得到第26目标最佳角点距离约0.034908 m，未达到0.015 m，且相对当前0.03534 m的改善不足退出阈值。log step 179选择该脚本及25目标文件，log step 182重生成并回放后仍为3013步、25目标；log step 186确认交付数组与原验证文件完全相同。推断：控制器对第26目标未找到可提交的延续动作，因而交付止于25目标；这是搜索控制的具体失败证据，不能仅从停止反推规划错误。当前证据不能进一步区分握持几何、接触动力学及轨迹求解问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或成功参考视频；八角点1.5厘米阈值无法靠像素直接精确复核，25个累计事件由确定性评分结果与绿色虚影切换共同确认。近邻目标（尤其第8、9目标）的命中可能落在同一视频采样间隔，时间仅为约数。交付在第25目标命中后结束，第26目标的滑移、桌面接触及更低误差只见于其他会话测试，不能作为该视频的接触失败现象；控制根因仅能定位到未找到可提交的后续控制，无法可靠细分。"
+ },
+ "summary_zh": "机器人抓住刷柄，经过一次握持调整，依次通过前25/38个示范位姿，视频约12.53 s结束时刷柄仍在手中。第26目标成为当前目标后没有交付后续控制动作；日志显示短期动力学优化未找到能继续提交的动作，故断点为第26目标开始前，现象为没尝试，根因保留在控制层。没有逐帧状态日志，近邻目标的具体命中时刻为视频近似值，其他会话测试中的滑移不计入本次交付。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "25/38 的进度、各目标时间（视频约4.1–12.5 s）、断点（第26目标、首步前）与交付回放 log step 182/186（3013步、reached=25、steps_on_goal=0）一致；没尝试 + 控制的标注有日志依据，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:58:13Z",
+  "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/dextoolbench_brush_red_brush_sweep_forward-privileged--6tavdq6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--6tavdq6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9eb812ff1811e2a49401d11432ff1bcb857b79347c104f1d79e22a16eabb9074",
+   "video_sha256": "f5fcfeebfe3367319adf962ef3894a3e71d5080cfcb308de7ae14372fff3d1d2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_red_brush_sweep_forward/trajectories/dextoolbench_brush_red_brush_sweep_forward-standard--bkwqpxa.json

@@ -0,0 +1,670 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_red_brush_sweep_forward-standard--bkwqpxa",
+ "taskKey": "dextoolbench/brush_red_brush_sweep_forward",
+ "dag_sha256": "6425ae0c1619cb8d2636e96ce5070223f446188f5f3e75956fa74d57134731f4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "control_steps": 350,
+   "calls": 58,
+   "elapsed_s": 3620.4,
+   "video_rendered": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "no_verdict": 0,
+   "sim_error": 0,
+   "resets": 1,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 38,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_brush_red_brush_sweep_forward-standard--bkwqpxa/replay.mp4",
+  "duration_s": 7.04,
+  "fps": 25.0,
+  "frames": 176,
+  "sha256": "6baa10ac1353b3cd3264371db3325bd84db6f071e67396faef36a8679aa4dc99"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 38,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_goal_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s，机器人灵巧手向灰色实体刷的刷头下降、合手后上提，实体刷仍低于绿色第1目标虚影，未见目标切换。"
+     },
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频约 5.5–6.1 s，机器人再次合手后带动实体刷小幅抬起，但刷头及刷柄仍低于绿色虚影；视频约 6.2–6.4 s，实体刷与继续上提的手分离并回落桌面。视频 7.0 s，实体刷仍在桌上，第1目标虚影未切换。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "观察：log step 76 的服务 reset 返回 episode=2；log step 79 再次提交合手抬升，log step 82 提交向第1目标平移旋转后，服务仍返回 goal_index=0、goals_reached=0。inputs/run.json 的评分器字段也为 goals_reached=0、n_goals=38，与视频 0.0–7.0 s 未通过第1目标一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.2–2.4 s 与 4.2–6.2 s，KUKA末端左侧Sharpa灵巧手在实体刷的宽刷头处合拢夹持；第二次夹持使刷子短暂抬起，随后刷子滑脱回桌。实际夹的是刷头区域，并未稳定抓住刷柄。"
+     }
+    ]
+   },
+   "brush_goal_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第2目标须在前1个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第2目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第3目标须在前2个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第3目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第4目标须在前3个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第4目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第5目标须在前4个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第5目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第6目标须在前5个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第6目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第7目标须在前6个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第7目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第8目标须在前7个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第8目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第9目标须在前8个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第9目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第10目标须在前9个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第10目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第11目标须在前10个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第11目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第12目标须在前11个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第12目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第13目标须在前12个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第13目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第14目标须在前13个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第14目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第15目标须在前14个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评���器最终也记录 goals_reached=0/38，故第15目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第16目标须在前15个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第16目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第17目标须在前16个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第17目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第18目标须在前17个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第18目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第19目标须在前18个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第19目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第20目标须在前19个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第20目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第21目标须在前20个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第21目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第22目标须在前21个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第22目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第23目标须在前22个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第23目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第24目标须在前23个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第24目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第25目标须在前24个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷��绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第25目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第26目标须在前25个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第26目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第27目标须在前26个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第27目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第28目标须在前27个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第28目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第29目标须在前28个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第29目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第30目标须在前29个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第30目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第31目标须在前30个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第31目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第32目标须在前31个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第32目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第33目标须在前32个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第33目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第34目标须在前33个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第34目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第35目标须在前34个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第35目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第36目标须在前35个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第36目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第37目标须在前36个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第37目标未轮到、未达成。"
+     }
+    ]
+   },
+   "brush_goal_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 82,
+      "text_zh": "推断：第38目标须在前37个目标依次通过后计入。视频 0.0–7.0 s，机器人一直在第1目标下方反复夹取实体刷，绿色虚影未切换；log step 82 的服务返回 goal_index=0、goals_reached=0，评分器最终也记录 goals_reached=0/38，故第38目标未轮到、未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_goal_01_reached",
+   "t": 6.2,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.5–6.1 s，机器人夹住实体刷的刷头并小幅抬起，仍未对齐绿色第1目标；视频约 6.2–6.4 s，刷子从手下滑脱并回落桌面，而机械臂继续上提。视频 7.0 s 仍未恢复夹持或到达目标；log step 82 的服务返回 goals_reached=0，评分器最终为0/38。"
+  },
+  "unmet": {
+   "brush_goal_01_reached": false,
+   "brush_goal_02_reached": false,
+   "brush_goal_03_reached": false,
+   "brush_goal_04_reached": false,
+   "brush_goal_05_reached": false,
+   "brush_goal_06_reached": false,
+   "brush_goal_07_reached": false,
+   "brush_goal_08_reached": false,
+   "brush_goal_09_reached": false,
+   "brush_goal_10_reached": false,
+   "brush_goal_11_reached": false,
+   "brush_goal_12_reached": false,
+   "brush_goal_13_reached": false,
+   "brush_goal_14_reached": false,
+   "brush_goal_15_reached": false,
+   "brush_goal_16_reached": false,
+   "brush_goal_17_reached": false,
+   "brush_goal_18_reached": false,
+   "brush_goal_19_reached": false,
+   "brush_goal_20_reached": false,
+   "brush_goal_21_reached": false,
+   "brush_goal_22_reached": false,
+   "brush_goal_23_reached": false,
+   "brush_goal_24_reached": false,
+   "brush_goal_25_reached": false,
+   "brush_goal_26_reached": false,
+   "brush_goal_27_reached": false,
+   "brush_goal_28_reached": false,
+   "brush_goal_29_reached": false,
+   "brush_goal_30_reached": false,
+   "brush_goal_31_reached": false,
+   "brush_goal_32_reached": false,
+   "brush_goal_33_reached": false,
+   "brush_goal_34_reached": false,
+   "brush_goal_35_reached": false,
+   "brush_goal_36_reached": false,
+   "brush_goal_37_reached": false,
+   "brush_goal_38_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.2,
+    "log_step": 82,
+    "evidence_zh": "观察：视频约 5.6–6.1 s，灰色实体刷被合拢的灵巧手带起少许，与桌面阴影出现间隔；视频约 6.2–6.4 s，实体刷下落回桌，手仍上行，随后视频 6.6–7.0 s 可见手与刷子分开。刷子未曾到达绿色第1目标，也没有在目标处按计划松手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 79 的脚本以合拢手指、拇指后上提的动作夹取宽刷头；log step 82 保持手部关节目标，仅改变臂位姿来把刷子移向第1目标，未安排松手。视频约 6.2–6.4 s，刷子仍从合手状态下脱离并回桌，说明夹持和搬运控制未能保持对实体刷的约束；证据不足以进一步区分接触几何与闭环跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐帧接触对或接触力记录；绿色虚影遮挡部分��指与刷头接触区，无法确定滑脱由夹持几何、夹紧力还是关节跟踪引起。视频中的抬起与回落可辨，但不能从像素精确复核8个角点的距离，节点未达成结合服务及评分器的累计命中数判断。log step 76 重置前的会话动作不属于本评分回合，log step 105 最后一次非空say仍在分析重置前的 grasp_attempt_4，未作为本回合持物或完成的证据；未把agent时间或控制步换算成视频时间。"
+ },
+ "summary_zh": "评分回合是 log step 76 重置后的 episode 2：机器人两次在灰色实体刷的宽刷头处合手抬升，38个有序目标均未通过。视频约 6.2 s，第二次夹持中的刷子滑脱回桌，断在“到达位姿1”；日志显示向目标运动时保持合手，支持夹持搬运控制失败。缺少接触力及状态日志，无法进一步确认控制失效的具体机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点全部未达成与评分器 goals_reached=0/38 一致；视频中刷子被带起后回落桌面，断点在到达位姿1、没保持住的标注与帧一致。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": "2026-10-29T11:55:58Z",
+  "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/dextoolbench_brush_red_brush_sweep_forward-standard--bkwqpxa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-standard--bkwqpxa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "37bba1dbdc5629ca858132a4d29ae0b03111b1b7b2b09eb05dc619bf74e5072a",
+   "video_sha256": "6baa10ac1353b3cd3264371db3325bd84db6f071e67396faef36a8679aa4dc99",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-match/badminton_duelrl_i01/task_dag.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/badminton_duelrl_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-badminton-duelrl-i01",
+ "title_zh": "羽毛球对抗获胜",
+ "summary_zh": "己方A在与内置B方对手的羽毛球单打中被裁判判为整场胜者，且比赛结果有效。",
+ "embodiment_zh": "standard-realtime：己方A为一条七自由度Franka Panda机械臂，末端为安装工具（圆形羽毛球拍，无用于拾取球拍的夹爪），立于高1米的柱座及可沿平面移动的双轴龙门底座；对手B有相同构型与运动限制，由内置策略控制。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-badminton-duelrl-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "后方和侧面视角可见两台白色机械臂以圆拍击打橙色球头、白色裙尾的羽毛球；完成要求整场已结束且裁判判己方A获胜：通常先到11分且领先至少2分，或先到15分，累计400次击球或40分记录（含重发）后的该分结束时则按比分、最后非重发得分者、首接发方依次决胜，对手弃权也可判A胜。中途领先、一次成功回球或仅赢一分均未完成，整场判B胜即未完成；本录像没有比分或胜者字幕，须结合原生比赛状态或结果记录确认终场和胜者。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "A方单臂末端安装球拍，球拍面击打羽毛球；候选接触方式为“击打”，现有接触方式没有击打条目，不重复标机械臂连接球拍的接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "A方龙门底座支撑机械臂，并在典型击球方案中沿球场平面移动以覆盖接球位置。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-12",
+     "inputs/grader/efe_embodied-olympics-match-files/standard-realtime/tests/fexam_reward.py:18",
+     "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:96-110",
+     "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:155-157",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:256-271",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:285-288",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:343-368",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:170-176",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:184-203",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/outcome.py:23-49",
+     "inputs/oracle/run.json:1 reward and final service status",
+     "inputs/oracle/replay.mp4 @ 0, 14.9, 44.9, 74.9, 78-80.3 s"
+    ],
+    "conf": 7,
+    "note_zh": "竞赛按outcome_only，仅保留整场获胜；得分占比没有单独通过阈值，不拆为固定11个得分步骤。state在比赛裁决前不成立，最终结果确定后保持；发球、移动和挥拍是比赛方法，无握拍或复盘步骤。示范A以11比4获胜，最后一分为B发球触网；合法成功可以失分，也可由对手弃权获胜。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "每个未结束比赛的分后冻结时，A方未在300秒真实时间内提交ready，裁判以ready_timeout立即结束整场并判A负；即使比分领先也不能获胜。录像压缩掉复盘等待，须由原生计时或判罚记录确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:48",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:424-427",
+     "inputs/task/standard-realtime/instruction.md:9-10"
+    ]
+   },
+   {
+    "id": "start_forfeit",
+    "zh": "未开赛判负",
+    "never": null,
+    "criterion_zh": "A方在1800秒开赛窗口结束时仍未start，或开赛前结束会话，以no_show立即判整场负；双人代码的窗口从首个席位start起算，内置B也参与开赛。应查原生开赛及判罚记录，不能从录像首���推断真实等待时间。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:47",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/core/service.py:300-362",
+     "inputs/task/standard-realtime/instruction.md:11-12"
+    ]
+   },
+   {
+    "id": "abandoned_match",
+    "zh": "提前离场判负",
+    "never": null,
+    "criterion_zh": "A方已开赛但整场尚未裁决就结束会话，采集时以abandoned立即判整场负；内置B不会结束会话，代码明确把此实例视为单个人类控制席位离场。录像截断本身不足以确认，应查终局记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/sim/core/service.py:371-387",
+     "inputs/task/standard-realtime/instruction.md:12"
+    ]
+   },
+   {
+    "id": "serve_delay_fault",
+    "zh": "发球延迟失分",
+    "never": null,
+    "criterion_zh": "当A为发球方，接发方准备好、发球开放后300个控制步（3秒模拟时间）仍未抛球，立即以serve_fault:undue_delay结束该分并给B加1分；只终止该分，后续仍可赢得整场，不能当作整场历史否决。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:294-300",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:505-508",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:230-232"
+    ]
+   },
+   {
+    "id": "rally_timeout_fault",
+    "zh": "回球超时失分",
+    "never": null,
+    "criterion_zh": "轮到A击球且自该段最近一次抛球或击球起超过600个控制步（6秒模拟时间），仍无落地、触网等其他裁决，立即判A未及时回球、结束该分并给B加1分；只终止该分，不否决之后的整场获胜。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:450-455",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:512-539",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:176"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "Log task.match_finished and task.match_winner from inputs/task/standard-realtime/environment/sim/sport/plugin.py:163-200 and inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/outcome.py:23-49; no per-frame state logs supplied."
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "Log core phase, due seats, ready_deadline, forfeiting and reason from inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365,424-427."
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "Log joined seats, start deadline, forfeiting and reason from inputs/grader/efe_embodied-olympics-match-files/sim/core/service.py:300-362."
+   },
+   {
+    "atom": "abandoned_match",
+    "level": "new_code",
+    "source": "Log phase, forfeiting and reason at collection from inputs/grader/efe_embodied-olympics-match-files/sim/core/service.py:371-387."
+   },
+   {
+    "atom": "serve_delay_fault",
+    "level": "new_code",
+    "source": "Log World.k, rs.server, rs.state, rs.deadline and committed point loser/how from inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:294-300,343-354,505-508."
+   },
+   {
+    "atom": "rally_timeout_fault",
+    "level": "new_code",
+    "source": "Log World.k, rs.expect, rs.played_k and committed point loser/how from inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bduel.py:450-455,512-539."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "A_continuous_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "原生point_share：A分/(A分+B分)，尚无得分时为0.5，弃权方记0；取值0至1。无独立通过阈值，不能以大于0.5替代整场胜者，平分及弃权均有专门裁决。",
+   "sources": [
+    "inputs/grader/efe_embodied-olympics-match-files/sim/variants/8cffd84f39/sport/sport.toml:289-294",
+    "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/score.py:58-88",
+    "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:149-152"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json没有任何状态日志；按DECISIONS.md P8，获胜节点when、约束never及spec.success均为null，原生最终reward仅用于核实证据，不伪造逐帧字段。需补记比赛终结、胜者��裁判计时状态才能自动验证。",
+  "录像的两个相机视角只有动作和时钟，没有比分或胜者字幕；单次触网或落地不能证明整场获胜。示范结局由run.json中的原生服务状态和reward共同确认（A胜、11比4），其余轨迹同样需要结果记录或可完整数分的录像。",
+  "按DECISIONS.md N2，唯一成功示范uha6nrt同时是待标注轨迹，因没有其他成功只能使用它；不从其发球、回球方案增加必经节点。",
+  "按DECISIONS.md N7，发球延迟及回球安全计时超时列为裁判时钟约束；此处“立即终止”仅指该分立即结束，失分后仍可赢得整场，不能解读为历史否决。其他普通回球或发球失误只影响比分，也不要求整场零失误。",
+  "文字与实现的开赛计时起点略有差异：instruction.md:11写服务启动后1800秒，service.py:300-312对双人模式从首个席位start起计；本实例内置B参与启动，未见可量化的两时刻差值，不自行假定完全同步。",
+  "有效性验收包括finalized、有效终局、实时评分或一致回放、无基础设施错误（shared/tests/grade.py:96-110）；最终fexam_reward.py:18还要求A_won。它们保留为整场结果的验收说明，不虚构为世界状态步骤，当前success因无日志无法绑定。",
+  "原生得分占比有连续数值但无独立成功阈值，故仅列native_metrics；plan_mismatch、动作请求计数、延迟及速度反射等诊断不单独否决成功，不列约束。14400秒会话预算和400击/40分比赛上限不列失败约束；前者导致提前离场时按abandoned裁决，后者按比赛决胜规则验收。",
+  "评分器要求，文本未提：bduel.py:538-539还有单段抛球或击球后超过600控制步（6秒模拟时间）未产生其他裁决则判应击球方失分的安全计时；并入回球超时约束，不增加步骤，也不把一次此类失分等同整场失败。",
+  "instruction.md:65的通用偏离说明提到双人赛会交换首发进行两场，但本实例正文要求一场固定实例，docker-compose.yaml:34-39固定duel、首发A，示范记录也仅一场；按该实例的具体配置建一个获胜节点，不扩成两场独立验收。"
+ ],
+ "conf": 7,
+ "conf_reason_zh": "单一获胜目标、决胜规则、判罚和最终A_won覆盖均有文字及实际评分调用链支持，示范结果与录像未冲突；缺少逐帧状态日志，录像也没有比分字幕，因此条件绑定和裁判计时不能自动核验。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "文本只描述一个目标（赢得整场比赛），单节点 match_won（对抗·获胜）与 fexam_reward.py:18 的 valid_trial∧A_won 一致；无状态日志故 when/never/success 为 null 符合 P8；裁判时钟（复盘超时、未开赛、提前离场、发球延迟、回球超时）按 N7 列为立即终止约束，其只终止该分的说明正确；open_questions_zh 已列文本/评分器差异。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:29:18Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_duelrl_i01/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_duelrl_i01/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "416883989a1b0750efb02ea75554896f9e4f2f93ebc401245d02fcdd42dec635",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-match/badminton_duelrl_i01/trajectories/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--mkz43ea.json

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+{
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+ "video": {
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+ "progress": {
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 17,
+      "text_zh": "观察：视频 0–100 s 的两视角显示双方机械臂持续发球、回球和移位；A方为后方视角的近端机械臂、侧面视角的右侧机械臂。log step 17 的原生比赛服务记录开赛，log step 99–101 记录同一场比赛结束，未见重置。"
+     },
+     {
+      "t": 101.6,
+      "log_step": 99,
+      "text_zh": "观察：视频 101.0–101.6 s，A方挥拍后羽毛球仍落向己方近网半场。log step 99 的原生裁判逐分记录将该分判给B，比分A 9、B 11；log step 100 报告 phase=over、reason=match_over。run.json 的评分器字段 match_over=1、A_won=0、B_won=1、valid_trial=1，因此整场获胜节点未达到；录像本身没有比分或胜者字幕。"
+     },
+     {
+      "t": 101.6,
+      "log_step": 101,
+      "text_zh": "推断：日志控制步与视频可按约100步/视频秒对应：视频 2.0 s 画面标 k=200，视频 101.6 s 末帧标 k=10153，与 log step 101 的终局控制步10153一致；这里只用该对应核对比赛事件，未将agent工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：A方机械臂末端固定安装的圆形球拍实际击打羽毛球，候选方式“击打”；例如视频约 2.0 s 发球、视频约 7.3 s 回球，击球后球改变运动方向。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：A方龙门底座支撑机械臂并沿场地平面移动接球；例如视频 6.5–7.4 s 底座向后场移位，视频 100.6–101.2 s 向近网接球位置移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "name": "A_continuous_score",
+   "value": 0.45,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": 101.5,
+   "log_step": 99,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 101.0–101.6 s，A方在末分回球时挥拍，球未飞过球��，落在A方半场；log step 99 的原生裁判记录末分原因为“A's shot came down on its own side (x=0.40, y=-0.44)”，比分从9∶10变为9∶11。log step 100–101 确认整场结束，评分器 A_won=0、B_won=1；按对抗任务outcome_only规则，断点为整场获胜节点。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 101.0,
+    "log_step": 99,
+    "evidence_zh": "观察：A方多次击中羽毛球后，出球仍不足以飞过球网，落点留在己方半场：视频 7.3–7.9 s、视频 11.4–12.0 s 及视频 101.0–101.6 s 均可见击球后的球向网前飞一小段后下落。原生裁判在 log step 25、30、99 分别将对应的比赛第2、3、20分记为A回球落在己方半场；这是一种反复出现的回球落点错误，而非仅凭整场输赢反推失误。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：A方脚本未能稳定产生使回球过网的拍头运动。log step 24 的act响应中，stroke是基准服务对所提交轨迹的机器人预演反馈，报告比赛第2分计划受关节速度限制，速度缩至约0.40倍，racket_vel_delivered=[0.020,0.395,0.347]；视频 7.3–7.9 s 随后出现短回球。log step 62 对视频约 43.4 s 的回球报告预演拍面偏差48.72度；log step 100 对末分控制步10104（对应视频约 101.0 s）的最终重规划报告预演拍头偏差0.1215 m、拍面偏差8.65度，并给出racket_vel_delivered=[-0.629,-0.608,-0.131]。结合视频 101.0–101.6 s 实际短回球及 log step 99 的落点判罚，支持控制问题；预演数值不当作实际触球瞬间测量，证据不足以细分为接触设计、轨迹求解或反馈跟踪。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有逐帧状态日志，比赛录像及成功示范的相同视角均不显示比分或胜者，整场胜负由原生服务终局和评分器字段确认。日志提供的是轨迹预演反馈，缺少实际触球瞬间的拍头速度、拍面姿态和接触力测量，因此控制根因不再细分。"
+ },
+ "summary_zh": "A方实际参加了完整羽毛球比赛，获得9分、对手11分，唯一节点“赢得比赛”始终未达到，最终进度0/1。比赛中反复出现击球后仍落在己方半场的短回球，视频约 101.0–101.6 s 的末分再次如此并使B获胜，日志的轨迹预演反馈支持控制问题。录像没有比分字幕且无逐帧状态日志，终局由原生服务及评分器共同确认，具体控制子类仍不确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "整场结果（A 9:11 负）、唯一节点未达、断点为 match_won、位姿不准加控制（子类不明）均与日志和评分器字段一致，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": "2026-10-29T11:55:34Z",
+  "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/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--mkz43ea/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--mkz43ea/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ba4770b4515e776a0164cdc8b4daa65c4a49c74d37f46fb4ddacbbbc1647180",
+   "video_sha256": "ff159eaf4dc24947a86f0918d0f895c77fd73b5a2ab6cda1aa012879893e798c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-match/badminton_duelrl_i01/trajectories/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--uha6nrt.json

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+   "A_attempts": 67,
+   "A_applied": 67,
+   "A_refused": 0,
+   "A_dropped": 0,
+   "A_observations": 2714,
+   "A_rejected_acts": 0,
+   "A_plan_s_max": 1.9465465410612524,
+   "A_act_s_max": 3.846983324037865,
+   "A_obs_age_s_max": 0.6014856130350381,
+   "B_points": 4,
+   "B_serves": 4,
+   "B_service_faults": 1,
+   "B_attempts": 77,
+   "B_applied": 77,
+   "B_refused": 0,
+   "B_dropped": 0,
+   "B_observations": 1472,
+   "B_rejected_acts": 0,
+   "B_plan_s_max": 1.5877214290667325,
+   "B_act_s_max": 3.2689577508717775,
+   "B_obs_age_s_max": 0.4913342820946127,
+   "infra_error": 0,
+   "realtime": 1,
+   "opponent_level": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.215,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.83,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--uha6nrt/replay.mp4",
+  "duration_s": 80.5,
+  "fps": 10.0,
+  "frames": 805,
+  "sha256": "b2824b96895c375104d1bbcbd8064991900ad3dd0a54c7ad470a16e4ae4c5378"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [
+     [
+      80.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.2,
+      "log_step": null,
+      "text_zh": "观察：视频74.8–75.5 s，后方视角近端的A方机械臂（侧面视角右侧）迎向来球，安装在末端的圆拍在视频75.1–75.2 s附近击中羽毛球，随后球离拍飞向网对面；A方柱座及底座同时移动以调整接球位置。"
+     },
+     {
+      "t": 80.4,
+      "log_step": 139,
+      "text_zh": "观察：视频79.4–79.8 s，B方机械臂（侧面视角左侧）抛球并挥拍发球；视频80.3–80.4 s羽毛球到达网处，最后一帧控制计数为k=8036。log step 139中，比赛服务（提供裁判状态的仿真API，非agent自述）的终局记录为phase=over、done=true、reason=match_over、step=8035、t_sim=80.35，比分you=11、opponent=4；末分记录明确为B发球触网，winner=you。"
+     },
+     {
+      "t": 80.4,
+      "log_step": 140,
+      "text_zh": "观察：log step 140再次读取服务状态，返回done=true、reason=match_over、比分11–4及B发球触网的末分结果；inputs/run.json评分器字段success=1、valid_trial=1、match_over=1、A_won=1、A_points=11、B_points=4、infra_error=0，与该终局一致。"
+     },
+     {
+      "t": 80.4,
+      "log_step": 139,
+      "text_zh": "推断：原生控制计数与仿真时钟对应100步/秒，log step 139终局8035步对应80.35秒；已用视频75.2 s显示k=7520、视频80.3 s显示k=8030及视频80.4 s显示k=8036核对映射。将获胜起点标在已查看的终局帧视频80.4 s，精度约0.1秒；此前领先和单分获胜均不满足整场获胜条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频75.1–75.2 s附近，A方单臂末端固定安装的圆形球拍拍面击打羽毛球，球随后离拍飞向对方；候选接触方式为“击打”，现有方式无对应条目。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：整场比赛中A方龙门底座承载柱座和机械臂并沿球场平面移动接球；例如���频74.8–75.2 s底座及柱座移动，机械臂同时调整挥拍位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "A_continuous_score",
+   "value": 0.733333,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "A方通过移动龙门底座、使用末端安装球拍发球和回球完成整场比赛，最终以11–4获胜，唯一节点“赢得比赛”在视频约80.4 s达到。最后一分是B方发球触网，log step 139–140的原生服务终局状态与评分器A_won=1、valid_trial=1一致。录像没有比分或胜者字幕，也没有逐帧状态日志，因此胜者以原生裁判记录确认，终局时刻由控制计数与视频关键帧交叉核对。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 match_won 在视频约80.4 s达到，与评分器 success=1、A_won=1、11–4 及 log step 139–140 一致；控制计数映射在80.3 s帧(k=8030)核对无误，接触标注合理，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": "2026-10-29T11:54:38Z",
+  "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/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--uha6nrt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-duelrl-i01-standard-realtime--uha6nrt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf85ffcabbd60a2f9619f31e085d0b1ea0bf655c0b14d09063741ea53763a60a",
+   "video_sha256": "b2824b96895c375104d1bbcbd8064991900ad3dd0a54c7ad470a16e4ae4c5378",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-match/foosball_match_i01/task_dag.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/foosball_match_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-foosball-match-i01",
+ "title_zh": "桌上足球对抗获胜",
+ "summary_zh": "己方蓝色 A 队在与三级脚本对手的桌上足球比赛中被裁判判为胜方，并获得有效的整场成功结果。",
+ "embodiment_zh": "标准实时模式：固定桌上足球机器人，己方四根电动球杆各具有横向滑动和轴向转动自由度，分别装有 3、2、5、3 个蓝色人偶，脚端是固定安装工具；没有机械臂、夹爪或移动底盘，以俯视相机观察球台，回放为斜俯视外部镜头。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-foosball-match-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "录像中绿色球台上的蓝色人偶是己方 A，红色人偶是对手，橙色球进入右侧对方球门计己方得分；完成须整场结束且裁判判 A 获胜：先到 5 球，或达到 240 秒有效比赛时间、40 回合上限时，依次按较高比分、最后进球队、零比零时球在己方半场停留较短的一方、非首次开球队决胜。单次进球、暂时领先或回合冻结都未完成；该录像没有比分或胜方叠层，须结合可见进球及裁判终局输出确认，例如参考运行最终 phase=over、reason=match_over、score.you=5、score.opponent=3；整场判负则未完成，评分成功还须通过记录有效性检查。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选名称：击打。电动球杆上固定的蓝色人偶脚端击打橙色球；按安装工具到目标的接触链标注，现有怎么碰标签没有击打。球杆移动人偶还可挡停或拨球，不要求由己方最后触球，也不另标虚构手掌抓杆。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-4",
+     "inputs/task/standard-realtime/instruction.md:44-56",
+     "inputs/task/standard-realtime/environment/sim/sport/foos.py:253-263",
+     "inputs/task/standard-realtime/environment/sim/sport/foos.py:447-453",
+     "inputs/task/standard-realtime/environment/sim/sport/foos.py:484-524",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:138-180",
+     "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:96-138",
+     "inputs/oracle/run.json:reward and steps[id=48] final service status",
+     "inputs/oracle/replay.mp4:0-82.9 s"
+    ],
+    "conf": 6,
+    "note_zh": "对抗任务只分析整场结果；控杆、开球触球顺序、射门、防守和回合复盘不拆节点。初始比分为零、比赛未结束，获胜不在初始状态成立；没有额外持稳时间。进球数及进球占比是原生指标，不强加五个必经进球节点，也不限定参考运行的射门顺序。 回合规则：守门杆与两人杆合并组控球超过 15 秒、五人杆超过 10 秒或三人杆超过 15 秒会被判控球犯规；开球未完成三次交替人偶触球即出杆、非法旋杆也会结束当前回合并把球权判给对手，非法旋杆进球不计分。这些处罚不直接判整场负，不要求整场零犯规，不另列为整场失败约束。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "start_forfeit",
+    "zh": "启动超时判负",
+    "never": null,
+    "criterion_zh": "服务启动后 1800 秒现实时间内未发送 game start，或启动前会话已经结束，裁判以 no_show 判己方整场负；即使未开始比赛也是有效负局。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:11-12",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-362",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:47-48"
+    ]
+   },
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "任一回合后需要己方复盘时，从世界冻结起 300 秒现实时间内未发送 game ready，裁判以 ready_timeout 立即判整场负，即使己方比分领先。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:9-10",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:49"
+    ]
+   },
+   {
+    "id": "match_abandoned",
+    "zh": "提前离场判负",
+    "never": null,
+    "criterion_zh": "己方已启动而比赛尚未结束时会话结束，裁判以 abandoned 立即判整场负；正常比赛结束后结束会话不违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:12",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:459-468"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/environment/sim/sport/plugin.py:138-180 and core/service.py:384 onward; add per-frame task.match_finished and task.winner including referee forfeits; do not substitute an unlogged delivery verdict"
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:323-362; log no_show referee event and responsible seat"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365; log ready_timeout referee event and responsible seat"
+   },
+   {
+    "atom": "match_abandoned",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381; log abandoned referee event and responsible seat"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "goal_share",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空：按暂行 DECISIONS.md P8，所有节点 when、约束 never 和 success 均为 null，不能把评分文件中的字段冒充逐帧状态绑定；需新增比赛结束、裁判胜方及整场判负事件记录后才能自动核对。",
+  "录像的斜俯视镜头显示绿色球台、蓝红人偶和橙色球，但没有比分或胜方叠层，末帧冻结本身不足以区别回合复盘与整场结束；获胜须结合裁判终局输出。参考运行的服务状态为 5:3、phase=over、reason=match_over，与 reward.success=1 一致。",
+  "规则边界（暂行 DECISIONS.md N7、P21；docs/01_task_dag.md Step 6）：裁判时钟判失分、失去一次行动或整场判负才适用计时约束；本桌上足球为连续比赛，控球超时仅结束当前回合并转移球权，不判失分或整场负（instruction.md:44-48、61；foos.py:470-475、484-494），不把球权转移扩大解释为离散行动判负。开球和旋杆违例同为回合处罚，三者均写入获胜节点备注，不列约束。参考运行 reward.success=1、possession_time_fouls=1、fouls=1，steps[id=48] 服务终局为 5:3、phase=over、fouls.you=1，证明整场获胜不要求零犯规；启动超时、复盘超时和提前离场仍判整场负并保留约束。",
+  "评分器要求，文本未提：除裁判胜方为 A，公共评分器还要求记录 valid_trial、finalized、比赛完整、无基础设施错误及直播评分或可信重放一致（grade.py:100-138）；这些是结果有效性验收，不另建物理步骤，success 因无状态日志保留 null。当前配置 RO_VERDICT_REPLAY=0，参考运行奖励仍含 deterministic 和 replay_error 字段，存在版本差异，但获胜核心相同。",
+  "连续指标 goal_share 由 sport.toml:132-141 及 sport/grade.py:29-37,114-118 定义为己方进球占总进球的比例，零比零为 0.5、弃赛为 0；没有成功阈值，不能用大于 0.5 替代裁判的平局决胜规则，也不拆为额外必经步骤。有效比赛 240 秒、40 回合和会话 14400 秒是上限，不建步骤或超时判负约束；启动、复盘及提前离场的裁判判负另列约束。",
+  "球杆速度保护次数、接触次数及仿真延迟统计只记录，不决定获胜或增设约束（sport/plugin.py:247-249，core/realtime.py:452-457）；本实例为 program、unmetered 模式，不套用其他模式的禁止程序审计或思考计费时钟。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单一获胜步骤、赛制阈值和起始零比分均有文本与裁判代码依据，参考运行终局支持该判据；没有逐帧状态日志，且录像不显示胜方，无法自动验证绑定。回合处罚与整场判负已按规则及裁判代码区分。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "单节点 对抗·获胜（outcome_only）与文本一致，无节点遗漏；三条仅结束当前回合的犯规约束（possession_timeout / opening_foul / illegal_spin）不是评分器的失败条件，应删除。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 对抗·获胜（outcome_only）与文本和评分器一致：success 对应 grade.py 的 valid && winner==A，有效性验收已在 open_questions 说明；三条整场判负的裁判计时约束符合 N7，回合犯规未被设为约束；无状态日志，when/never/success 均为 null 符合 P8。未发现需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
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+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
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