Add 120 trajectories (phase 2, remaining runs; batch N04)

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--cfvwout.json

@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--cfvwout",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 12174,
+   "live_rows": 12174,
+   "sim_steps": 12174,
+   "physics_steps": 121740,
+   "steps": 2683,
+   "elapsed_s": 10766.0,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的实时评分字段 graded_by_live=1、live_success=0、success=0、finalized=1；sim_startups=1、resumes=0、replays=0，infra_error=0、sim_error=0。本次按唯一实时 episode 评分。"
+     },
+     {
+      "t": null,
+      "log_step": 382,
+      "text_zh": "观察：机器人服务在 last_release_check 返回 done=False、reason=None、control_steps=12078；agent 在同一 log step 自述仍有近左折叠，尚未确认成功。log step 383 随后写入 terminal_lower、terminal_withdraw 和观察命令，但至 log step 384 没有相应完成输出。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：本任务唯一目标绑定毯子形状、释放、退离和静置的联合成功判据，实时最终评分未接受该目标，故 final=false；这不说明任何单项覆盖、高度或接触条件必然不满足。inputs/video.json 的 kind=none，且无状态日志，无法确定成立区间，intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 24、69、234 的脚本向左右夹爪发送闭合、移动和释放命令，log step 369、374、380 继续对左手发送降角与释放命令；本次没有视频或布料接触、辅助抓持状态日志，无法确认夹爪是否实际夹住毯子、是否同时持布及何时脱离，故实际接触记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": null,
+   "log_step": 382,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 369、374、377、380 连续提交左手展角、降低和开爪撤离命令；log step 382 服务返回 last_lower、last_open_rotate、last_release_check 的执行结果，仍为 done=False。agent 在 log step 382 自述近左折叠仍在，随后 log step 383 继续写入降角和撤离命令；结合最终 live_success=0，失败归于唯一展平步骤的操作中，而非已完成全部关系后的终态验收。无本次视频，t=null；此��志锚点不声称定位到了首次物理失误。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 标为 kind=none，选择记录为远端录像返回404且无本地视频；inputs/没有本次 replay.mp4 或 states.jsonl。日志中的图片条目只有引用，未提供本次图像文件，不能核实 agent 在 log step 374、377、382 所称布角仍随左手、尚有折叠，也不能由夹爪开度独自认定实际抓握或未松开，因此实际接触记未知，失败现象留空。log step 379 的逆解失败有错误记录，但 log step 380、382 随后换目标并执行，无法证实该已重试的问题导致最终失败；缺少布料、抓持和控制响应的独立证据以区分根因，根因留空。评分 reward 未报告 DAG 所列七项原生指标，均记 null，不采用 agent 自算的蓝色投影面积作为评分值。已查看成功参考视频的 0、4、8、12、18、23.53 s 帧，末态可见布面平铺及双爪退离；参考视频仅说明完成外观，不能补成本次运行的证据。"
+ },
+ "summary_zh": "本次唯一目标“毯子展平”终态未通过实时联合验收，完成节点为0/1；日志记录了双臂展开命令和后续左手折角处理、释放与撤离命令。断点归于 blanket_flattened 的操作中，log step 382 服务仍返回 done=False，agent 自述仍有近左折叠且尚未确认成功。无本次视频或状态日志，不能核实实际接触、具体失败现象及根因，时间区间与七项未报告的原生指标均留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志（video.kind=none）；final=false 来自实时评分字段（graded_by_live=1、live_success=0），intervals=null、contact_actual 记未知、现象与根因留空并写明 gap_zh，均符合 N9。log step 引用（按 id）与 run.json 一致，断点 blanket_flattened/操作中、t=null 合理，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": "2026-10-31T00:57:12Z",
+  "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/roboarc-blanket-flatten-03-i01-standard--cfvwout/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--cfvwout/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "711184c22c05453c23ea07d8214e0a7fdb5e6ee8b8c0b7a411f416302a095a00",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--szpsrhp.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--szpsrhp",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10223,
+   "live_rows": 10223,
+   "sim_steps": 10223,
+   "physics_steps": 102230,
+   "steps": 2366,
+   "elapsed_s": 8593.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.212,
+   "peak_processes": 11,
+   "peak_disk_gb": 2.002,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 315,
+      "text_zh": "观察：机器人实时服务在撤臂动作068_withdraw期间返回done=True、reason=success；agent读取保存的服务元数据，输出control_steps=10223、sim_time_s=255.575（仿真秒），随后输出FINAL True success。这是服务的回合终结结果，不是agent的视觉判断；无视频，不能写入视频时间。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的reward记录success=1、live_success=1、graded_by_live=1、finalized=1、resumes=0、sim_startups=1，且success_pending_review=0、infra_error=0；本次评分采用同一实时回合的成功结果。"
+     },
+     {
+      "t": null,
+      "log_step": 315,
+      "text_zh": "推断：毯子展平是本任务唯一受评目标，服务的success终结结果与评分器成功字段一致，足以确定该节点final=true；其验收包含覆盖、贴桌、不过度拉伸、松手、撤离及连续稳定确认。未提供视频或状态日志，不能确定首次达成时刻、过程区间或各验收量的实测值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 245、288及313中agent自述双爪抓持毯角、抬升并最终松手撤离，log step 315确认服务成功终结；输入没有可查看的相机图像、视频或状态接触记录，无法核实左右夹爪与毯子的实际接触方式及是否同时抓握，故填未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：log step 315的机器人实时服务返回done=True、reason=success，评分器同时记录live_success=1、graded_by_live=1及finalized=1。推断：唯一目标“毯子展平”终态达成，按成功轨迹保留failure=null。观察：输入无可用视频或状态日志，达成区间和实际接触无法核实；评分器未报告八项原生指标的数值，全部保留null，log step 312中agent自算的覆盖率不作为���分器实测值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；仅有服务终结结果（log step 315 done=True reason=success）与评分字段支持 final=true，failure=null，原生指标全部 null，contact_actual 填未知，均符合证据纪律，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:09Z",
+  "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/roboarc-blanket-flatten-04-i01-standard--szpsrhp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--szpsrhp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d91227e9ef426d463c1e536da8b7489f3a763e146f975c3cef6f544a5f0c794",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--negpalv.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-07-i01-privileged--negpalv",
+ "taskKey": "roboarc/blanket_flatten_07",
+ "dag_sha256": "156cc67db22cef8d68926887fd6edd32d159d16cc6e2cf659a2d8a921fc5fcbe",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.174,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.051,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 29,
+      "text_zh": "观察：log step 28、29仅记录 agent 创建展平控制脚本和仿真服务脚本，工具返回文件创建成功；没有启动脚本、机器人执行或保存轨迹成功的输出。"
+     },
+     {
+      "t": null,
+      "log_step": 30,
+      "text_zh": "观察：log step 30以“This request was blocked by Gemini's filters”结束；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0。本次无视频或状态日志，也没有报告该节点终态的服务结果，故达成区间及终值均未知；agent 自算的初态几何数据不作为评分节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；log step 28、29只创建脚本，未交付受评轨迹，无法标注机器人夹爪与毯子的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "footprint_area",
+   "unit": "m^2",
+   "threshold": 0.2736,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 30,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 30记录 Gemini 供应商过滤器阻断；此前 log step 28、29的输出仅确认脚本文件创建，评分器报告 missing_trajectory=1且仿真与录制计数均为0。没有已交付并验证的受评结果，无法定位机器人在哪个物理步骤失败。"
+  },
+  "unmet": {
+   "blanket_flattened": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json标明 kind=none，输入中没有本次状态日志；评分器仅报告缺交付，未报告展平节点或原生指标。log step 30是供应商过滤器阻断，受评结果尚未形成，按外部中断规则（CASES.md FAIL-5）不归为机器人失败，现象与根因均留空。log step 7、24、25的初态几何统计及 log step 28、29的控制代码均为会话证据，不能代替受评执行；inputs/oracle/replay.mp4属于另一成功运行，不能填补本次节点或接触证据。"
+ },
+ "summary_zh": "本次未交付受评轨迹，毯子展平节点的终值未知，实际接触不适用；评分记录保留 success=0、missing_trajectory=1。agent 在 log step 28、29创建控制脚本后，于 log step 30遭 Gemini 供应商过滤器阻断，按外部中断处理，断点记 unknown／首步前，不归因于机器人能力。没有本次视频、状��日志或节点结果，所有原生指标留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；log step 30 为 Gemini 过滤器阻断，评分器 missing_trajectory=1、sim/record/replay 计数均为 0，没有交付。节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 CASES.md FAIL-5。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-privileged--negpalv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-privileged--negpalv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ab1cfde2b8fa54c37061cf9040595120a0f1b24c95efe760b30ea7f46ca560f7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--my8fshi.json

@@ -0,0 +1,204 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--my8fshi",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 83,
+   "agent_resets": 58,
+   "agent_sim_steps": 16892,
+   "agent_records": 0,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明本次无视频，也无状态日志。评分器未报告毯子展平节点的终态，不能由缺交付或零分推断物理节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 383,
+      "text_zh": "观察：agent 在 log step 382 启动重新 reset 的四处拉展调试脚本，未调用动作录制；最后一条消息（log step 383）为等待该后台脚本完成。推断：这些会话测试不构成已交付的评分轨迹，不能据此确定节点终值或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，因此不将会话测试中的左右夹爪与毯子接触记为评分尝试的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 383,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0，infra_error=0、grader_error=0；agent 最后一条消息仍是等待四处拉展调试脚本（log step 383）。推断：没有交付的评分轨迹，无法定位物理操作中出错的步骤；断点记 unknown／首步前。"
+  },
+  "unmet": {
+   "blanket_flattened": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频、无状态日志，评分器未报告任何展平原生指标或节点终态；成功参考视频属于另一运行，不能证明本次进度。运行记录 wall_s=10803，预算 time_limit_s=10800；最后记录为 agent 等待调试脚本（log step 383），没有最终交付或成功报告。推断：会话在预算边界附近结束且未交付；日志中的调试验收失败（例如 log step 367）仅属于会话测试，不是评分轨迹的失败现象。按 DECISIONS.md D23，未交付的 agent 失败保留空现象和空根因；不能仅凭缺交付、停止或预算耗尽推定控制、规划或交付操作出错。"
+ },
+ "summary_zh": "观察：评分器判定失败，原因字段为缺少提交轨迹，录制与回放次数均为0；唯一节点“毯子展平”的终值未知。观察：agent 会话进行了多次拉展与松爪调试，最后仍在等待后台脚本（log step 382–383），没有交付结果。推断：断点记未知／首步前；本次无视频和状态日志，不能将会话测试的接触、指标或缺陷作为评分轨迹标签，现象与根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23/03 的无交付规则，未发现错误。",
+    "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": "2026-10-31T01:00:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--my8fshi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--my8fshi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ece1338f379d38eee35fdef763531f0e80b7d432f062c6223c88ae4bde3f55c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--asdufcl.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-standard--asdufcl",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 12503,
+   "live_rows": 12503,
+   "sim_steps": 12503,
+   "physics_steps": 125030,
+   "steps": 2284,
+   "elapsed_s": 10745.0,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 699,
+      "text_zh": "观察：log step 699 中，agent 脚本在最后一次撤离并观察后打印实时机器人服务返回的 done=False、reason=None；左右夹爪开度均约0.0574米，两臂 TCP 高度分别约0.2319米和0.2286米。这些是服务的本体与回合读数，不是毯子展平判据的逐项测量。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=0、live_success=0、graded_by_live=1、finalized=1，且只有一个实时回合（sim_startups=1、resumes=0）。DAG 的唯一目标节点涵盖完整展平联合验收，结合 log step 699 的未成功状态，可判定该节点终态为 false；不能据此判断途中是否曾部分展开。"
+     },
+     {
+      "t": null,
+      "log_step": 701,
+      "text_zh": "观察：agent 在 log step 701 自述最终面积估计约0.175平方米、服务未报告成功；log step 699 的 area=0.17485420750049463 来自 agent 自写 cloth_projected_area 函数，并非评分器 coverage_ratio。无本次视频或状态日志，不能据此填写达成区间、实际抓握类型或原生指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 131、470、644 记录 agent 脚本向双臂发送拉开指令，log step 698 记录最后撤离动作 executed_rows=20；该步骤确已尝试。缺少本次视频及接触/辅助抓取状态，无法确认左右夹爪实际夹住、按压或拖动了毯子，故接触双方及方式均记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": null,
+   "log_step": 699,
+   "where": "操作中",
+   "evidence_zh": "推断：本次为一个持续的实时展平回合。log step 644-680 中 agent 脚本继续双臂拉开、抬移和降低毯角，log step 682-688 又尝试中心重抓，随后 log step 690-699 开爪并撤离；最后服务仍返回 done=False，评分器 live_success=0。未有全部展平条件已达成的服务证据，故断点为展平操作未完成，不能仅因最后撤离而标为终态验收；无视频，t 留空，log step 699 仅作最终未修复结果的导航锚点。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，choice 说明本次回放获取返回404且无本地视频；本目录没有本次状态日志。成功参考视频已检查参考视频0.0、4.0、9.0、10.47秒，只能说明达标外观，不能证明本次布料状态。日志中的看图调用仅有图片元信息，未提供可检查的本次图像；agent 的深度高度、面积估算及抓取自述不能替代实际布料观测。服务本体读数、done=False 与评分器失败足以确定唯一节点终态未完成，但没有实际辅助抓取标志、接触对或展平验收分项，无法区分残留折叠、持布失效、材料伸长或其他联合条件失败，因此现象与根因均留空，全部时间区间及八项原生指标留 null。log step 695 的撤离逆解失败已由 log step 697-699 改用较低目标完成撤离，不能作为未修复根因；防护截停记录也不足以证明物理碰撞或其导致最终失败。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "观察：本次单一实时回合中，agent 脚本多轮尝试双臂展开、重抓、降低布角并松手撤离，最终服务仍返回 done=False（log step 699），评分器确认 live_success=0，唯一“毯子展平”节点终态未完成。推断：断点在展平操作中；agent 自述的面积不足仅为自写视觉估计，不能确认为评分器分项失败原因。观察：本次无视频和状态日志，实际接触、达成区间、具体失败现象与根因无法可靠确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频（kind=none），标签仅依据评分器与服务字段：success=0、live_success=0、graded_by_live=1，节点 final=false、区间为 null、接触记未知、断点 ref=blanket_flattened 且 t 留空，均符合 N9。现象和根因留空并在 gap_zh 说明：面积估计来自 agent 自写函数，不是评分器读数，服务读数（done=False、forcing 0 次）无法区分具体失败原因。我没有发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--asdufcl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--asdufcl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a2d9f6a48c3d8f0f636ac5125bcbfa71d921229242c81a3c923cac8e0ef9942a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 31,
+   "agent_sim_steps": 0,
+   "agent_records": 17,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 184,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0，未报告该节点的遍历结果；log step 184 的交付目录清单仅列生成脚本、会话日志和缓存目录，没有 trajectory.npz。没有本次录像或状态日志，log step 175 的抓取及抬升碰线记录属于会话测试，不能据此确定评分轨迹是否完成全线遍历。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分轨迹；会话测试中的夹爪与工具接触不作为本次评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 184,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未报告终点支撑、释放或静置验收结果；log step 177 的生成脚本只在 r.complete 且无 abort 时保存轨迹，log step 184 的交付目录清单没有 trajectory.npz，log step 185 无返回结果。没有本次录像或状态日志，不能确定此节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分轨迹；会话测试中的夹爪与工具接触不作为本次评分轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 184,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、infra_error=0、grader_error=0。log step 177 写入生成脚本；log step 180 显示会话测试因 agent 脚本参数数量错误抛出 TypeError，log step 181-183 尝试修复并重跑，log step 184 的交付目录仍没有 trajectory.npz，log step 185 无输出。推断：没有可定位物理断点的评分轨迹，不能把会话测试的碰线或脚本异常指认为评分尝试中某个节点的失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 video.kind=none，inputs/ 没有本次 replay.mp4 或 states.jsonl，评分器 missing_trajectory=1，且没有逐节点评分字段；因此所有节点 intervals 与 final 均为 null，原生距离和角度指标也未报告。log step 175 的抬升碰线、log step 180 的脚本异常以及之后的重跑均是会话证据，不能充当未交付评分轨迹的现象或节点结果；log step 185 没有返回值，末次重跑是否结束无法核实。按 DECISIONS.md D23（CASES.md OPEN-16），agent 侧未交付时现象与根因均留空，不从缺交付反推原因。inputs/oracle/replay.mp4 属于另一次成功运行，不能补足本次证据。",
+  "unmet": {
+   "wire_traversed": null,
+   "tool_on_finish_support": null
+  }
+ },
+ "summary_zh": "评分器报告 success=0、missing_trajectory=1；没有交付可评分轨迹，两个节点的最终值均未知。会话中 agent 多次调试抓取与路线，末尾写入生成脚本并继续重跑，但 log step 184 的交付目录仍无轨迹文件，log step 185 无返回结果。没有本次视频、状态日志或逐节点评分，断点保留 unknown／首步前，现象与根因按无交付规则留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；两节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)。log step 175/177/180/184/185 均核对属实，未把会话测试当作评分事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:07:57Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7028c66ada7c6492be931343d98e685c2741c612797ee356fd7ed2d3aaf312d6",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--xwzzems.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--xwzzems",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 473,
+   "agent_resets": 69,
+   "agent_sim_steps": 27727,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.345,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.113,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1032,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0，本次 video.kind=none，且无状态日志。log step 1032 的会话测试输出在路线采样点163报告 wire_touched；该测试没有交付，不能据此判定受评分轨迹是否走完全线。评分记录也未提供本节点结果，故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，未交付受评分轨迹；会话测试中的夹持、移动或碰线不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1018,
+      "text_zh": "观察：log step 1018 中 agent 编写的脚本包含终点放置、松爪、撤臂和静置命令，但仅在服务 status.success 为真时保存轨迹；log step 1032 的该次会话测试在路线采样点163报告 wire_touched。评分记录 missing_trajectory=1，未报告终点放置的节点结果；无本次视频或状态日志，故不能把脚本计划或会话测试当作已交付终态，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，无受评分轨迹可供判定终点放置接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1245,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 1245 是最后一条 agent 消息，自述已启动扩大的动态规划路径求解器、等待结果，未报告交付完成。没有交付受评分轨迹，无法定位其中某个物理步骤的失败；断点记为 unknown，位置记为首步前。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "tool_on_finish_support": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 明确本次 video.kind=none，inputs/ 未提供本次状态日志；评分记录只有缺失轨迹等会话统计，没有两个节点的终态或原生距离、角度指标。log step 733、1032 的碰线来自未交付的会话测试，log step 710、1018 的保存调用均位于成功条件分支，不能把这些测试的接触、失败现象或原因移入受评分轨迹；按无交付规则，两层留空。运行 wall_s=10803、time_limit_s=10800，最后的 log step 1245 仍在等待优化；infra_error=0、grader_error=0，没有已记录的外因中断证据，也没有证据足以把未交付单独归为交付操作出错。inputs/oracle/ 为另一成功运行，不能补成本次动作证据。"
+ },
+ "summary_zh": "评分记录显示本次未交付轨迹（missing_trajectory=1，录制及回放次数均为0），两个任务节点的完成状态均未知。会话测试曾报告沿线移动时碰线，最后一条消息仍在等待路径优化，但这些测试不能作为受评分轨迹；断点记为 unknown／首步前，现象与根因留空。本次无视频、无状态日志，也无节点级评分或原生距离与角度结果，无法恢复节点进度及具体物理失败。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分记录 missing_trajectory=1、agent_records=0、agent_replays=0，未交付受评分轨迹。节点终值 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，均符合 03 的“无交付（agent 侧原因）”规则（D23），未把会话测试当作受评分事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--xwzzems/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--xwzzems/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e0c371e90b84919b8720454d7636e8e4235cfc3aba11633351be227658a38577",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh.json

@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh",
+ "taskKey": "roboarc/buzz_wire_3d_02",
+ "dag_sha256": "35b7681bfd3d5b86305d4212ed2727ea7f8608426d8fbedd400758048cb51cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 46,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.008,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.065,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 230,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，且本次没有视频或状态日志；log step 193、230 中 agent 调试脚本打印的 traversal_complete=True 来自会话测试及快照恢复，不是已交付轨迹的评分结果，无法据此判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0；没有交付轨迹，受评轨迹接触不适用。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 230,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的验收结果；本次没有视频或状态日志。log step 230 的会话测试打印 success=False 及终点距离约6.61毫米，log step 232-234 仍在测试释放补偿，随后 log step 236 出现提供方过滤阻断；这些调试结果不能作为受评轨迹的节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0；没有交付轨迹，受评轨迹接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "route_cursor_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 236,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 232 启动终点释放补偿测试，log step 234 仍称等待该测试，log step 236 的最终消息为“This request was blocked by Gemini's filters”。评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；未形成已交付的受评轨迹，无法定位物理步骤断点。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish_support": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频、无状态日志，评分器只报告缺失轨迹，未报告两节点或三个原生指标的受评结果。log step 236 显示模型提供方过滤器在交付前截断会话，依 CASES.md FAIL-5 按外因中断处理，待重试，不归入机器人失败分析。log step 193、230 的走线与终点姿态读数均为 agent 会话调试结果，不能代替交付轨迹；故节点终值未知，不标没尝试，也不把调试中的偏位或代码异常记作受评失败现象或根因。"
+ },
+ "summary_zh": "观察：评分器记 success=0、missing_trajectory=1，未交付受评轨迹；金属环走完全线和工具放到终点两个节点均无法确定终值。log step 232-234 仍在进行终点释放补偿测试，log step 236 显示模型提供方过滤器阻断会话，依外因中断规则保留 unknown／首步前及空现象、空根因，待重试。没有本次视频或状态日志，会话中已走线及终点偏移的调试输出不能计入本次受评进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分器记 missing_trajectory=1、agent_records=0；log step 236 为 Gemini 过滤器阻断，属 FAIL-5 外因中断。标注的 unknown／首步前、空现象与根因、gap_zh 均符合规则，未把会话调试读数当作受评结果。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:01Z",
+  "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/roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15a642755f503882284cf301f6d8b6425e3d0eede8228723f73bdca29d4da8c8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe",
+ "taskKey": "roboarc/buzz_wire_3d_04",
+ "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 345,
+   "agent_resets": 198,
+   "agent_sim_steps": 19907,
+   "agent_records": 0,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 906,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告正式轨迹的遍历结果；log step 906 启动的是会话内连续逆解搜索，log step 907 仍显示后台运行。无视频、无状态日志，不能将测试中的沿线进度作为本节点终值，故保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0，没有交付轨迹；会话测试中的夹爪与工具接触不作为正式轨迹的实际接触。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 908,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1，未报告正式轨迹的终点支撑、释放或静止确认结果；log step 689 的输出目录清单仅列测试脚本和会话日志，log step 908 agent 最后自述“等待任务结束”，没有完成或提交报告。无视频、无状态日志，不能确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0，没有交付轨迹；会话测试中的夹爪与工具接触不作为正式轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "crossing_radial_distance",
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_position_error",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "robot_tool_aabb_clearance",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_linear_drift",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_angular_drift",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 908,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0、grader_error=0；log step 906 启动连续逆解测试，log step 907 显示该后台测试仍运行，log step 908 agent 自述“等待任务结束”后日志终止。未交付可供评分的轨迹，无法定位物理步骤断点。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish_support": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，无回放视频、无状态日志，且评分器报告轨迹缺失，没有两个节点的正式结果字段。运行 wall_s=10803，预算 time_limit_s=10800；log step 908 结束于等待会话测试，没有最终交付报告。推断：会话持续调试至预算末仍未形成交付，但预算耗尽本身不作为现象或根因；会话内的抓取、碰撞、几何检查和逆解测试不能替代正式轨迹证据，也没有可定位的录制或保存操作错误，故不标物理失败现象或具体根因；所有视频时间、节点区间和节点终值保留未知，原生指标均未由评分器报告。"
+ },
+ "summary_zh": "观察：评分器判失败并报告 missing_trajectory=1，录制与回放计数均为零；未交付正式轨迹，两个节点的最终状态均未知。观察：log step 906–908 仍在启动连续逆解搜索并等待，日志没有最终提交报告；断点记为 unknown／首步前，现象与根因留空。观察：本次无视频和状态日志，不能以会话测试补定正式进度或接触，评分器也未报告 DAG 原生指标。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1、agent_records=0；两节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 N9 与 D23；预算耗尽未被当作现象或根因，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": "2026-10-31T01:02:09Z",
+  "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/roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "16b2a59d44155d1b8dc84fdbfabadf6bd9ab4c99283d5659d3e8fe01ab955127",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a",
+ "taskKey": "roboarc/buzz_wire_3d_04",
+ "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 3,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 117,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告沿线遍历完成状态；inputs/video.json 的 kind=none，且无状态日志。log step 117 只是 agent 离线路径脚本的净空计算，log step 121 只是未交付会话的执行输出，不能据此确认金属环走完全线；本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付受评轨迹；会话测试的机器人接触不计为本节点实际接触。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 125,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告终点放置、释放或静止确认结果；无视频及状态日志。agent 在 log step 124 修改并重启生成脚本，log step 125 的监控调用无输出，未见保存成功或最终服务验收结果，不能确认工具放到终点；本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付受评轨迹；会话测试的机器人接触不计为本节点实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "crossing_radial_distance",
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_position_error",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "robot_tool_aabb_clearance",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_linear_drift",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_angular_drift",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 125,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、infra_error=0、grader_error=0；本次没有交付可供评分的轨迹。agent 在 log step 122 主动停止生成脚本，log step 124 修改速度后重新启动，log step 125 的监控调用无输出，日志未提供保存成功或最终验收记录；无法定位受评物理步骤的失败事件。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish_support": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频（inputs/video.json: kind=none），���状态日志，评分器明确报告缺少交付轨迹，也未提供两个节点的结果或任何原生验收量。log step 108 的生成脚本把 save_trajectory 放在运动循环结束之后；log step 116、119 的导入和变量错误后来经 log step 118、120 修改，log step 121、123 的速度限制输出仅属于会话测试。log step 124 重启后，log step 125 没有返回结果；run.wall_s=10802、time_limit_s=10800 表明会话到达预算边界，但预算耗尽本身不是现象或根因。依 D23，agent 侧无交付时两层均留空；不能把会话脚本错误、离线负净空或速度警告当作受评轨迹的物理失败，亦无证据断言外部基础设施中断。两个节点 final 与所有原生指标均未知。"
+ },
+ "summary_zh": "评分器以缺少交付轨迹判本次失败（missing_trajectory=1）；金属环走完全线和工具放到终点均无可确认的受评结果，两个节点终值均未知。agent 完成了离线路径计算并多次修改、重启生成脚本，但最后的 log step 125 没有返回结果，也没有保存成功或回放验收记录。无视频及状态日志，断点记为 unknown／首步前，按 D23 留空现象与根因，不将会话测试视作受评轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1，两个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；log 末尾（step 124-125）确认脚本重启后未见保存，会话测试未被当作受评事实，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": "2026-10-31T01:03:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9da9df2a41779e24dd58f03a2b13e8600659c2140cf228e4cf1a770b4ea2cd71",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd",
+ "taskKey": "roboarc/buzz_wire_3d_04",
+ "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.258,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.053,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 64,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 64 以提供方过滤提示结束。inputs/video.json 的 kind=none，且没有状态日志或服务结果报告沿线遍历是否完成；log step 20、25、50 的交点及碰撞计算属于 agent 的离线几何检查，不能作为该节点的受评状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注机器人夹爪与工具或工具与金属线的实际交互。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 64,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0，未报告终点放置、释放退开或静止确认结果；log step 56、57、62 仅检查终点几何与方向。inputs/video.json 的 kind=none，且没有状态日志，不能据这些会话检查确定该节点的终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注机器人夹爪与工具或工具与金属线的实际交互。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_arc_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "crossing_radial_distance",
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_position_error",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "robot_tool_aabb_clearance",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_linear_drift",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_angular_drift",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 64,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 64 的最终消息为“This request was blocked by Gemini's filters”，此后无调用或交付；评分器报告 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0。推断：提供方过滤在受评轨迹交付前中断会话，无法定位某个物理步骤的失败，按外因中断规则记录为首步前、具体步骤未知。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；video.kind=none，无回放视频、状态日志或成功参考。log step 64 明确记录提供方过滤中断，评分器报告 missing_trajectory=1；没有可判读的受评物理执行，也没有逐节点服务终态或 DAG 所列原生指标值。推断：按外因中断规则，此运行应重测并排除出机器人失败归因，保留目录 success=0，不标“没尝试”或交付操作出错；两节点的 intervals、final 均为 null，现象和根因均留空。离线几何检查中的接触数与间隙不是受评轨迹的接触事实。",
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish_support": null
+  }
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，仿真步数、录制和回放次数均为零；两个语义节点均无可确认的受评终态。观察：log step 64 以 Gemini 提供方过滤提示结束，此前 agent 在读取代码并做离线几何检查。推断：这是交付前的外因中断，应重测并排除出机器人失败归因；无视频、无状态日志，断点为 unknown／首步前，现象和根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "运行在交付前被 Gemini 提供方过滤中断（log step 64），missing_trajectory=1、agent_records=0，无视频无状态日志；两节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合外因中断规则，未发现错误。",
+    "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": "2026-10-31T01:06:23Z",
+  "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/roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e3746e39621d5c992e556255afbdc49e4504486b0f5a3c6e95d419c752d684a3",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq",
+ "taskKey": "roboarc/buzz_wire_3d_06",
+ "dag_sha256": "bc5d78cb2d250489c83cf4bcd02bf8c04664ca5fe54538516a25cb2b44d28ffd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 30,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 30 以响应超过 32000 token 上限的 API Error 结束。未提供本次录像或状态日志，也没有报告“金属环走完整线”的节点验收结果，故本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付轨迹，无法标记机器人夹爪与环柄工具的实际交互。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 30,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 30 以响应超过 32000 token 上限的 API Error 结束。未提供本次录像或状态日志，也没有报告“工具放到终点”的节点验收结果，故本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付轨迹，无法标记机器人夹爪与环柄工具的实际交互。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 30,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 22 中 agent 的脚本仅重新生成几何资产并核对哈希；随后 log step 23、25、27、29 无工具调用，log step 30 报告“API Error: Claude's response exceeded the 32000 output token maximum”。评分器记录 missing_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0。推断：提交前会话被 API/CLI 输出上限错误中断，未形成可定位到物理步骤的受评轨迹，按 CASES.md FAIL-5 记 unknown／首步前。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 无本次 replay.mp4 或 states.jsonl；现有 inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进度。评分器仅报告缺失轨迹，没有两个节点的终值或原生距离、角度指标；log step 30 是响应超过 32000 token 上限的 API 错误，运行 wall_s=3040，小于记录的 10800 s 时间上限。推断：这是交付前的外因中断，依 CASES.md FAIL-5 留空现象和根因，不将缺交付或会话中的资产生成结果解释成机器人失败。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，仿真会话、执行步、录制和回放计数均为 0；没有本次录像或状态日志，两个节点的终值均未知。观察：log step 30 报告响应超过 32000 token 上限的 API 错误，此前日志仅见源码检查、资产生成与哈希核对。推断：交付前受外因中断，断点为 unknown／首步前；保留目录评分结果，但不归入机器人物理失败，现象和根因均留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无录像、无状态日志，评分器 missing_trajectory=1 且会话/仿真/记录计数均为 0；log step 30 为 API 输出上限错误，属外因中断（FAIL-5）。节点 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，均与证据一致，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:58:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e2c2f2f9ac67df8e217b3cd7d88d8e7cb522ce88584dada22180beb6604a46b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy",
+ "taskKey": "roboarc/buzz_wire_3d_06",
+ "dag_sha256": "bc5d78cb2d250489c83cf4bcd02bf8c04664ca5fe54538516a25cb2b44d28ffd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 353,
+   "agent_resets": 26,
+   "agent_sim_steps": 60844,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.16,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.112,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0，未报告受评轨迹的 traversal_complete；inputs/video.json 为 kind=none，且没有状态日志，因此本节点终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 1506,
+      "text_zh": "观察：agent 启动的 test_full_run.py 会话内测试返回 episode_end=wire_touched、traversal_complete=False；log step 1550 又启动另一测试，log step 1555 仍为 RUNNING。这些均无已录制交付的证据，不能作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，故无可归属于本节点的受评接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器仅报告 missing_trajectory=1、success=0，没有终点支撑、释放、静止或共同确认的受评结果；本次无视频、无状态日志，不能从总体失败推定本节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 1549,
+      "text_zh": "观察：agent 编写的 test_full_continuous.py 包含降放、松爪、撤离和静置命令；log step 1550 启动该会话内测试，log step 1555 的状态仍为 RUNNING，未提供该测试的最终结果，也未录制交付轨迹。命令计划不证明放置完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，故无可归属于本节点的受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1556,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 1555 显示最后启动的会话内测试仍为 RUNNING，agent 在 log step 1556 自述仍等待仿真完成。未形成可供评分的交付轨迹，无法定位某个物理步骤的断点；首步前指受评交付，而非会话内机器人从未行动。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 为 kind=none，没有状态日志；评分器报告缺少交付轨迹，未给出两个节点的受评终值及原生距离、角度指标。log step 1506 的碰线是会话内测试结果，不能移作受评现象；log step 1555 的最后测试仍在运行，log step 1556 无完成报告。推断：会话墙钟 10803 s 与墙钟预算 10800 s 相符，记录支持预算结束时仍在测试，但不能据此确定物理失败或缺交付的具体能力根因；故现象和根因均留空。所附 oracle 是另一成功运行，不能补充本次的动作、接触或节点值。"
+ },
+ "summary_zh": "评分器以 missing_trajectory=1 判定失败，录制与重放次数均为 0，两个 DAG 节点均无可确认的受评终值。agent 在日志末尾仍等待会话内穿线测试完成，断点记为 unknown／首步前，不把较早测试的碰线作为受评现象。本次没有视频和状态日志，无法确定物理失败现象或缺交付的具体根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0。标注遵循 D23(a)/N9：节点 final 为 unknown，断点 unknown/首步前，现象与根因留空并有 gap_zh，会话内测试未当作受评现象。日志 step 1555/1556 与墙钟 10803/10800 s 核对无误。",
+    "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": "2026-10-31T01:00:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f9dfd8898b003c6f41ec15f81ec6446e672f854fb05be279de652d5536d006a1",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu.json

@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 996,
+   "submitted_actions": 996,
+   "sim_steps": 996,
+   "physics_steps": 9960,
+   "sim_time_s": 24.899999999999654,
+   "final_reward": 0.0,
+   "replay_wall_s": 92.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 24,
+   "agent_sim_steps": 0,
+   "agent_records": 13,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.043,
+   "peak_memory_gb": 1.258,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.894,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：log step 574 将已回放的956行前缀与随后40行关节动作合并保存；log step 575 的模拟器服务返回 episode_end=None、sim_steps=996，log step 576–577 核对最终文件为996行，与评分器 n_actions=996 一致。该输出没有报告 traversal_complete；本次无视频及状态日志，不能判定有效全程遍历的节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 578,
+      "text_zh": "观察：agent 在 log step 578 自述未完成遍历、只走到约第120个线采样点；这是对交付范围的说明，不能替代节点的服务判据。评分器 success=0、strict_goal_reached=0 为整任务结果，未分别报告两个节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：log step 395、405、574 的录制及保存代码表明交付内容尝试带动工具沿线移动；无本次视频或状态日志，无法核实夹爪与木柄的实际夹持及金属环对裸线的避让，不将会话中的抓握输出直接记作轨迹接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 574,
+      "text_zh": "观察：log step 574 的最终追加段只有10组各4步的关节移动，log step 575–577 确认保存996行动作，log step 578 中 agent 自述停在终点之前。评分器只给出整体未成功及 strict_goal_reached=0，没有终点支撑、释放、位姿或联合静止窗口的节点读数；无视频及状态日志，按无视频规则保留终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 578,
+      "text_zh": "推断：依据 log step 574–578 的交付代码和最终说明，交付仍在沿线移动阶段，未另行尝试终点降放、松手撤离；因此不填本节点的 contact_actual。这不把未尝试推定成节点终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 574,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 534、550–551 保存并回放956行沿线运动前缀，log step 572–575 从该前缀追加40行动作后保存最终996行文件；评分器同样执行996行，success=0。agent 在 log step 578 明确自述遍历未完成、停在约第120个线采样点，交付代码也没有后续终点放置段，故断在沿线遍历操作中。没有视频时钟，t 留空；会话中较长试跑的 wire_touched 不作为交付轨迹的断点事件。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 568,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话证据显示 agent 尚未得到可执行的后续控制段：log step 529–530 的逐点逆解出现1.34–1.75弧度关节解跳变；log step 550–551 回放同一956行前缀后，log step 552–553 的转环并继续移动试跑返回 wire_touched，log step 562–563、567–568 的改动仍返回 wire_touched；随后 log step 574–578 只保存到约第120个线采样点的前缀并承认遍历未完成。由这些后续运动求解和执行困难归为控制层根因，不把未交付试跑的碰线标为本次现象；证据不足以进一步区分接触设计、逆解和跟踪控制。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（HF 404且无本地视频），也无状态日志；虽 reward.video_rendered=1，当前输入中只有另一次成功运行的 oracle 视频。已查看 oracle 视频0、120、270、280.8 s的参考视图，但它不能证明本次轨迹的进展或接触。本次评分器未给出 traversal_complete、supported、released、final_settling 等节点结果，故两节点 final 及所有视频区间均留空；success=0不能单独推出每个节点为假。无法观察交付轨迹停止前的物理偏差，现象层留空，接触方式未知；根因仅依据会话试跑作控制层推断，碰线和关节解跳变均不声称已在最终交付中发生。"
+ },
+ "summary_zh": "观察：最终交付996行动作，评分器执行996行并判 success=0、strict_goal_reached=0；agent 在 log step 578 自述仅完成约前120个线采样点的部分路线。推断：断点为金属环走完全线，后续试跑反复碰线及关节解跳变支持控制层困难，交付只保留沿线运动的前缀；未见终点放置尝试。观察：本次无视频、无状态日志且无分节点服务结果，两个节点终值均未知，实际接触未知，失败现象留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，标注文件如实把两节点终值与接触留未知，断点定在 wire_traversed，交付为996行前缀与评分器 n_actions=996 一致，log 引用均属实；根因为控制层推断且已标明为推断，现象留空并有 gap_zh，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": "2026-10-31T00:57:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57baa2b9408b4af29343e1f6d6fc4143ce20eebb51eafe1569227f06a33266d7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--ceyufse.json

@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--ceyufse",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 14,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 traversal_complete；log step 161 的交付目录列表无轨迹文件，log step 162 中 agent 也明确自述未生成 trajectory.npz。没有本次受评视频或状态日志，不能把会话中沿线规划、抓取测试或脚本中的遍历代码当作金属环走完全线的达成证据，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，log step 161 未见交付轨迹文件；没有受评轨迹可标注实际接触，会话测试中的夹爪与工具交互不计入。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告终点支撑、释放、姿态或联合静止确认结果；log step 157 仅把执行脚本复制为 gen.py，log step 161 的交付目录仍无轨迹文件。没有本次受评视频或状态日志，不能从脚本中计划的放置、撤手与等待动作判定工具放稳终点，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，log step 161 未见交付轨迹文件；没有受评轨迹可标注实际接触，会话测试中的夹爪与工具交互不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 161,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器记录 success=0、missing_trajectory=1、infra_error=0、grader_error=0；log step 157 交付的是 gen.py，log step 161 的最终目录检查仍只有该脚本与会话日志。log step 162 中 agent 自述轨迹未写出、保存调用在执行脚本末尾；没有已交付的受评动作序列可定位到某个物理步骤。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，本次无受评视频，也无状态日志；评分器仅判 missing_trajectory=1，没有两个节点的服务验收结果或原生指标值。log step 149 把保存调用写在执行脚本末尾，log step 151 启动该脚本���log step 161 未见轨迹文件，log step 162 中 agent 自述因预算结束而未生成轨迹，但最后执行器运行到哪一步未经确认。推断：依 DECISIONS.md D23，对 agent 侧未交付的运行保留空现象和空根因，不能将此前多次重置后的抓取失败挪作受评现象，也不能仅从预算或缺交付反推控制、规划或交付根因；依 N9，两个节点终值均未知。inputs/oracle/replay.mp4 是另一成功运行，不能补作本次轨迹证据。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1；log step 161 的交付目录只有生成脚本和会话日志，log step 162 中 agent 确认未写出可回放轨迹，因此没有可确认达成的受评节点，两个节点终值均未知。断点记为 unknown／首步前，按未交付规则（DECISIONS.md D23）不把会话抓取测试标成受评失败现象，也不从预算结束或缺交付推断根因。本次无视频、无状态日志，评分器未提供节点验收结果，成功 oracle 不能替代本次证据。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1，log step 157-162 确认只交付 gen.py、未写出 trajectory.npz。两个节点 unknown、断点 unknown/首步前、空现象与空根因加 gap_zh，均符合 DECISIONS.md D23 与 N9，未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--ceyufse/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--ceyufse/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8743839a42d76c202645715e181085bff570848e67dac002b89f2e8e80179e62",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw.json

@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 24,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告“金属环是否走完全线”的节点结果；inputs/video.json 为 kind=none，且无状态日志。推断：不能由缺交付或总失败判定该节点的物理终值，会话测试不计为受评轨迹进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械臂测试的接触不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告“工具是否放稳终点”的节点结果；inputs/video.json 为 kind=none，且无状态日志。推断：不能由缺交付或总失败判定该节点的物理终值，会话测试不计为受评轨迹进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械臂测试的接触不作为本节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 140,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，infra_error=0、grader_error=0；日志末尾 log step 140 仍在输出夹爪垫位置和正向运动学诊断，没有轨迹保存或回放结果。推断：受评交付尚未开始，无法把会话内多次重置后的抓取测试指定为某个受评节点的失败。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无受评视频、无状态日志，评分器只报告缺交付，没有两个节点的终态及 DAG 原生指标。log step 75—134 包含多轮抓取、逆解与接触诊断，log step 136—140 继续姿态及正向运动学检查；这些均为未录制交付的会话测试。运行 wall_s=10803，time_limit_s=10800，日志未见成功最终报告或保存���付的结果。推断：不能把会话测试中的卡挡、逆解误差或脚本异常当作受评轨迹现象，也不能仅由缺交付或预算结束反推根因，故两层均留空；成功 oracle 仅是另一运行，不能补出本次进度。"
+ },
+ "summary_zh": "观察：评分器以 missing_trajectory=1 判失败，agent_records=0、agent_replays=0；两个节点均无可确认的受评终值，实际接触不适用。日志结束于 log step 140 的夹爪姿态诊断，未见交付保存或成功最终报告；推断：断点只能记为 unknown／首步前，不能把会话抓取测试当作受评失败。无本次视频、状态日志及节点结果，现象、根因和全部原生指标均缺乏可用证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0、agent_replays=0；节点 final 为 null、断点 unknown/首步前、两层留空并写 gap_zh，符合 03 的无交付规则（N9、D23），未把会话测试或超时当作现象/根因。log step 75–140 均存在，未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0a7b8afac0c4446dcc72d083ef741b6b50704a4dd223a3004704fae2cec411f4",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq.json

@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 181,
+      "text_zh": "观察：log step 181 为 Gemini 过滤器拦截消息；评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告 traversal_complete。本次无视频、无状态日志，无法判定金属环走完全线；会话中逆解和碰撞扫描不代表已交付的沿线运动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹，无法标注夹爪与工具或工具与金属线的实际接触；会话测试不计入。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 169,
+      "text_zh": "观察：log step 169 的脚本直接设置独立 MuJoCo 场景中的工具位姿，再运行落放测试并自行打印 PASS；这不是评分器或服务的终态验收。评分器 reward.missing_trajectory=1，未报告终点放置结果；本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹，终点放置步骤的实际接触不适用；独立落放测试不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 181,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 180 仍在读取任务判定函数，log step 181 以“This request was blocked by Gemini's filters”结束，之后无操作或交付记录；评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0。交付前即被提供方过滤器中断，无受评物理过程可定位到某个失败步骤。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 的 kind=none，inputs/ 中无本次视频或状态日志；评分器只报告交付缺失，未给出两个节点的终值或原生指标。log step 181 明确记录提供方 Gemini 过滤器拦截，属于交付前外部中断，按 CASES.md FAIL-5 不归为机器人失败，不标“没尝试”或推断控制、规划、交付根因。log step 169 等独立会话测试不能替代受评轨迹；另一个成功运行的 oracle 也不能证明本次节点。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，未交付受评轨迹；金属环走完全线与工具放稳终点两个节点均无可判定的终值，本次无视频和状态日志。观察：log step 181 为 Gemini 过滤器拦截，发生在交付前，按外部因素中断处理，断点记 unknown／首步前，现象及根因留空；独立会话测试不计节点进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；log step 181 为 Gemini 过滤器拦截，交付前被外部因素中断，评分器 missing_trajectory=1、agent_records=0。标注（节点 unknown、断点 unknown/首步前、现象与根因为空并有 gap_zh）符合 CASES.md FAIL-5，未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0891825403b57476c19baf1115939f9337625c992effa9c2bfc18995d4e72042",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--pddxeif.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-09-i01-privileged--pddxeif",
+ "taskKey": "roboarc/buzz_wire_3d_09",
+ "dag_sha256": "4aadb7f30e0f9dc92d811d6d611f4534baaee01b6ae4ac5552c5cbe7986c702c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.547,
+   "peak_memory_gb": 1.821,
+   "peak_processes": 16,
+   "peak_disk_gb": 0.291,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 230,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 traversal_complete；log step 229 的输出目录清单仅有 gen.py 和会话日志，agent 在 log step 230 自述未生成有效 trajectory.npz，其沿线进展描述属于会话中的离线路径搜索。推断：没有交付的受评轨迹，也没有本次视频或状态日志，无法判定环沿线走完节点的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1；log step 229、230 确认无轨迹文件交付，受评轨迹的夹爪与工具、工具与线的接触均不适用。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 229,
+      "text_zh": "观察：log step 227、229 的输出目录清单均仅列 gen.py 和会话日志；评分器 reward.missing_trajectory=1，未报告终台接触、目标位姿、松手撤离或静置确认的结果。推断：没有本次受评视频、状态日志或逐节点评分结果，工具放到终台的终值无法判定，不能仅据 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1；log step 229、230 确认无轨迹文件交付，受评轨迹中夹爪对工具的放置接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arclength_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_arclength_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "loop_crossing_radial_offset",
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_position_error",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "robot_target_aabb_clearance",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_confirmation_displacement",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_confirmation_angular_drift",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 229,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器给出 success=0、missing_trajectory=1、infra_error=0、grader_error=0；log step 227、229 的输出目录清单只有生成脚本和会话日志，log step 230 的 agent 最终报告也明确承认没有有效轨迹文件。推断：没有交付可供评分重放的物理尝试，断点记 unknown／首步前，不能把会话中的路径搜索停滞定位为受评轨迹内的失败步骤。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 标明 video.kind=none，本次无视频、无状态日志；inputs/oracle/replay.mp4 属于另一成功运行，只能作参考，不能证明本次执行。评分器 missing_trajectory=1，未提供两个节点的结果或任何原生验收量；log step 229、230 确认未交付轨迹。推断：节点终值与所有视频时间保留 null，接触不适用；依未交付规则（DECISIONS.md D23），会话中的抓取测试、离线路径搜索和 agent 自述不作为受评物理现象或根因，故两层留空。没有证据证明特定保存操作出错，也不从缺失交付反推交付类根因。"
+ },
+ "summary_zh": "评分器报告 success=0、missing_trajectory=1；log step 229 的目录清单和 log step 230 的 agent 最终报告共同确认未交付有效轨迹，因此两个节点均未知，不能将会话中的抓取测试或离线路径搜索计为受评进度。断点记 unknown／首步前，实际接触不适用，按未交付规则不标物理失败现象或根因。本次无视频、无状态日志及逐节点评分字段，所有节点时间和原生指标值均无法确定。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1，log step 227/229 的输出目录仅有 gen.py 与会话日志，step 230 自述无有效 trajectory.npz。节点 unknown、断点 unknown／首步前、两层留空加 gap_zh，符合 D23 当前文本 (a)；未发现错误。",
+    "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": "2026-10-31T01:03:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-privileged--pddxeif/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-privileged--pddxeif/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "685ca32a2eee1fd37a40fcaa9cb0f6661df027b20b32f977f3f7d64a997536b4",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--xckapxr.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-09-i01-privileged--xckapxr",
+ "taskKey": "roboarc/buzz_wire_3d_09",
+ "dag_sha256": "4aadb7f30e0f9dc92d811d6d611f4534baaee01b6ae4ac5552c5cbe7986c702c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 40,
+      "text_zh": "观察：本运行 inputs/video.json 的 kind=none，无状态日志；评分器 reward 报告 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0，未报告“环沿线走完”的节点结果。log step 40 记录响应超过 32000 输出 token 上限的 API 错误；没有可据以判定本节点终值的受评执行记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评机器人轨迹；无可标注的本步骤实际接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 40,
+      "text_zh": "观察：本运行 inputs/video.json 的 kind=none，无状态日志；评分器 reward 报告 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0，未报告“工具放到终台并松手静置”的节点结果。log step 40 记录响应超过 32000 输出 token 上限的 API 错误；没有可据以判定本节点终值的受评执行记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评机器人轨迹；无可标注的本步骤实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arclength_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_arclength_distance",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "loop_crossing_radial_offset",
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_position_error",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "robot_target_aabb_clearance",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_confirmation_displacement",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_confirmation_angular_drift",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 40,
+   "where": "首步前",
+   "evidence_zh": "观察：log steps 27–28 中 agent 只编写并运行离线几何分析脚本；log step 32 的目录检查显示输出目录为空；log steps 33、35、37、39 无工具调用或执行结果，log step 40 最终报“API Error: Claude's response exceeded the 32000 output token maximum”。评分器同时报告 missing_trajectory=1，且会话、仿真步、录制与重放计数均为 0。推断：交付前的 API/CLI 响应错误截断了运行，无受评物理失败可对应到具体 DAG 步骤，故断点为 unknown、首步前。"
+  },
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本运行没有视频和状态日志，评分器也没有逐节点验收结果，因此两节点的 intervals、final 均保留 null，不能由总成功值 0 推断具体节点为假。log step 40 明确记录交付前的输出 token 上限 API 错误，按外部因素截断处理；目录中的 success=0 与 reward.infra_error=0 按原样保留，不据此把该 API/CLI 中断改判为机器人能力失败，现象及根因均留空。成功参考视频存在，已查看其视频 0.0 s、350.0 s、514.5 s 的三个视角画面，但它属于另一运行 egbwj9i，不能替代本运行的轨迹证据；所有原生指标均无评分实测值。"
+ },
+ "summary_zh": "本运行未交付受评轨迹：评分器报告 missing_trajectory=1，机器人会话、仿真步、录制和重放计数均为零；环沿线走完与工具放到终台两个节点都没有可判定的终值。agent 完成离线几何分析后，日志以 log step 40 的输出 token 上限 API 错误结束，按交付前外部因素截断处理，断点记 unknown／首步前，现象和根因留空。无本运行视频或状态日志，成功参考视频仅供辨认目标场景，不作为本运行进度证据。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1 且会话/仿真步均为 0，两节点 unknown/null、断点 unknown·首步前、现象与根因留空并写 gap_zh，符合 03 第5条（交付前被 API 错误截断）。log step 40 确为 API Error，未发现需要改的内容。需说明：steps 29/33/35/37/39 各自输出 32000 token 而无工具调用，这是否算 agent 自身过长生成而非外部因素，文档未明确，按字面 API Error 处理可接受。",
+    "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": "2026-10-31T01:04:13Z",
+  "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/roboarc-buzz-wire-3d-09-i01-privileged--xckapxr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-privileged--xckapxr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "529eb2e1653802042e7bafdc5faefcfc3753bb30ca7577bed092663f60ca6212",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz.json

@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "loop_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 133,
+      "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0，未报告 traversal_complete；inputs/video.json 为 kind=none，且没有本次状态日志。log step 123 是 agent 自建离线抓取原型的逆解失败，log step 133 仅启动该原型的后台测试，均不是交付回放；无法判定正式尝试是否完成全线通过，final 与 intervals 均保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付正式轨迹；不将 agent 离线模拟器中的夹爪或工具接触计入本次轨迹。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 134,
+      "text_zh": "观察：inputs/run.json 的评分器记录 missing_trajectory=1，未报告本节点的终点支撑、释放、姿态或连续静止验收结果；本次无视频和状态日志。log step 132 只修改 agent 离线抓取原型的缓存与保存代码，log step 133 只返回后台运行通知，log step 134 仍为几何计算，未提供正式终点放置结果；final 与 intervals 均保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付正式轨迹；不将 agent 离线模拟器中的夹爪或工具接触计入本次轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 133,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器返回 success=0、missing_trajectory=1、infra_error=0、grader_error=0，正式会话、模拟步、录制和重放计数均为0。log step 133 仅在后台启动 agent 自建的抓取原型；最后的 log step 134 为线路与工具几何计算，没有正式轨迹交付或成功验收结果。推断：没有可供定位物理失败步骤的受评分轨迹，故断点为 unknown，位置为首步前。"
+  },
+  "unmet": {
+   "loop_traversed": null,
+   "wand_on_finish": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 为 kind=none，未提供状态日志；评分器明确记录 missing_trajectory=1，且没有逐节点结果。log step 94、116、117、123 的抓取接近、逆解和碰撞��断及 log step 124 的代码异常均来自 agent 自建离线模拟器；log step 131 记录一个后台测试被 killed，此后 log step 132—134 仍继续修改、测试与计算，不能把该测试终止视作整场被外因中断。推断：无法将这些会话测试确定为正式物理失败，也无法仅凭未交付认定控制、规划或交付操作根因；依无交付处理规则，两层留空。运行 wall_s=10802，预算 time_limit_s=10800，二者接近只说明预算背景，不作为失败现象或根因。成功参考视频属于另一运行，只能提供视觉参照，不能补足本次节点状态。"
+ },
+ "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1），未报告两个节点的验收值；本次“金属环走完全线”和“工具放到终点”均为未知，没有可确认的节点进展。会话末尾仍在离线抓取原型与几何计算阶段（log step 132—134），故断点记为 unknown／首步前。无本次视频和状态日志，离线测试不能替代正式轨迹证据，失败现象和根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1 且会话/模拟步计数均为0；文件把两个节点保持 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 03 的无交付规则（D23），未把 agent 离线原型测试当作正式尝试。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": "2026-10-31T01:04:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8263a7259b61b439439f6ce9e0aedbdddcd62771b30c3e80a176348f2b825acf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--vpf366a.json

@@ -0,0 +1,169 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--vpf366a",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 24.176,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.055,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "coils_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 97,
+      "text_zh": "观察：log step 97 的最终消息为“This request was blocked by Gemini's filters”；评分器 reward.missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records 和 agent_replays 均为 0，没有可供评分的动作轨迹。inputs/video.json.kind=none，且无状态日志；评分器未报告线圈装配节点的终态，因此不能把 success=0 直接当作该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 93,
+      "text_zh": "观察：log step 91–93 是 agent 自建 MuJoCo 模型中的逆解和静态碰撞检查；log step 93 的脚本直接设置零件位姿和关节位置并调用 mj_forward，输出“Contact check complete!”。这些是会话规划检查，不是交付轨迹的接触或装配结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0；没有交付轨迹，不能将会话中拟定的左右夹爪抓握方案记为实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 97,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 96 仍在计算夹指几何范围，log step 97 最终消息记录 Gemini 过滤器阻止请求；评分器报告 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0。推断：中断发生在交付评分轨迹之前，没有可定位的机器人装配失败步骤，按外部中断规则记为 unknown／首步前。"
+  },
+  "unmet": {
+   "coils_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有视频（inputs/video.json.kind=none），也没有状态日志；评分器仅报告缺失轨迹，未报告装配误差、桌面间隙或节点终态。log step 97 记录模型提供方过滤器中断，发生在交付前；按 CASES.md FAIL-5 和本阶段 Step 3.5，属于应重试并排除出机器人失败分析的外因，保留目录 success=0，不标“没尝试”，现象和根因均留空。会话中的几何、逆解及碰撞检查不能替代评分回合；成功参考视频属于另一运行，不能填补本运行的终态证据。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，仿真会话、仿真步数、录制和重放计数均为 0；唯一的“金银线圈组装”节点终值未知，没有可确认的评分进度。观察：log step 91–96 仍是 agent 的逆解及几何检查，log step 97 记录 Gemini 过滤器中断；推断：这是交付前的外部中断，应重试并排除出机器人失败分析，断点记 unknown／首步前，现象与根因留空。无本运行视频和状态日志，三个原生指标均未报告，不能用成功参考运行补写结果。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本运行无视频无状态日志；log step 97 为 Gemini 过滤器拦截，评分器 missing_trajectory=1、agent_sim_steps=0，交付前被外因中断。标注（节点 unknown、断点 unknown/首步前、现象与根因为空且有 gap_zh）符合 FAIL-5 与 03 Step 3.5，无需改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--vpf366a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--vpf366a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47b1253c88ae13df05583f9b1a96a117fb4ebeee9c2f73fa28dc9993efba0064",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--4sukdh9.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--4sukdh9",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 22,
+   "agent_resets": 15,
+   "agent_sim_steps": 7535,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.805,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.077,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 319,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告金色件系统侧关系；inputs/video.json 为 kind=none，且没有状态日志。log step 319 是会话测试结果，不能确认交付轨迹的金色件终态；DAG 所述初态成立也不能替代不存在的评分轨迹终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，接触标为不适用，会话测试中的夹持不计入。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 319,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告银色件入区的独立结果。log step 319 的生成脚本测试返回 FINAL STATUS.success=false；log step 322 展示脚本仅在 st[\"success\"] 为真时保存并重放。没有交付录像或状态日志，不能把该会话测试判为评分轨迹的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，接触标为不适用，会话测试中的夹持不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 392,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=3、agent_replays=0；log step 322 的生成脚本仅在会话 success 为真时保存轨迹，log step 319 所见测试 success=false。最后的 log step 392 仍是 agent 脚本计算分离路径的接触穿透，未见成功交付。推断：没有可标注的评分轨迹，无法定位物理失败步骤，断点记 unknown／首步前。"
+  },
+  "unmet": {
+   "gold_on_system_side": null,
+   "silver_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无交付轨迹、无视频、无状态日志；评分器只有 missing_trajectory 等运行统计，没有两个目标节点的独立终态或七项原生指标。run.json 记录会话墙钟耗时10802秒、预算10800秒，最后 log step 392（agent 工作时间10746秒）仍在进行几何诊断；现有记录未显示评分结果固定前的外部中断。推断：按D23保留空现象层和空根因层，不将会话测试中的滑脱、卡阻或预算���尽当作评分轨迹的现象或根因；也没有充分证据认定具体交付操作出错。成功参考录像 inputs/oracle/replay.mp4 已提供，但属于其他运行，不能补足本次节点值与实际接触。"
+ },
+ "summary_zh": "评分器报告 missing_trajectory=1，本次没有交付评分轨迹；两个节点的终态均未知，接触均为不适用，不能把会话测试的进展计入。日志末段仍在调试钥匙孔件分离路径，未形成可定位的评分物理失败，断点记 unknown／首步前；因缺少本次视频、状态日志及节点级服务结果，现象和根因按D23留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无交付轨迹（missing_trajectory=1，无视频/状态日志）。标注按D23：节点unknown、接触不适用、断点unknown/首步前、现象与根因为空并附gap_zh，均与证据一致；log step 319/322/392的引用经核对属实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:09Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--4sukdh9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--4sukdh9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da0a832f655705c949a75f31858068319fccddc3a0bcde9338f2fc448b618cc2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--dyoa7hv.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--dyoa7hv",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 5593,
+   "submitted_actions": 5593,
+   "sim_steps": 5593,
+   "physics_steps": 55930,
+   "sim_time_s": 139.82500000001465,
+   "final_reward": 0.0,
+   "replay_wall_s": 467.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 9,
+   "agent_sim_steps": 0,
+   "agent_records": 11,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 913,
+      "text_zh": "观察：inputs/video.json 标为 kind=none，未提供本次状态日志；log step 913 是 agent 对5578行动作前缀重放后的对象位姿读取，并未报告“金色件留系统侧”的分节点判定。评分器 reward 只有整体 success=0、strict_goal_reached=0，不能据此判定本节点终态；按无视频规则保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中左夹爪被指令操作金色件，随后这些动作被选入交付片段（log step 756、893）；没有本次录像或状态接触记录，不能确认最终提交重放时左夹爪是否夹住金色件，也不能把会话中的双手持物读数移作实际接触。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 939,
+      "text_zh": "观察：log step 938–939 确认最终交付由5578行旧前缀与15行新尾段组成，共5593行，与 reward.n_actions=submitted_actions=5593 一致；reward.success=0、strict_goal_reached=0 只报告联合目标失败，没有银色件单独的分离、入区、速度及保持时间结果。本次无录像或状态日志，不能用 agent 在 log step 783 自述银色件已入区，或会话中的自行测量，判定本节点终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "交付动作片段来自机器人右夹爪操作银色件、左夹爪操作金色件的会话命令（log step 756–758、893），但前段被遗漏且最终尾段跨越未纳入的会话动作；无本次录像或接触状态日志，无法确认评分重放中是否建立单爪或双臂抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 938,
+   "where": "未知",
+   "evidence_zh": "观察：log step 938 保存最终5593行动作；评分器两次重放后 success=0、strict_goal_reached=0，且 infra_error=0、deterministic=1。推断：无本次录像、状态日志或两个节点的独立判定，无法确定金色件留系统侧与银色件入区中哪个先失败且未修复，也无法确定物理失效所在阶段；log step 938 仅定位交付记录，不作为物理失效时刻。"
+  },
+  "unmet": {
+   "gold_on_system_side": null,
+   "silver_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 938,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 保存与拼接动作时丢失了连续执行所需的片段。log step 671 停录保存1006行并重新录制；log step 756 将新录的2646行直接覆盖同一交付文件，未拼回1006行；log step 893 用该2646行与后续2932行组成5578行。log step 905–913 对该前缀的重放返回 success=False、两爪均未持物，与 log step 894–895 记录的会话末端物体位姿不同。此后 log step 932 保存前缀加432行的6010行版本，log step 935 却从该会话后续状态重新录制，log step 938–939 仅把新15行接回旧5578行，遗漏中间432行；评分器收到5593行，deterministic=1、success=0。该交付未保留会话操作连续性，不能把会话中的搬运结果视作最终重放结果。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 的 kind=none，inputs/ 只有运行日志与另一成功运行的 oracle 录像，没有本次 replay.mp4 或 states.jsonl。评分器仅给联合成功标志，未给两节点的独立终态或各项原生指标；因此两节点 final 与所有视频时间均为 null，实际接触记未知。交付片段与会话操作不连续，不能用会话自述、对象读数或会话中的 IK/接触反馈补成本次物理现象；现象层留空，断点及所在阶段未知。已查看 oracle 视频675.0 s 的成功形态，但它不构成本次轨迹证据。"
+ },
+ "summary_zh": "评分器对最终5593行动作进行了两次重放，整体 success=0、strict_goal_reached=0，但未分别报告金色件留系统侧和银色件入目标区的终态。日志证实 agent 覆盖保存时遗漏1006行前段，末次拼接又遗漏432行中段，支持根因“交付操作出错”，会话中的搬运与持物结果不能当作交付重放结果。本次无录像或状态日志，两个节点终态、实际接触及首个未修复的物理断点均未知，失败现象留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无录像/状态日志（video.json kind=none），两节点 final、接触、断点均记 unknown 与规则一致；根因“交付操作出错”有日志支持（step 671 存1006行后重录、756 覆盖为2646行、893 拼成5578行、932/938 又丢432行中段，最终5593行与评分器 n_actions 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": "2026-10-31T01:04:18Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--dyoa7hv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--dyoa7hv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "985b76aaf18fbe7dc488784adac6c7e150923631e4bf1552d4c73f448c13d178",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wsuxn4f.json

@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--wsuxn4f",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 194,
+   "agent_resets": 6,
+   "agent_sim_steps": 47594,
+   "agent_records": 8,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1332,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，且本次 video.kind=none，无状态日志。log step 1332 的独立测试脚本仅在服务 success 为真时保存；没有可对应评分轨迹的金色件终局系统侧判定，不能用测试初态或其他测试的结果填本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；独立测试中左夹爪对金色件的操作不计为本次评分轨迹接触。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1313,
+      "text_zh": "观察：评分器报告 missing_trajectory=1，未给出银色件入区的节点结果；log step 1313 所读会话记录的两次独立录制均为 success=false，不能代表不存在的提交轨迹。无本次视频或状态日志，无法确认银色件解脱、整件入区及共同静止窗口，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；独立测试中的双臂抓持、解脱及搬运动作不计为评分轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1400,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 success=0、missing_trajectory=1、infra_error=0、grader_error=0，统计到8次录制但0次回放。log step 1332 仍是仅当服务 success 为真才保存的独立测试，log step 1399 又启动未录制的抓持诊断；最后的 log step 1400 是 agent 自述正在等待诊断完成，没有提交确认。未交付评分轨迹，不能把会话测试中的某次物理失败选为评分断点。"
+  },
+  "unmet": {
+   "gold_on_system_side": null,
+   "silver_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无视频、无状态日志，评分器明确报告 missing_trajectory=1；提供的 oracle/replay.mp4 是另一成功运行，不能证明本次节点进度或接触。日志中的多次新建 Session、录制和抓持诊断是会话测试，不能拼成评分尝试；评分器也未报告两节点或原生指标的终值。run.json 的会话墙钟耗时为10803秒、预算为10800秒，末条 log step 1400 仍在等待测试，符合预算耗尽��未交付，未见提供方过滤、网络或框架崩溃的结束证据。按D23（未交付、agent侧原因）现象和根因均留空；不能把测试中失去抓持直接当作评分现象，不能仅由缺交付或预算耗尽推定控制、规划或交付操作出错。"
+ },
+ "summary_zh": "评分器以缺少提交轨迹判失败（missing_trajectory=1）；两节点终值均未知，不能把会话测试的金色件位置或银色件入区结果计入评分进度。日志显示agent多次录制并设置成功后才保存，结束时仍在等待抓持诊断（log step 1332、1399—1400），故断点为unknown／首步前，按D23不标物理现象或根因。本次无视频及状态日志，成功示例录像属于另一运行，无法补足本次节点、接触或失败机制证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0，未交付评分轨迹；两节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)。未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--wsuxn4f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--wsuxn4f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c54e7a4cb098e1f51119f553b9269f9fd36130606464e2fc92ca7556f098735e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--kvbccjh.json

@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-05-i01-standard--kvbccjh",
+ "taskKey": "roboarc/cast_keyhole_05",
+ "dag_sha256": "72c806611a2ace5a0d722fe75d51f43c87a2b2b6545ad3a20cbf47330adbbc70",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9016,
+   "live_rows": 9016,
+   "sim_steps": 9016,
+   "physics_steps": 90160,
+   "steps": 1162,
+   "elapsed_s": 10833.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.262,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.369,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 163,
+      "text_zh": "观察：log step 162 的脚本保持左臂、命令右末端向目标方向移动10毫米并抬高5毫米；log step 163 的实时服务安全监视器明确报告右臂持有 keyhole_silver 并将其压向 keyhole_gold，左臂持有金件并将其压向银件。这是本次单一实时评分局的服务读数：reward.graded_by_live=1、sim_startups=1、resumes=0，日志 sim_total.reset=0。"
+     },
+     {
+      "t": null,
+      "log_step": 942,
+      "text_zh": "观察：评分器只报告 success=0、live_success=0，未报告银件全网格包容、速度或该节点的最终通过值；log step 937 的服务读数为最后抬升后右夹爪开口0，agent 在 log step 942 自述未完成转移。没有本次视频或状态日志，依N9不能把自述、夹爪开口或总失败分数当成银件入区判定，故 final 未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：log step 163 的服务事件明确记载右臂持银件、左臂持金件，两件相互受压；结合 log step 162 两夹爪保持闭合的动作，确认本次分离尝试存在右夹爪抓银件、左夹爪抓金件的双臂配合。此记录仅确认该次实际持物，不代表后续每次合爪均抓住。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 163,
+      "text_zh": "观察：log step 163 的实时服务事件明确报告左臂持有 keyhole_gold；log step 300 的脚本随后尝试将左末端向系统侧移回20毫米。日志中金件轮廓及分隔面距离来自 agent 自己的深度点云估计，不是服务对金件全顶点留系统侧的验收字段。"
+     },
+     {
+      "t": null,
+      "log_step": 942,
+      "text_zh": "观察：reward 未提供金件系统侧节点的最终通过值，最终 agent 报告（log step 942）也未提供该服务判据。当前无本次视频及状态日志，不能由任务定义的初态或 agent 中途估计推定金件终态；依N9保留 final 未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：log step 163 的服务事件明确记载左臂持金件，并报告金件向银件施压；左夹爪曾实际抓持金色叉形片以稳定它。后续移回系统侧的尝试见 log step 300，是否成功移回及后续各次接触方式无独立证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": null,
+   "log_step": 163,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 162 的机器人脚本正在抽离银件，log step 163 的服务报告持银件压向金件且双臂逼近扭矩上限；log step 617 继续抽离时服务仍记录54.7牛受力，log step 937 的最后抓取抬升后右夹爪开口为0，agent 最终在 log step 942 自述未完成转移。可将持续受阻的工作定位为“银件整件入区”（包含解除互锁）的操作过程；无本次视频，不能定位视频时刻或据此单独判定节点终态。"
+  },
+  "unmet": {
+   "silver_in_goal": null,
+   "gold_on_system_side": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": null,
+    "log_step": 163,
+    "evidence_zh": "观察：log step 163 的 benchmark 服务安全监视器报告，右臂所持银件压在金件上，最大接触合力1149.7牛、驱动比例1.0；左臂所持金件压在银件上，最大663.5牛、驱动比例0.975，最长强迫持续1.14秒。对应 log step 162 仅向目标方向平移10毫米并抬升5毫米的抽离命令；后续 log step 617 的抽离仍产生54.7牛。这里记录分离操作中的异常受力，不把 forcing_events 本身当作判负约束；reward.simulator_instability=0、review_events=0。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json.kind=none（回放获取状态404且无本地视频），也无状态日志；没有视频时钟，所有区间和视频锚点均为null。服务只给总体失败，未逐节点报告银件全顶点包容及速度、金件分隔面关系，因此两个节点final均未知；agent 自己的深度测量及最终自述不替代节点验收。服务监视器足以确认双臂实际持物和异常受力，但无法核实完整互锁几何、抓持布局及物体随手运动，不能可靠区分解锁路线规划与抓取/执行控制的贡献，故根因层留空。已查看成功参考视频0秒与465秒画面，仅用于理解两件分离及目标区外观，不作为本次进度证据。"
+ },
+ "summary_zh": "本次实时评分失败；日志显示机器人反复抓取并尝试分离银件、稳定或移回金件，agent 最终自述未完成银件转移（log step 942）。断点定位为银件整件入区的操作过程，服务在 log step 163 明确记录两夹爪各持一件并相互施压，峰值1149.7牛，支持接触力异常。无本次视频、状态日志或逐节点最终验收字段，两个节点终态均未知，根因暂无法可靠区分。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志；标注者将所有时间置 null、两节点 final 未知、根因层留空并写明 gap_zh，符合 N9。log step 163 的服务读数（1149.7 N、持物）与原文一致，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": "2026-10-31T00:59:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--kvbccjh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--kvbccjh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78afb7702ac327d7f3fdd01ec73c605bacc3beb86925f0e9965927d4c9ba5db2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--svzcnfx.json

@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-04-i01-privileged--svzcnfx",
+ "taskKey": "roboarc/fiber_bundling_04",
+ "dag_sha256": "974ce857ea30b6ca70332e06d1d89dcd3504544bc3d10cacf082ea04b08fb4b6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 116,
+   "agent_resets": 11,
+   "agent_sim_steps": 37892,
+   "agent_records": 0,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第1根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第2根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第3根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第4根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第5根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第6根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第7根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“第8根纤维穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器未报告“前护套穿环”的节点结果，故无法判定其受评终值；会话试验的自检不作为该节点的进展证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中夹爪与护套或细纤维的交互记为受评轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 433,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0、grader_error=0；log step 432 启动新的穿环试验，最后的 log step 433 中 agent 自述正在等待该试验完成，没有最终交付声明。未交付任何受评轨迹，无法定位为某一物理节点的失败，故断点为 unknown，位置为首步前。"
+  },
+  "unmet": {
+   "fibers_through_1": null,
+   "fibers_through_2": null,
+   "fibers_through_3": null,
+   "fibers_through_4": null,
+   "fibers_through_5": null,
+   "fibers_through_6": null,
+   "fibers_through_7": null,
+   "fibers_through_8": null,
+   "front_sheath_through": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无受评视频（inputs/video.json 的 kind=none），无状态日志，评分器仅报告缺少交付轨迹，没有逐节点结果或 maximum_bend_deg。log step 430–431 是 agent 读取会话试验的尖端穿越自检，log step 432–433 仍在测试及等待；这些不是交付后的受评过程，也不能证明纤维全长与前护套完成穿环。运行记录 wall_s=10852、time_limit_s=10800，最后 log step 433 的 agent 时间为10747秒，未记录最终试验结果或最终报告，不能仅据此确定具体能力根因。按 DECISIONS.md D23，未交付且没有结尾外部中断证据时，现象与根因均留空；不把会话测试失���或预算耗尽作为受评物理现象或根因。inputs/oracle/replay.mp4 属于另一成功运行，不能补足本次证据。"
+ },
+ "summary_zh": "评分器以 missing_trajectory=1 判本次失败，录制与回放计数均为0；九个节点均无可确认的受评终值，全部保留未知。日志结尾仍是穿环试验及等待（log step 432–433），未形成可定位物理失败的交付轨迹，因此断点为 unknown／首步前，现象与根因按 D23 留空。本次无视频、无状态日志，不能将会话中纤维尖端穿越的自检计作节点完成，原生最大弯角也未由评分器报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0、agent_replays=0；九个节点全为 unknown/不适用、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 N9/D23。日志末尾（log step 432–433，agent 时间 10730–10747 秒）仍在会话试验，未见外部中断，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:12:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-privileged--svzcnfx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-privileged--svzcnfx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "87c2bfe644f6149565bcbe5e2a2b2aafdade6f79a5c2b6fdd12a3c8c8a257623",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--n9a7rry.json

@@ -0,0 +1,470 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--n9a7rry",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 65,
+   "agent_resets": 56,
+   "agent_sim_steps": 19742,
+   "agent_records": 0,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 17,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第3根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第4根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第5根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第6根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话���试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第7根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第8根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第9根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第10根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第11根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第12根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第13根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第14根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第15根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第16根纤维过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“前护套过环”的受评终态；inputs/video.json 的 kind=none，且未提供本次状态日志，不能由会话测试判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪操作不作为本节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 341,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json 的评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0、grader_error=0；log step 340 的工具输出仅报告测试脚本已在后台启动，agent 在 log step 341 自述“已启动 Push-on-Align 控制器，等待结果”。未交付供评分的轨迹，无法定位某个物理步骤的失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无受评视频、无状态日志，也没有交付轨迹或节点级评分结果，17个节点的终态与时间均无法判定。成功参考视频属于另一运行，不能证明本次进度。日志记录多次独立测试，末条 log step 341 仍为等待测试结果；run.json 的 wall_s=10803、time_limit_s=10800.0 表明会话墙钟已到预算，但预算耗尽不是失败现象或根因。没有受评物理尝试可供观察，也没有足以解释未交付的独立根因证据，按 D23 将两层留空，不从缺交付反推没尝试、控制失败或交付操作出错。",
+  "unmet": {
+   "fibers_through_1": null,
+   "fibers_through_2": null,
+   "fibers_through_3": null,
+   "fibers_through_4": null,
+   "fibers_through_5": null,
+   "fibers_through_6": null,
+   "fibers_through_7": null,
+   "fibers_through_8": null,
+   "fibers_through_9": null,
+   "fibers_through_10": null,
+   "fibers_through_11": null,
+   "fibers_through_12": null,
+   "fibers_through_13": null,
+   "fibers_through_14": null,
+   "fibers_through_15": null,
+   "fibers_through_16": null,
+   "front_sheath_through": null
+  }
+ },
+ "summary_zh": "评分器以 missing_trajectory=1 判为失败，录制与重放次数均为0；未交付受评轨迹，17个节点全部保留未知，未确认任何节点完成。断点记为 unknown／首步前，日志最后仍是 agent 等待穿环测试结果（log step 341）；无本次视频、状态日志或节点级验收，不能将会话测试结果计入进度，也不能据此标注物理失败现象和根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、missing_trajectory=1、agent_records=0；17个节点全为unknown、断点unknown/首步前、两层留空并写gap_zh，符合D23(a)，未把会话测试或预算耗尽当作现象/根因。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:13Z",
+  "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/roboarc-fiber-bundling-06-i01-privileged--n9a7rry/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--n9a7rry/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "775e4be26f0e070c5afaa4d5b62d940f18e23818813a12c6fabb13c0313c1807",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--a5epyyr.json

@@ -0,0 +1,477 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-07-i01-privileged--a5epyyr",
+ "taskKey": "roboarc/fiber_bundling_07",
+ "dag_sha256": "1ce1bfdb5bf606c4d4b92107ffc1a8763296257e268f8b357f247bdebab8c840",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 160,
+   "agent_resets": 26,
+   "agent_sim_steps": 11930,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 17,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "other_fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第1根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第2根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第3根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第4根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第5根纤过环”的节��结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第6根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第7根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第8根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第9根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第10根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第11根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第12根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第13根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第14根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "other_fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“第15根纤过环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "marked_red_fiber_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“红纤穿环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=1、agent_replays=0，未报告“前护套穿环”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。log step 38 的会话脚本仅启动、停止录制，log step 48 返回 Total actions recorded: 133，未形成可供本节点判定的交付记录；会话测试结果不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将会话测试中夹爪与护套或细纤维的交互记为本次受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs(lay.error_deg)",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1250,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、infra_error=0、grader_error=0；log step 38 的脚本只在会话测试中录制动作，log step 48 返回录制133行，未保存为交付轨迹。log step 1249 又启动穿环事件诊断，最后的 log step 1250 是 agent 自述“已启动脚本，将等待完成”，没有交付确认。推断：缺少受评轨迹，无法定位到任何具体物理节点，故断点为 unknown、位置为首步前。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 明确无本次视频，本目录也无本次状态日志；评分器只报告缺少轨迹，未给出17个节点的结果或两项原生指标值。log step 38–48 的133行录制及其后多次新建 Session 的运动、IK与穿环诊断属于会话测试，不是交付的受评片段；成功参考视频属于另一运行，不能补作本次证据。run.json 的 wall_s=10803（会话墙钟秒）、time_limit_s=10800（会话预算秒），且最后 log step 1250 仍在等待测试；记录没有显示导致整个会话终止的提供商过滤、网络或设施异常。推断：会话在预算边界仍未交付，但不能据此判定具体物理失败现象或根因，也不能仅由缺交付反推交付操作出错；按无交付规则两层均留空，全部节点结果与视频时间留空。",
+  "unmet": {
+   "other_fibers_through_1": null,
+   "other_fibers_through_2": null,
+   "other_fibers_through_3": null,
+   "other_fibers_through_4": null,
+   "other_fibers_through_5": null,
+   "other_fibers_through_6": null,
+   "other_fibers_through_7": null,
+   "other_fibers_through_8": null,
+   "other_fibers_through_9": null,
+   "other_fibers_through_10": null,
+   "other_fibers_through_11": null,
+   "other_fibers_through_12": null,
+   "other_fibers_through_13": null,
+   "other_fibers_through_14": null,
+   "other_fibers_through_15": null,
+   "marked_red_fiber_through": null,
+   "front_sheath_through": null
+  }
+ },
+ "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1；本次没有视频或状态日志，17个节点均无法确认最终是否成立，两项原生指标也未报告。观察：agent 的会话脚本在 log step 38–48 录了133行动作但未保存交付，最后 log step 1250 仍表示等待穿环诊断完成。推断：断点只能记为 unknown／首步前；会话测试不能代替受评轨迹，因此不标物理失败现象，也不从缺交付推断根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分器报告 missing_trajectory=1、agent_replays=0；标注文件按 03 与 D23 将 17 个节点记为 unknown、断点 unknown/首步前、两层留空并写 gap_zh，接触填不适用，均有依据，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": "2026-10-31T00:56:38Z",
+  "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/roboarc-fiber-bundling-07-i01-privileged--a5epyyr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-privileged--a5epyyr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0063051f57f2976b6037a3bec6bcd0eeffbf0eaf5b637bae53fc96244a223f83",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--gkh8zdv.json

@@ -0,0 +1,514 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-07-i01-privileged--gkh8zdv",
+ "taskKey": "roboarc/fiber_bundling_07",
+ "dag_sha256": "1ce1bfdb5bf606c4d4b92107ffc1a8763296257e268f8b357f247bdebab8c840",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2403,
+   "submitted_actions": 2403,
+   "sim_steps": 2403,
+   "physics_steps": 24030,
+   "sim_time_s": 60.07499999999766,
+   "final_reward": 0.0,
+   "replay_wall_s": 1141.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 30,
+   "agent_resets": 3,
+   "agent_sim_steps": 26134,
+   "agent_records": 76,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 17,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "other_fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少1根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少2根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少3根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少4根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少5根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少6根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少7根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少8根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少9根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少10根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少11根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少12根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少13根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少14根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "other_fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告其余15根纤维中至少15根完整穿环且弯折合格的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "marked_red_fiber_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告红纤完整穿环、弯折及根部方位联合条件的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 357,
+      "text_zh": "观察：inputs/video.json 为 kind=none，且无状态日志；最终 reward 只报告整体 success=0、strict_goal_reached=0、n_actions=2403。评分器没有报告前护套端面清出环管的终值。log step 357 保存2403行动作，但其打印的几何和穿越数据属于连续调试会话，不能代替该交付文件的重放结果；本节点终值与时间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的脚本通过操纵粗护套尝试将整束纤维及前护套送过铜环；缺少本次交付的画面和接触状态记录，无法核实夹爪与护套或细纤维的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs(lay.error_deg)",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 357,
+   "where": "操作中",
+   "evidence_zh": "推断：log steps 311、330—331、350—357 显示 agent 脚本重放既有送料动作并追加旋转送料，log step 357 保存的2403行与评分器 n_actions=2403 一致，故交付涉及穿环操作。没有交付重放的视频、状态日志或逐节点服务终值，且保存行数与连续调试步数不一致，无法确定17个穿环节点中最早失败且未修复的是哪一个，也无法定位视频时刻。"
+  },
+  "unmet": {
+   "other_fibers_through_1": null,
+   "other_fibers_through_2": null,
+   "other_fibers_through_3": null,
+   "other_fibers_through_4": null,
+   "other_fibers_through_5": null,
+   "other_fibers_through_6": null,
+   "other_fibers_through_7": null,
+   "other_fibers_through_8": null,
+   "other_fibers_through_9": null,
+   "other_fibers_through_10": null,
+   "other_fibers_through_11": null,
+   "other_fibers_through_12": null,
+   "other_fibers_through_13": null,
+   "other_fibers_through_14": null,
+   "other_fibers_through_15": null,
+   "marked_red_fiber_through": null,
+   "front_sheath_through": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 357,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 311 的保存函数每次以固定 base 拼接本次 record_stop() 的片段，随后 record_start() 清空录制，未将已保存片段累积回 base；log step 161 所读接口实现也明确 record_start() 将录制列表置空。最终续跑在 log step 335 读取2199行前缀，log step 355 于调试控制步2663保存2663行，log step 357 于调试控制步2867却保存2403行（2199+204），与遗漏前一段464行动作相符；最终评分器实际接收2403行。该保存过程使交付不能复现日志中的连续调试轨迹，log step 359 又明确表示没有再完整重放；这支持交付操作出错，不能据此断言重放中的具体物理失败。"
+   }
+  ],
+  "gap_zh": "本次视频不存在：inputs/video.json 说明 HF replay.mp4 返回404且无本地视频；inputs/也没有状态日志。reward虽有video_rendered=1，但本次可用输入不含该视频。评分器没有逐纤维完成、前护套清出、红纤方位或弯折终值，整体零分不能逐项推出false；全部17个节点保留未知、intervals为null。成功参照属于另一运行，不能补本次证据。最后保存的2403行漏掉了连续调试中的一段动作，日志中的后续几何与接触叙述不能作为交付重放事实，因此具体失败节点及物理现象均无法确定，现象层留空；无证据将其归为设施故障或任务设计导致的失败。"
+ },
+ "summary_zh": "评分器判定2403行动作的交付未成功，但没有本次视频、状态日志或逐节点终值，17个节点的完成情况均未知。日志支持保存续录时遗漏中间动作的交付操作错误；连续调试中的少量点穿越、红纤角度变化及滑移叙述不能当作交付重放结果，具体失败节点和物理现象无法确定。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，17个节点保持unknown、断点ref=unknown、现象层留空均合理；交付操作出错的推断与log step 311/335/355/357的行数（2199+204=2403）一致，且标为推断。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:01Z",
+  "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/roboarc-fiber-bundling-07-i01-privileged--gkh8zdv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-privileged--gkh8zdv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eccfaf40212e51387a6e220273da27887e129947120e5de1aaed497f09b9e19a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--hfqcsf4.json

@@ -0,0 +1,477 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-07-i01-privileged--hfqcsf4",
+ "taskKey": "roboarc/fiber_bundling_07",
+ "dag_sha256": "1ce1bfdb5bf606c4d4b92107ffc1a8763296257e268f8b357f247bdebab8c840",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 17,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "other_fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第3根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第4根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第5根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第6根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第7根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第8根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第9根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第10根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第11根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第12根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第13根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第14根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "other_fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第15根纤过环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "marked_red_fiber_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“红纤穿环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未报告“前护套穿环”的验收结果；inputs/video.json为kind=none，且无状态日志。log step 92中agent脚本重置模拟器后因joint_positions调用参数错误退出该命令；这是会话调试记录，不能给本节点赋最终真假或视频区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告没有交付轨迹；会话调试中的夹爪或机械臂接触不能作为本节点的轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs(lay.error_deg)",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 92,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器reward报告success=0、missing_trajectory=1、agent_records=0、agent_replays=0，infra_error=0、grader_error=0；没有可供评分的交付轨迹。log step 92仍是agent脚本重置模拟器和调试控制函数，并因错误地向Session.joint_positions传入arm参数而产生TypeError，随后日志结束；无法将这段会话调试定位为交付轨迹中某个物理步骤的失败。"
+  },
+  "unmet": {
+   "other_fibers_through_1": null,
+   "other_fibers_through_2": null,
+   "other_fibers_through_3": null,
+   "other_fibers_through_4": null,
+   "other_fibers_through_5": null,
+   "other_fibers_through_6": null,
+   "other_fibers_through_7": null,
+   "other_fibers_through_8": null,
+   "other_fibers_through_9": null,
+   "other_fibers_through_10": null,
+   "other_fibers_through_11": null,
+   "other_fibers_through_12": null,
+   "other_fibers_through_13": null,
+   "other_fibers_through_14": null,
+   "other_fibers_through_15": null,
+   "marked_red_fiber_through": null,
+   "front_sheath_through": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频、无状态日志，评分器报告missing_trajectory=1且未给出任何节点或原生指标的最终结果；17个节点的final与intervals均保留null。日志中的抓取、回拉、按压及逆解错误来自多次重置的会话调试，不属于已交付的评分轨迹；log step 92的TypeError也仅是会话脚本错误，未证实它解释最终缺交付的原因。run.json虽有trajectory归档元数据，但没有可用交付轨迹或重放验收结果，不能据此推翻missing_trajectory。按D23对agent侧未交付的当前处理，现象与根因均留空，不从缺交付反推没尝试、控制或交付操作出错；参考成功视频仅属另一运行，不能补足本次证据。"
+ },
+ "summary_zh": "评分器判定失败并报告missing_trajectory=1；未交付可评分轨迹，17个节点均无法确认最终真假。断点记为unknown／首步前，日志仅显示多次重置后的抓取、回拉与按压调试，末条log step 92因agent脚本调用参数错误结束，不能据此标注评分轨迹的物理现象或根因。本次没有视频或状态日志，评分器也未报告节点及原生指标结果，故保留全部节点未知、接触不适用，并将现象与根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器报告missing_trajectory=1、agent_records=0，17个节点保持unknown、现象与根因留空并写gap_zh，符合D23(a)；log step 92存在且为会话调试，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:18Z",
+  "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/roboarc-fiber-bundling-07-i01-privileged--hfqcsf4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-privileged--hfqcsf4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "63780769b937c21e3734ba10c1249734474ef8ca8e1deaad414a9dfc4a5fdfcb",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u.json

@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u",
+ "taskKey": "roboarc/hedgehog_in_cage_05",
+ "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 5,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.1,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.057,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "hedgehog_out_of_cage": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 69,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志。log step 66 的 object_in_hand=hedgehog_ball 与 log step 68 的离线出笼路径仅属于 agent 的会话测试和规划，未成为受评提交；没有报告此节点终态的评分或服务结果，故 final 与 intervals 均为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1：未交付受评轨迹，会话测试中的夹爪接触不计入轨迹级实际接触。"
+     }
+    ]
+   },
+   "hedgehog_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 69,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0；无本次受评视频和状态日志，也没有报告目标区包含、静止或确认时长的结果字段。log step 68 只输出离线出笼路径，随后 log step 69 出现 Gemini 过滤器阻断提示；不能据会话规划或总 success=0 判定本节点真假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1：未交付受评轨迹，会话测试中的夹爪接触不计入轨迹级实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_confirmation_duration",
+   "unit": "s",
+   "threshold": 2.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 69,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 69 为 Gemini 提供方过滤器阻断提示；此前 log step 68 的 agent 脚本只生成并保存离线刺球位姿路径，没有保存或验证受评动作轨迹。评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未形成可定位物理失败步骤的受评交付。"
+  },
+  "unmet": {
+   "hedgehog_out_of_cage": null,
+   "hedgehog_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频（inputs/video.json 的 kind=none），无状态日志，也无逐节点评分或服务终态结果。log step 69 显示 Gemini 过滤器在交付前阻断；评分记录 missing_trajectory=1，且 agent_records=0、agent_replays=0。log step 59 的碰笼及 log step 66 的抓取读数属于未提交的会话测试，不能作为受评尝试的现象、接触或节点值。推断：按交付前外部中断规则，不归为机器人失败分析，现象和根因均留空；两个节点的终态与全部视频时刻保留未知。inputs/oracle/ 的成功录像属于另一运行，不能补充本次轨迹证据。"
+ },
+ "summary_zh": "评分记录为 success=0、missing_trajectory=1，未交付受评轨迹，刺球出笼和入目标区两节点的终态均未知。agent 在会话中测试抓取并计算出笼路径后，log step 69 出现 Gemini 过滤器阻断；按交付前外部中断处理，断点为 unknown／首步前，现象与根因均留空。无本次视频、状态日志及逐节点终态结果，不能��会话测试或另一成功运行的参考录像计作本次进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分 missing_trajectory=1、agent_records=0，log step 69 为 Gemini 过滤器阻断（交付前外部中断）。两节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，均与证据一致，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1eedfa68eb21770fe06736da86f7c48e25f4fdaa4726fc376c439ce4569b5c02",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs",
+ "taskKey": "roboarc/hedgehog_in_cage_07",
+ "dag_sha256": "c5aae98458ded54ec7493715c470ad29eeccca8a558bfb744ea2b57c268b2fa0",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.905,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.07,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "owl_extracted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 219,
+      "text_zh": "观察：log step 219 中 agent 的脚本在自行构建的 MuJoCo 猫头鹰与笼模型中，以 mocap 焊接驱动物体测试出笼航点，不是已交付的机械臂轨迹；评分器 reward.missing_trajectory=1，未报告独立出笼结果。本次无视频、无状态日志，无法确定受评节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 273,
+      "text_zh": "观察：log step 273 中 agent 的脚本只对候选尾部抓点和航点调用 s.ik 并打印误差，log step 274 返回诊断结果；这些会话逆解测试不能确认受评尝试已将整只猫头鹰移出笼。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹，故不将会话模型测试中的猫头鹰与笼接触标为受评机器人的实际接触。"
+     }
+    ]
+   },
+   "owl_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 276,
+      "text_zh": "观察：log step 276 的最后调用仍是 agent 的脚本读取机器人关节 qpos 索引和初值，未返回输出；最后一条非空 say（log step 274）只称正在等待逆解诊断。评分器 reward.missing_trajectory=1、success=0，未给出整只猫头鹰入目标、逐连杆静止或共同确认时长的结果；无本次视频与状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹，无法标注夹爪将猫头鹰送入目标体积的受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_horizontal_margin",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_above_table",
+   "unit": "m",
+   "threshold": 0.258708,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_target_link_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_target_link_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 276,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.missing_trajectory=1，infra_error=0、grader_error=0；未形成可供评分的交付轨迹。log step 274 为 agent 自述等待逆解诊断，log step 276 仍在读取关节索引和初值；没有受评机械臂操作可用于定位具体物理失败步骤，故断点为 unknown，位置为首步前。"
+  },
+  "unmet": {
+   "owl_extracted": null,
+   "owl_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，本次没有视频或状态日志；inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次节点或接触。评分器只报告缺少交付轨迹，未报告两个节点及六项原生指标的值，因此节点终值、区间与指标值均为 null。log step 219 的 mocap 物体测试及 log step 273—276 的��械臂逆解和索引诊断只是会话证据，不能当作受评物理失败现象。观察：会话 wall_s=10803，预算 time_limit_s=10800，日志未记录提供方过滤或网络中断；推断：会话在预算附近结束时仍处于诊断阶段，但预算耗尽不是根因。没有已交付尝试，也没有证实具体录制、保存或封装错误的证据，按无交付规则保留现象与根因空层。"
+ },
+ "summary_zh": "评分器以缺少交付轨迹判失败（missing_trajectory=1）；猫头鹰出笼和入目标均无受评结果可确认，两个节点终值保留未知，接触均为不适用。会话从自建物体模型的出笼搜索继续到尾部抓点逆解诊断，末次调用仍在检查关节索引（log step 276），断点记为 unknown／首步前。没有本次视频或状态日志，也没有逐节点评分或可定位的受评物理失败，故不从会话测试或预算结束臆造现象与根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器只报告 missing_trajectory=1；两节点 final 为 null、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 03 的无交付规则（D23）与 N9，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:09:55Z",
+  "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/roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "82583eb9573d6f857c2627e076ec48fefc03a5febec27554a1d23c8896e80b72",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ohawg89.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--ohawg89",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 8,
+   "agent_resets": 42,
+   "agent_sim_steps": 15597,
+   "agent_records": 34,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_detached": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 82,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供本次视频或状态日志；log step 82 中 agent 的测试脚本报告提环时链条随动并输出“NO SUCCESS in any variant; nothing saved”。该记录属于未交付的会话测试，不能确定正式评分尝试中圆环是否脱离，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，正式评分尝试的实际接触不适用，会话测试接触不移入此字段。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 82,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告余件相对分隔平面的节点结果；本次无视频、无状态日志。log step 82 的余件位移读数来自 agent 会话测试，不能据此认定正式终态，也不能把 DAG 所述初态当作本次终值，故保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，正式评分尝试的实际接触不适用，会话测试接触不移入此字段。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 82,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告圆环入区及共同静止确认结果；log step 82 的 agent 测试脚本输出“nothing saved”，log step 88 仍在读取控制脚本。本次无视频或状态日志，不能从会话测量或总成功值0推出此节点为假，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，正式评分尝试的实际接触不适用，会话测试接触不移入此字段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 88,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_replays=0、infra_error=0、grader_error=0；log step 82 中 agent 的测试脚本明确输出“NO SUCCESS in any variant; nothing saved”，log step 84 修改脚本后，最后的 log step 88 仍仅读取脚本。推断：没有交付可供标注的正式轨迹，因此以 unknown／首步前记录交付前断点，不能把某轮会话提环测试指定为正式失败步骤。"
+  },
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json.kind=none，inputs/ 中没有本次 replay.mp4 或状态日志；inputs/oracle/replay.mp4 是另一成功运行，不能作为本次证据。评分器报告未交付轨迹，只有会话测试与诊断记录，未逐节点报告正式结果；运行 wall_s=10803，预算 time_limit_s=10800，最后 log step 88 的 agent 工作时间为10771.2秒。推断：结束与达到时限相符，但时限不是失败现象或根因；按 D23 未交付规则保留三个终值未知、现象和根因均为空，不将测试中的链条随动或脚本自设中止阈值写成正式物理失败，也不从缺少交付反推交付操作错误。"
+ },
+ "summary_zh": "观察：评分器判定 success=0、missing_trajectory=1；三个节点均无正式结果可判，不能确认圆环脱离、余件留在系统侧或圆环入区的完成情况。观察：log step 82 的 agent 测试脚本报告未保存轨迹，最后 log step 88 仍在检查脚本，运行总墙钟时间10803秒、预算10800秒。推断：按 D23 将断点记为 unknown／首步前，接触记不适用；因无本次视频、状态日志及交付轨迹，现象和根因留空，会话测试不计入节点进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志、无交付轨迹（missing_trajectory=1）；三个节点终值 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23 与 03 的未交付规则；时钟未把 agent 时间换算为视频时间。",
+    "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": "2026-10-31T00:56:26Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--ohawg89/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--ohawg89/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "506f4a80d318e907550d6f80972f883399cfe56c3ed14e694cd1b5d50a5876ce",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--mqlbnmj.json

@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-privileged--mqlbnmj",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.439,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.272,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“甲侧板装好”的节点结果；inputs/video.json 为 kind=none，且没有状态日志。会话中的几何检查与试验不属于已交付的评分轨迹，因此该节点终态与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有已交付轨迹可标注机器人作用端与板件之间的实际接触；不以会话试验代替。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“乙侧板装好”的节点结果；inputs/video.json 为 kind=none，且没有状态日志。会话中的几何检查与试验不属于已交付的评分轨迹，因此该节点终态与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有已交付轨迹可标注机器人作用端与板件之间的实际接触；不以会话试验代替。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“背板入槽”的节点结果；inputs/video.json 为 kind=none，且没有状态日志。会话中的几何检查与试验不属于已交付的评分轨迹，因此该节点终态与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有已交付轨迹可标注机器人作用端与板件之间的实际接触；不以会话试验代替。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“底板装好”的节点结果；inputs/video.json 为 kind=none，且没有状态日志。会话中的几何检查与试验不属于已交付的评分轨迹，因此该节点终态与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有已交付轨迹可标注机器人作用端与板件之间的实际接触；不以会话试验代替。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 129,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器给出 missing_trajectory=1、success=0、grader_error=0；log step 104 的输出目录检查未列出交付文件，log step 105 仅建立执行器脚本并检查抓取变换，log step 127—129 仍在调试手部间隙探测。推断：没有可定位物理失败步骤的已交付评分轨迹，断点记 unknown，位置记首步前。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有视频（inputs/video.json: kind=none），没有状态日志，且评分器明确记录 missing_trajectory=1，未提供四个装配节点或任何原生物理指标的验收结果。日志记录的是 agent 的会话试验：log step 127 的诊断脚本报错后，log step 128—129 已继续修正和运行，不能将该错误当成评分轨迹中的控制器崩溃。run.json 的 wall_s=10802、time_limit_s=10800，末条 log step 129 仍是诊断输出，无最终完成报告；推断会话达到预算时仍未交付，但预算本身不作为现象或根因。依无交付规则，两层均留空，不能由缺交付反推规划、控制或交付操作错误。inputs/oracle/ 的成功视频属于另一运行，不能据其补写本运行的接触、进展或失败。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，甲侧板、乙侧板、背板、底板四个节点均无可判定的评分终态。日志末尾仍在调试抓取和手部间隙（log step 127—129），会话用时约10802秒、预算10800秒；推断达到预算时仍未交付，断点记 unknown／首步前。没有本运行视频或状态日志，不能将会话中的试验结果当作节点进展，失败现象与根因均留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；四节点 unknown、断点 unknown/首步前、两层留空并有 gap_zh，符合 N9 与无交付规则，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:55Z",
+  "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/roboarc-ikea-eket-i00-privileged--mqlbnmj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--mqlbnmj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6dffc1dec5d409af48515746db5a1d027f8adb378f7de3ce1bacafeb964da82c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--uz6nutv.json

@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-privileged--uz6nutv",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.649,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.258,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：log step 65 中 agent 的调试脚本报告 side_a_entry、side_a_slide 通过，并保存 stage1.pkl 会话检查点；评分器 reward.missing_trajectory=1，没有交付轨迹的逐节点验收结果。本次无视频、无状态日志，会话测试不能确定甲侧板在评分尝试中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的夹爪与板件接触不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 117,
+      "text_zh": "观察：log step 117 中 agent 从 stage1.pkl 恢复的调试脚本报告 side_b_entry、side_b_slide 通过，并保存 stage2.pkl 会话检查点；评分器 reward.missing_trajectory=1，没有交付轨迹的逐节点验收结果。本次无视频、无状态日志，会话测试不能确定乙侧板在评分尝试中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的夹爪与板件接触不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 157,
+      "text_zh": "观察：log step 156 中 agent 启动背板装配调试脚本，log step 157 自述仍等待结果；log step 159 记录 Gemini 过滤器中断，评分器 reward.missing_trajectory=1。本次无视频、无状态日志，也没有交付轨迹的背板验收结果，无法确定终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的夹爪与板件接触不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 159,
+      "text_zh": "观察：日志以 log step 159 的 Gemini 过滤器中断结束，评分器 reward.missing_trajectory=1，未报告底板操作或柜体终验结果。本次无视频、无状态日志，不能从总成功值为0推定底板节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的夹爪与板件接触不作为本节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 159,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 156 仅启动背板调试脚本，log step 157 中 agent 仍在等待；log step 159 记录“This request was blocked by Gemini's filters”。评分器 reward.missing_trajectory=1，未形成可供评分的交付轨迹，无法指定失败的物理步骤。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，本次没有视频或状态日志；评分器仅报告 success=0、missing_trajectory=1，未报告逐节点验收及19项原生指标。log step 65、117 的侧板通过记录属于保存/恢复检查点的会话测试；log step 156、157 的背板测试尚在等待，log step 159 随即记录模型提供方过滤器中断。推断：这是结果固定前的外部中断，按 CASES.md FAIL-5 不纳入机器人失败分析；断点置 unknown／首步前，两层标签留空，不能标没尝试或交付操作出错。四节点终值及所有视频时间均未知；成功参考视频不能证明本次运行的进度。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，四个装配节点均无可确认的评分终值。会话调试曾报告甲、乙侧板操作通过（log step 65、117），但最后仍在测试背板（log step 156、157），随后发生 Gemini 过滤器中断（log step 159）；按外部中断处理，断点 unknown／首步前，现象和根因留空。本次无视频、无状态日志、无交付轨迹，不能把会话检查点进度计入评分尝试。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；log step 65/117 为会话检查点、156/157 背板脚本等待、159 为 Gemini 过滤器中断，均与日志一致。按 FAIL-5 处理为外部中断（断点 unknown/首步前，两层留空，gap_zh 说明）正确，节点均 unknown 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:02:54Z",
+  "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/roboarc-ikea-eket-i00-privileged--uz6nutv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--uz6nutv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e7dbef7fee4413c4d125d2dc95b42d9c2c1ba238e74a560cf6404a0a5e89771",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--9fakdfg.json

@@ -0,0 +1,360 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--9fakdfg",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 182576,
+   "sim_steps": 730304,
+   "control_steps": 182576,
+   "sim_time_s": 456.44000000706177,
+   "elapsed_s": 3311.9,
+   "service_time_s": 722.4,
+   "calls": 747,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.268,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.426,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 143,
+      "text_zh": "观察：log step 87–97及138–165中，agent 的脚本持续给右臂发送甲侧板对准、进入和沿接头滑动的命令；log step 143的脚本根据末端位置误差输出blocked。log step 207中agent 自述“none of the seven operations is complete”，但服务端未报告side_a_entry、side_a_slide通过记录、锁定状态或最终相对位姿；本次无视频和状态日志，不能用agent 的判断或深度拟合确认节点终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 38–81的命令包括左夹爪闭合、抬升和向右夹爪换手，log step 87–203以右夹爪闭合命令进行甲侧板试配；无本次视频、状态接触对或可核实的板件持有记录，实际夹持方式及双手是否同时夹住甲侧板均未知。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 207,
+      "text_zh": "观察：完整日志中的装配命令针对甲侧板，未见乙侧板进入、滑合的定向操作；log step 207中agent 自述乙侧板被碰倒并平躺桌面。reward仅给整体live_success=0，未给乙侧板操作通过记录、锁定状态或最终相对位姿；本次无视频和状态日志，终态未知，不能仅按总分或agent 自述判为false。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 207,
+      "text_zh": "观察：日志未记录机器人针对背板实施入槽的操作；log step 207中agent 自述背板被摆动的板件碰倒。reward和服务端状态均未提供back_slide结果或背板最终相对位姿，本次无视频和状态日志，因此该节点终态未知。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 reward.live_success=0、graded_by_live=1、sim_startups=1、resumes=0、replays=0，表明本次单一实时评测未通过整体终验；task/task_dag.json 中 bottom_assembled.criterion_zh 包含五板保持装配位、四接头全锁、机器人脱离、桌面支承、静止及额外仿真1秒后的联合终验，故该节点终态为false。此结论来自评分器结果与节点判据，不依赖agent 自述；无本次视频和状态日志，无法给出达到或失去条件的时间，也无法区分具体未通过的子条件，intervals保持null。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "推断：本次按实时轨迹评分（reward.graded_by_live=1、sim_startups=1、resumes=0、replays=0），日志中的机器人命令属于同一次评测；log step 87–97、138–165及185–203均在处理甲侧板，log step 143的进入脚本依据末端反馈停止推进并输出blocked。log step 206–207中agent 明确自述甲侧板未入座并停止操作，故将其作为首个持续未修复的装配步骤；没有本次画面或逐节点服务端终态，断点为日志推断，不能定位视频时刻。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：log step 103中agent 的笔记称右手夹在甲侧板上端，log step 205及207将反复试配失败归于单夹爪夹持后板件滑转、无法保持插接所需角度；agent 自己的边缘拟合在log step 193报告面内角度-15.21度，log step 203仍报告-17.56度。这些会话记录支持夹持布局难以稳定板件姿态的根因，但角度和滑转尚无本次视频或状态日志独立核实；其他握法是否可行未知。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json为kind=none，无本次回放视频或状态日志；日志中的图片仅有占位符，未提供可查看的图片文件。reward仅有整体失败和运行计数；整体失败可结合bottom_assembled判据中的联合终验确定该节点final=false，但服务端status无七项操作通过记录、接头锁定及板件相对位姿，无法区分具体未通过的子条件，另三个节点final仍为null，全部intervals均为null，实际接触未知。agent 的深度统计、blocked/contact判定和最终自述不能代替节点验收；末端关节反馈也不能独立区分板件滑转、销孔错位或接触阻挡，因此失败现象留空，夹持设计根因仅据会话证据推断。已查看成功参考视频的0、4、9、18及29.84秒帧，其装配框形只作外观参照，不能证明本次进展或可行替代握法；不将其时间或状态迁入本次。"
+ },
+ "summary_zh": "实时评分器判定失败（live_success=0）；日志显示机器人持续尝试甲侧板装配，agent 最终自述七项操作均未完成，因此断点推断为甲侧板装好步骤的操作中。夹持设计导致板件姿态难以保持有agent 自述及其拟合记录支持，但缺少本次视频、状态日志和逐节点服务端结果，底板装好节点因其判据包含联合终验，可由评分器整体失败确定终态为false，另三个节点终态仍未知，没有可确认完成的节点，具体失败现象留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频，文件把四个节点全部写成未知、断点与根因均标为推断，整体方向克制合理；但最后一个目标节点 bottom_assembled 的 criterion 明文包含联合终验，live_success=0 这一评分器结果字段已经界定其为 false，却写成了 null。其余（breakpoint、contact_actual 未知、根因标 agent 自述）符合 N9，不要求改动。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频（kind=none），文件把三个节点保持未知，仅 bottom_assembled 依评分器 live_success=0 与联合终验判据定为 false；断点、根因均明确标为推断/agent 自述，现象留空并有 gap_zh，符合 N9。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--9fakdfg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--9fakdfg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--9fakdfg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--9fakdfg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "17d9c59537e4a0ff5d3cdd0ea5a24437cfbdb035cfe0a2c4322436647c1919a7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--ertyfat.json

@@ -0,0 +1,395 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--ertyfat",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 293777,
+   "sim_steps": 1175108,
+   "control_steps": 293777,
+   "sim_time_s": 734.4425000131299,
+   "elapsed_s": 2181.6,
+   "service_time_s": 517.3,
+   "calls": 125,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.764,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.278,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 152,
+      "text_zh": "观察：agent 的脚本向实时机器人服务提交甲侧板搬运、对位和下滑动作；返回 done=false、reason=null、settle_failed=0。输出未报告 side_a_entry、side_a_slide 是否通过，也未报告框架接头锁定或侧板相对顶板的终态误差，不能据此确认甲侧板装好。"
+     },
+     {
+      "t": null,
+      "log_step": 299,
+      "text_zh": "观察：agent 在最终报告中自述早先甲侧板目标 y=0.100 比其后来估计的 y=0.1145 少约14.8毫米，称其为门限失败诊断；该几何估计及装配失败判断未经本次视频、状态日志或节点服务字段核实。"
+     },
+     {
+      "t": null,
+      "log_step": 297,
+      "text_zh": "观察：agent 的完整装配脚本以 dry_run=True 运行，四个阶段均明确打印跳过提交；修正后的甲侧板装配方案没有在这次调用中执行。无本次视频和状态日志，甲侧板终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 139、148、152、160 记录左夹爪接近、闭合、搬运甲侧板和松开的命令；缺少本次画面与接触对，无法确认夹爪是否实际夹住甲侧板或发生何种接触。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 164,
+      "text_zh": "观察：agent 的脚本提交乙侧板操作的首段：左臂停放，右夹爪接近、闭合并尝试抬升乙侧板；这是实际提交记录，但未给出乙侧板操作通过或接头锁定字段。"
+     },
+     {
+      "t": null,
+      "log_step": 169,
+      "text_zh": "观察：实时机器人服务的本体读数显示右臂指令达到多个关节边界，右腕第七关节指令约1227.12弧度；正运动学输出右TCP约为[0.124,0.191,0.104]米。读数反映机器人状态，不能确认乙侧板是否被抓起或完成装配。"
+     },
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：最后一次物理操作后服务返回 done=false、reason=null、control_steps=293777、resumes=0；这一控制步数与 reward.control_steps 一致，但服务状态没有乙侧板装配结果。无视频和状态日志，乙侧板终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 164 的脚本让右夹爪对乙侧板执行接近、闭合和抬升命令，同时让左臂停放；缺少画面与物体接触对，不能确认实际接触方式，也不能把命令当作成功抓握。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 297,
+      "text_zh": "观察：agent 的完整脚本在背板阶段打印“[DRY-RUN] Skipped submission for Phase 3: Back Panel Slide.”，此前日志没有背板入槽动作的实际提交记录；评分器只报告总体失败，未报告 back_slide 或背板终态。无本次视频和状态日志，不能仅凭未提交计划或总体零分判定节点为假。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 297,
+      "text_zh": "观察：agent 的完整脚本在底板阶段打印“[DRY-RUN] Skipped submission for Phase 4: Bottom Panel Assembly.”，此前仅有底板逆解测试，没有底板装配动作的实际提交记录；评分器未报告 bottom_entry、bottom_slide、两处底板接头或底板终态。无本次视频和状态日志，节点终态未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_b_assembled",
+   "t": null,
+   "log_step": 169,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 164 中 agent 的脚本实际提交乙侧板 near2 的右臂接近、闭合及抬升轨迹，最终右TCP目标为[0.500,-0.369,0.380]米；log step 169 的服务 joint_cmd 右臂读数为[2.8973,-1.7628,-2.8973,-0.0698,-2.8973,3.7525,1227.1201]弧度，从实测 joint_pos 调用服务FK得到右TCP约[0.124,0.191,0.104]米，log step 197 的服务 tcp_pose 也直接报告同一位置。推断：乙侧板操作中末端未到目标；后续实际提交只有 log step 199 右臂回撤、log step 268 左臂在[0.33,0,0.025]附近重新抓取、log step 278 停放，log step 297 的完整装配方案跳过全部物理提交，未重做乙侧板步骤。reward 显示 graded_by_live=1、sim_startups=1、resumes=0，且 log step 278 的 control_steps=293777 与评分记录一致，以上服务读数属于被评分的实时会话。依据最早有证据且未修复的步骤定位乙侧板；甲侧板失败仅有 log step 299 的 agent 事后自述，终态仍未知，不能证明它是更早断点。无本次视频，t 保留 null。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": null,
+    "log_step": 169,
+    "evidence_zh": "观察：log step 164 中 agent 脚本为乙侧板抓取设置右TCP下降目标[0.500,-0.369,0.220]米、抬升目标[0.500,-0.369,0.380]米；该提交后的 log step 169 从服务实测 joint_pos 经服务FK得到右TCP约[0.124,0.191,0.104]米，log step 197 的服务 tcp_pose 直接读数为[0.1242,0.1913,0.1036]米。推断：右末端明显偏离乙侧板抓取及抬升目标，支持位姿不准；这些读数不证明乙侧板被夹住、掉落或发生碰撞。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 187 的服务 action_types 规定16维动作按每臂7个关节目标加1个夹爪指令排列；log step 188 的 kinematics 规定IK输入按双臂关节名排列，且计算不做碰撞检查。log step 164 的脚本设置 q1[7]=255.0 后仍以 seed=q1[:14] 求右臂逆解，并在后续航点重复同类切片，未检查IK的 ok/error 就将返回值拼进提交轨迹；log step 169 的服务 joint_cmd 显示右臂多个有限关节到达边界，第七关节目标达1227.1201弧度，实测 joint_pos 的右臂第七关节约111.1832弧度，末端偏离目标。推断：把含左夹爪值的动作切片当作14维纯关节种子，使255进入右臂第一关节的种子位置，右臂其余种子也错位；异常逆解未经检查即被提交，导致乙侧板操作的位姿偏差。观察：log step 170 用正确的14关节 home 种子求同一接近目标[0.500,-0.369,0.320]及相同朝向时返回 ok=True、正常量级右臂解，故可行替代已在该航点的逆解层面验证，并非整套抓取装配已经执行成功。log step 198 对指令关节向量做FK所得起点z=-0.023米属于诊断推算，log step 199 回撤返回 clipped=True；二者均不能证明实际碰撞。服务规格 log step 187、188 明确第七关节不限位，巨大角度本身不称为第七关节越限。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json 为 kind=none（HF录像404且无本地录像），本目录没有本次状态日志；inputs/oracle/replay.mp4 是另一成功运行，不能证明本次动作。reward 仅报告总体 live_success=0，未提供四节点操作通过记录、框架接头锁定状态或各板终态误差，19项原生指标亦未报告；依 docs/03_trajectory.md Step 2、DECISIONS.md N9，四节点 intervals、final 均保留 null，甲侧板终态未知。依 DECISIONS.md N5，单次无重置实时会话的服务本体读数可支持乙侧板末端未到位的现象，脚本及逆解测试支持其控制根因；并未据此补定物体终态。推断：乙侧板是现有证据能定位的最早未修复步骤，但缺少甲侧板节点结果，无法排除更早失败；实际抓握、碰撞、物体是否掉落及精确视频时刻均无法核实。log step 198 的负z值来自指令关节FK推算，不是实际接触观测；log step 199 回撤及278停放不代表乙侧板装配已修复。"
+ },
+ "summary_zh": "实时评分器判失败；甲、乙侧板均有操作提交，但四个装配节点缺少服务终态字段，已确认完成数为0、未知数为4。断点改为乙侧板操作中：log step 164 提交后，log step 169、197 的服务读数显示右末端未到目标，脚本把夹爪指令混入IK种子并未检查逆解结果，支持“位姿不准”和“控制·轨迹或逆解”，后续没有重做乙侧板装配。conf 保持4：无本次视频或状态日志，甲侧板是否更早失败及四节点终态无法确定，碰撞和实际接触也未核实。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，节点保持 unknown、final=null 是正确的。但断点只靠 agent 在 log step 299 的自述（y=0.100 比 0.1145 少14.8毫米）定在甲侧板，而该几何估计是 agent 叙述、不是可采信证据；本次实机已被服务读数证实的失败是 log step 164 的乙侧板抓取：agent 脚本把含左夹爪值255的14维向量当 IK 种子，右臂关节指令被推到边界（joint_cmd 右腕第七关节 1227.12 rad），右TCP落在[0.124,0.191,0.104]而非目标[0.5,-0.369,0.38]，后续 FK 显示轨迹起点 z=-0.023（在桌面以下）。该已观测事实在 failure 中完全缺失，现象与根因被留空。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，四个节点按 N9 保持 unknown/final=null 是正确的；断点定在乙侧板操作中（最早有评分会话服务读数支持且未修复的步骤），位姿不准 + 控制·轨迹或逆解（IK 种子混入夹爪值255，log step 164/169/193/197 可核）证据充分，观察与推断分开，不把 1227 rad 称越限、不把负z当碰撞，gap_zh 说明了无视频与甲侧板未知。未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:16:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--ertyfat/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--ertyfat/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--ertyfat/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--ertyfat/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78651ed665dcad730379e1f3749cb6289ff6c0b1ff92465e5d01592de45762f5",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--j4uurha.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--j4uurha",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 133524,
+   "sim_steps": 534096,
+   "control_steps": 133524,
+   "sim_time_s": 333.810000004385,
+   "elapsed_s": 9932.6,
+   "service_time_s": 215.4,
+   "calls": 418,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.351,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.347,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 235,
+      "text_zh": "观察：log step 235执行机器人首块侧板的竖起、进入探测和双向滑动脚本，输出的entered及slide residual是agent自行计算的末端判断，并非服务的装配验收；服务仅返回done=False、reason=None。log step 262最终服务状态仍为done=False；没有本次视频、状态日志或side_a操作通过/接头锁定/相对位姿结果，不能据agent自述“没有接头锁住”（log step 264）确定此节点终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 209、224、232、235记录了机器人执行首块侧板进入/滑动命令，脚本含双臂闭爪、换握和释放；但本次没有视频、状态日志或服务接触对，不能确认左右夹爪是否实际夹住侧板、是否同时接触以及是否接触顶板，故实际接触未知。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 262,
+      "text_zh": "观察：log step 262最终服务状态仅有整体done=False，inputs/run.json的reward仅报告整体success=0，未报告乙侧板操作通过、接头锁定或相对位姿。agent称第二侧板尚未完成（log step 264），但该自述不能替代节点结果；无本次视频和状态日志，终态未知。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 262,
+      "text_zh": "观察：log step 262最终服务状态没有back_slide或背板相对顶板位姿字段。log step 187中agent把误取物重新识别为背板并编写放回方案，这不构成服务确认的入槽结果；无本次视频和状态日志，不能判定背板节点终态。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 262,
+      "text_zh": "观察：log step 262最终服务状态没有bottom_entry、bottom_slide、两接头锁定或底板终态位姿字段；reward的整体success=0不能单独判定底板节点。agent在log step 238保存完整后续方案，但log step 247、250的在线试运行仅到首块侧板准备阶段即报错，不能把存档方案视为已执行；无本次视频和状态日志，终态未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 235,
+   "where": "操作中",
+   "evidence_zh": "推断：本次按单一在线回合评分（reward：graded_by_live=1、sim_startups=1、resumes=0、replays=0）；log step 209、224、232、235反复提交首块侧板的进入/滑动动作，后续log step 247、250仍试运行同一步。agent在log step 252、264承认首块侧板尚未装好并停止，log step 262服务仍返回done=False，评分success=0；据这些操作记录将最早未修复步骤定位为甲侧板装好。此为日志推断，未把脚本entered输出当作装配通过，也未把agent时间换算成视频时间。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次inputs/video.json明确为kind=none（HF视频404且无本地视频），没有本次replay.mp4或states.jsonl；reward的video_rendered=1不代表本工作目录中有可检视视频。日志中的图片仅有占位文字，未提供可查看的本次图像；已查看的inputs/oracle/replay.mp4仅说明另一次成功的装配外观，不能证明本次进度。服务status及reward均无逐节点原生操作通过、接头锁定、板件位姿和接触结果，因此四个final均未知、全部视频时刻及intervals为null，实际接触无法核实；后续乙侧板、背板入槽和底板装配没有可确认的定向执行证据，不借存档脚本记为尝试。不能区分首块侧板是空夹、滑脱、错位还是受阻，故现象层留空；log step 238中agent已表示本回合无法完成并开始整理存档驱动，log step 242明确将后续测试称为在线冒烟测试兼最后一次侧板尝试；log step 247的KeyError发生在驱动初始化，log step 250的ValueError发生在flat_frame准备阶段，均未进入该测试的侧板竖起与插入流程，不足以解释此前反复装配未获确认的原因。log step 227、229的IK报错后，log step 232已输出hinge 60/75/90 ok并跑完进入探测和滑动；log step 209、224、232、235也均输出到滑动结束及服务状态，没有在这些流程中崩溃。脚本自行计算的entered、slide residual及位姿拟合不能替代原生装配验收或真实板件位姿；缺少本次视频和状态日志，无法区分位姿估计偏差、夹持偏移或其他物理原因，故根因留空。agent关于识别错误、夹点高度及最终无接头锁定的自述未作独立事实认定。"
+ },
+ "summary_zh": "整体评分失败，log step 262服务最终仍为done=False；日志显示机器人反复执行首块侧板装配，断点仍推定为甲侧板装好／操作中。log step 232、235的侧板脚本已跑完探测和滑动，后续存档驱动的在线冒烟测试报错不足以解释此前的装配失败，故根因留空。没有本次视频、状态日志或逐节点服务结果，四个节点终态与实际接触均无法确认，失败现象留空，置信度维持5；成功参���视频不能补足本次证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "断点甲侧板装好/操作中可接受（无视频、无状态日志，节点全 unknown 与 gap_zh 合理）。但根因“控制·控制”不成立：它依据的脚本异常发生在开发/冒烟测试阶段，不是甲侧板反复尝试失败的原因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无本次视频与状态日志（video.json kind=none），四个节点全 unknown、断点甲侧板装好/操作中、现象与根因留空并写明 gap_zh，均合理；第1轮根因问题已删除，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:15:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--j4uurha/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--j4uurha/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--j4uurha/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--j4uurha/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1668086f4ad72572b78270dfe737c908143c740038d8e9922a44fd7a6958192c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--keve6zs.json

@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--keve6zs",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 39566,
+   "sim_steps": 158264,
+   "control_steps": 39566,
+   "sim_time_s": 98.9149999999191,
+   "elapsed_s": 7845.8,
+   "service_time_s": 106.6,
+   "calls": 75,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.286,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.38,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 272,
+      "text_zh": "观察：log step 118、121 的服务返回记录左臂抓取及预对接命令已执行；log step 132 发起甲侧板 P4_far1 对顶板 P5_far2 的进入和滑合命令。log step 139、149 是 agent 自写的深度测量与接头自检，log step 234、272 是 agent 自写的抓取断言失败，均不是服务的装配节点验收结果。本次无视频和状态日志，reward 只有整体 success=0，未报告 side_a 操作通过记录、接头锁定及最终相对位姿，因此该节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 118、121、132、207、257、272 记录左右臂针对甲侧板的抓取、对接、扶持或托起命令；缺少本次视频及接触状态日志，无法确认哪些命令实际形成夹持、推压或托举接触，不能照抄任务的典型双臂抓握方案。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：完整日志的执行记录围绕第一块侧板 P4_far1；未见服务返回 side_b_entry、side_b_slide、乙侧板接头锁定或最终相对位姿。reward.success=0 仅报告整柜未通过，不能确定乙侧板终值；无本次视频及状态日志，保留未知。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward 未报告 back_slide、背板相对顶板的终态误差或背板节点结果；日志未提供背板入槽的服务验收。无本次视频及状态日志，不能用整体 success=0 或 agent 脚本推定该节点终值，保留未知。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward 未报告 bottom_entry、bottom_slide、两个底板接头或该节点的终态结果；日志未提供底板装配的服务验收。无本次视频及状态日志，整体 success=0 不能单独决定底板节点真假，保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 272,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 132 执行第一块侧板 P4_far1 与顶板 P5_far2 的进入及滑合，log step 164 又将同一侧板送回支架；随后 log step 213 明确称仍在抓取 side A，log step 234、272 的 agent 抓取脚本自检失败后仍继续诊断同一板件（log step 273–284）。因此把中断时仍在处理的甲侧板装配定位为断点；没有逐节点验收，不能据此断言它从未通过或确定物理故障时刻。log step 285 出现模型服务过滤提示，不能把该外因当作机器人失败现象。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，说明本次视频下载返回 404 且无本地视频；inputs/ 中也无状态日志。成功参考视频属于另一次运行，不能证明本次进度或接触。reward 报告 graded_by_live=1、live_rows=39566、resumes=0、finalized=1、success=0，但没有四个节点的操作通过记录、接头及终态位姿字段，所有视频时刻和区间均为 null。log step 285 出现 Gemini 过滤提示；log step 257 的最后明确服务完成状态仍为 done=False、reason=None，未见过滤前已固定最终评分的证据，应视为外因中断并重测，目录中的失败分数照原样保留。虽然日志可定位正在处理的甲侧板，agent 自写的深度统计、抓取断言及夹爪读数不足以还原装配接触与完整物理失效过程，因此现象和根因均留空；也不将过滤、未完成或脚本自检异常直接作为机器人根因。"
+ },
+ "summary_zh": "观察：受评记录为单次实时会话，整体评分 success=0；日志中的装配执行始终围绕甲侧板，四个节点均缺少服务逐项验收，确认完成数为0，四项终值皆未知。推断：中断时仍在处理甲侧板装配，故断点定位为该步操作中，但无法确认具体接触现象或根因。观察：本次无视频及状态日志，log step 285 出现模型服务过滤提示且此前未见回合已结束，应按外因中断重测，不能把目录中的零分直接解释为机器人能力失败。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志；日志末步 step 285 为 Gemini 过滤提示，此前无已保存并验证的交付，按外因中断处理（空层 + gap_zh）与 FAIL-5 一致。四个节点 unknown、断点定在甲侧板操作中均有日志依据，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:07:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--keve6zs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--keve6zs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3accfbecfff168aff9efdcf3a5680d51e53d79b29f69f204b5b33da1f1da3bf8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--sys58kj.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--sys58kj",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 93652,
+   "sim_steps": 374608,
+   "control_steps": 93652,
+   "sim_time_s": 234.13000000220924,
+   "elapsed_s": 3441.4,
+   "service_time_s": 229.2,
+   "calls": 537,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.414,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.078,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 389,
+      "text_zh": "观察：log step 389 的机器人脚本以抓取候选甲侧板 P3、转向并插接到 P2 为目标；下降目标为 [0.500,-0.311,0.130] 米，刷新服务观测后 TCP 为 [0.468,-0.326,0.272] 米，脚本返回 desc False。该末端读数不报告侧板接头或原生操作验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 448,
+      "text_zh": "观察：agent 在 log step 448 自述“None of the seven operation gates was reached”；但 run.json 的 reward 只给整体 success=0、live_success=0，没有 side_a_entry、side_a_slide、接头锁定或侧板相对位姿字段。本次无视频及状态日志，依 N9 保留节点终值未知，不把自述作为节点判值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 352、389、435 的脚本分别控制左右夹爪接近候选甲侧板 P3 并闭爪，以准备甲侧板插接；本次没有视频或接触对日志，无法确认夹爪是否包夹板件，也不能确认双臂曾同时接触。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 264,
+      "text_zh": "观察：log step 264 中机器人脚本向候选侧板 P5 发出闭爪和抬升命令，服务返回右夹爪开度由约 0.026 米变为 0.017 米；log step 272 又发出移动及转向命令。开度和末端移动不能证明板件随动或乙侧板装配完成，且本次没有图像可核实固定甲乙角色。"
+     },
+     {
+      "t": null,
+      "log_step": 448,
+      "text_zh": "观察：run.json 的 reward 没有 side_b_entry、side_b_slide、接头锁定或乙侧板终态字段；log step 448 的“七项均未通过”是 agent 自述。没有本次视频或状态日志，乙侧板终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：log step 239、264、272、308 对另一候选侧板 P5 的取板、搬动和翻转命令属于侧板装配准备；agent 后续脚本在 log step 350 将 P3 指为甲侧板，因而将 P5 的尝试暂归本节点。固定甲乙角色及右夹爪是否实际抓住 P5 均无本次画面或接触对核实，接触保留未知。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 448,
+      "text_zh": "观察：run.json 的 reward 只报告整体失败，没有 back_slide 或背板相对顶板终态字段；log step 448 对背板身份和装配方案的描述以及“七项均未通过”均为 agent 自述。日志中没有背板入槽的服务验收结果，本次也无视频、状态日志，故不能判定该节点终值。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 445,
+      "text_zh": "观察：log step 445 的服务观测记录两夹爪开度均为 0.08 米、双臂处于停放姿态、reason=None；这些字段没有报告底板与两侧的接头、bottom_entry、bottom_slide 或五板终态。run.json 的 success=0 也不是逐节点结果；无本次视频与状态日志，底板节点终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 352,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 352 的机器人脚本明确尝试将候选甲侧板 P3 插到 P4，但两次接近规划失败，随后脚本在转向前报 ValueError；后续 log step 389 改试 P2 时，抓取下降仍未到目标，log step 435 换左臂重试亦未到位。日志没有记录该装配步骤后来通过服务验收，agent 在 log step 446、448 停止并自述未完成；据这些连续操作将断点定位为甲侧板装配过程。reward 的 graded_by_live=1、sim_startups=1、resumes=0 表明这些指令属于同一在线评分回合；断点为日志推断，不以 agent 自述判定节点终值。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": null,
+    "log_step": 435,
+    "evidence_zh": "观察：log step 435 的机器人左臂下降目标为 [0.340,-0.308,0.105] 米，刷新服务观测后 TCP 为 [0.399,-0.330,0.228] 米，仍高于目标约 0.123 米；log step 389 的右臂下降目标为 [0.500,-0.311,0.130] 米，刷新后的 TCP 为 [0.468,-0.326,0.272] 米。这里的 TCP 是机器人服务返回的夹爪末端位姿，显示为甲侧板取板准备发出的下降没有到达指定位置；不据此宣称已经碰撞、未接触或滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 433,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 433 中 agent 求得的 P2 抓取目标 IK 误差为 0.0001 米，但直接下发关节轨迹并保持后，服务实测关节位置仍偏离命令，多个关节力矩读数达到 87、87、85.4 牛米；log step 435 中左臂对 P3 的下降同样未到目标，关节力矩出现 87 牛米。结合 log step 389、418 的反复下降失败，支持取板阶段的控制执行困难妨碍了甲侧板装配。没有接触对或板件位姿可区分接触几何、受阻与跟踪问题，��停留在一般控制根因，不判具体子类。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（视频获取记录为 404 且无本地视频），也没有状态日志；日志中的 look 只保留图片路径和尺寸，未提供可检查的本次图像像素。服务返回的 proprio 末端、关节和夹爪读数可描述在线回合的执行偏差，但 reward 与最终服务状态都没有逐节点 operations、接头锁定和板件终态字段；依 N9，四个节点 final 均为 null、intervals 均为 null，不能以整体零分或 agent 的最终自述改判 false。候选 P3/P5 与固定甲乙角色的对应来自 agent 脚本，尚无独立核实，侧板尝试的 contact_actual 均为未知；背板入槽和底板装配未见明确执行记录。成功参考视频存在且已检查粗采样，仅用于理解装好时的框架外观，不能替代本次轨迹证据。断点具体视频时刻不可定位，未将 agent 时间或仿真累计时间换成视频时间。"
+ },
+ "summary_zh": "评分器对单次在线回合判失败；四个装配节点均缺少逐项服务验收结果，因此确认完成数为零，四项终值均保留未知。根据 log step 352、389、435 的连续取板和插接尝试，断点推断为甲侧板装配操作中，服务末端读数显示下降未到目标，日志支持一般控制执行困难。没有本次视频和状态日志，无法核实实际抓握、板件运动、接头锁定或节点时间；agent 在 log step 448 自述七项操作均未通过不作为节点判值。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，reward 只有整体 success=0，四个节点终值保持 null、不引用 agent 自述，符合 N9。断点、位姿不准现象和一般“控制”根因都有 log step 352/389/433/435 的服务读数支持，且标注为推断，措辞克制。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": "2026-10-31T01:05:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--sys58kj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--sys58kj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cb67e38001112b803101e7f3b61c54e6e01a5403447afcb5101e56eecf4f23bf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--tixg9pt.json

@@ -0,0 +1,374 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--tixg9pt",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 251489,
+   "sim_steps": 1005956,
+   "control_steps": 251489,
+   "sim_time_s": 628.7225000108223,
+   "elapsed_s": 5891.2,
+   "service_time_s": 1226.1,
+   "calls": 769,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.265,
+   "peak_processes": 11,
+   "peak_disk_gb": 2.607,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 63,
+      "text_zh": "观察：log step 63 开始发送标为sideA的接近、闭爪与搬运指令；log step 116—158、186—200、227—253继续执行该侧板的进入、滑动及连接检查。agent 在log step 173、249自述接头尚未锁住；这些自检和自述不是服务的节点验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 290,
+      "text_zh": "观察：log step 290 的right_true_probe返回服务元数据done=True、reason=sim_breakdown；输入没有本次视频或状态日志，服务输出未报告side_a_entry/side_a_slide通过记录及对应接头状态，不能确定甲侧板末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 70—75发送右夹爪闭合、搬运侧板的命令，log step 140—158换为左夹爪下部握持，log step 220—239改为两臂同时控制侧板。没有本次画面或接触对日志，无法确认各夹爪实际夹住侧板的方式，也不能把指令或约17毫米夹爪开度直接当成抓握证据。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "观察：agent 在log step 259自述两侧角色尚不确定，并决定把当前侧板试配到顶板另一边；log step 260、273、287随后执行翻转、另一边定位和进入/滑动命令。没有服务的乙侧板操作通过记录或接头状态。"
+     },
+     {
+      "t": null,
+      "log_step": 290,
+      "text_zh": "推断：日志支持存在另一边的侧板试配，但不能核实该板件与甲、乙固定角色的对应，也不能由整体success=0推出乙侧板final=False；无本次视频和状态日志，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 259—287对同一待试配侧板执行另一边的搬运和双臂控制命令。该尝试可能涉及乙侧板的固定装配位置，但零件角色与真实接触均无画面或状态日志核实；不把双臂命令直接标为双臂抓握。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：完整日志的装配指令持续围绕首块侧板及其两侧试配，未记录将薄背板沿柜框槽滑入的操作；log step 293的最终发言仍称装配未完成。服务及reward均没有back_slide通过记录或背板末态字段；没有本次视频、状态日志，final保留未知。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 58,
+      "text_zh": "观察：log step 53—58发送名为bottom_pick、bottom_transfer、bottom_rack、bottom_release的指令，用于移开板件腾出工作区；这些命令没有给出底板与两侧板装配成功的服务结果，不能据此计为底板装好。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：后续日志未记录底板进入、滑合柜框的尝试；reward没有bottom_entry/bottom_slide通过记录、两个接头锁定状态或底板末态字段。本次无视频和状态日志，不能单凭整体失败判定该节点终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 290,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 63起的首块侧板装配在多轮进入、滑动及连接检查后仍未获得服务通过记录；agent 在log step 173、249、259持续自述未锁住，继而将同一侧板翻到另一边重试，未开始背板或底板装配。因此按首个尚未修复的受尝试步骤定位为甲侧板装好，固定板件角色仍待核实。log step 290的输出记录right_true_probe（双臂目标上抬3毫米的检查）返回服务done=True、reason=sim_breakdown；这是已执行的在线受评回合，reward的graded_by_live=1、resumes=0、infra_error=0。无本次视频，t为null。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次视频未提供：inputs/video.json记录HF回放404且无本地视频；亦无状态日志。inputs/oracle/replay.mp4是另一次成功运行，已抽看其装配外观，不能作为本次节点或接触证据。服务的终止原因sim_breakdown足以确认本次受评回合因有效性检查结束，但log step 291的状态输出被截断，现有日志没有给出具体breakdown.kind、穿透深度、动力学警告或非有限状态明细，不能据此指定物理失败现象或归咎于控制、任务环境。agent 的滑移、碰撞、未锁住陈述和自编几何估计均未得到本次画面或原生节点字段核实，故现象、根因留空；四节点终值与接触方式不能确定，所有视频时间为空。甲乙为固定装配角色，另一边试配是否实际对应乙侧板也无法确认。评分器未报告DAG列出的原生指标值，全部留空。"
+ },
+ "summary_zh": "观察：本次为单次在线受评回合，日志记录了首块侧板的反复进入、滑动和连接检查，随后把同一侧板转到顶板另一边试配；没有可核实的节点通过结果，四节点终值均未知。推断：断点定位为首次侧板装配；log step 290的服务在抬升连接检查中返回sim_breakdown并结束回合，整体success=0。观察：本次无视频和状态日志，终止细因、接触对及原生节点与指标字段均不可用，因此不补造具体失败现象和根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，标注者把四节点终值、时间、接触方式留为unknown/null，不补造现象和根因，并写了gap_zh，整体合理。仅有一处log step引用不准确。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频、无状态日志，标注者将四节点终值、时间、接触留为unknown并写了gap_zh，断点与证据（log step 290 sim_breakdown）与日志一致；第1轮的step引用问题已修正，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--tixg9pt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--tixg9pt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--tixg9pt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--tixg9pt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f77952898cbf0a8b5b6794013ae6150f416f64c0cda9a0ad111e45ffcb89b017",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--v8wmy7d.json

@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--v8wmy7d",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "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,
+   "live_rows": 1039903,
+   "sim_steps": 4159612,
+   "control_steps": 1039903,
+   "sim_time_s": 2599.757499967945,
+   "elapsed_s": 7042.3,
+   "service_time_s": 2465.1,
+   "calls": 973,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 8.295,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.628,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 3,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_oom": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：log step 271、273、281记录agent脚本为侧板装配准备抓取并调整其认作顶板的板件；log step 324的服务状态仅为done=false、reason=null，没有side_a_entry、side_a_slide、接头锁定或板件终态结果。本次无视频及状态日志，不能由抓取命令、夹爪开度或agent自述确定甲侧板装好。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 273、281有左夹爪向板件边缘运动及闭合的命令，log step 162有agent关于左前臂扫到板件的自述；无本次视频或接触对日志，不能确认夹爪是否夹住顶板、前臂碰到哪块板或双臂是否实际协同。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 327,
+      "text_zh": "观察：评分器reward只报告live_success=0，未报告乙侧板操作、接头或终态位姿；log step 327的agent总结承认未完成柜体，但自述不能替代节点结果。本次无视频及状态日志，乙侧板完成值未知。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 327,
+      "text_zh": "观察：评分器reward未报告back_slide或背板相对顶板的终态结果；log step 327关于板件落地、不可恢复的说法是agent自述。本次无视频及状态日志，不能据此判定背板节点真伪。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：评分器reward报告success=0、live_success=0、graded_by_live=1、replays=0，但没有bottom_entry、bottom_slide、底板接头或联合终验各项结果；log step 324服务状态为done=false。本次无视频及状态日志，整体失败不能单独决定底板节点的完成值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": null,
+   "log_step": 162,
+   "where": "探索",
+   "evidence_zh": "推断：log step 142中agent仍在为首块侧板装配辨认板件，log step 158执行近场相机观察，log step 162自述左臂关节运动扫到近侧板件；log step 190又自述板件被碰倒，log step 271、281随后仍尝试抓取、摆正顶板来接侧板，log step 327承认未完成装配。因此最早未修复的问题暂归甲侧板装配前的机器人探索，而非后来停机或底板终验；缺少画面及逐步操作结果，无法独立确认碰倒时刻和板件身份。"
+  },
+  "unmet": {
+   "side_a_assembled": null,
+   "side_b_assembled": null,
+   "back_inserted": null,
+   "bottom_assembled": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 157,
+    "source_zh": "日志",
+    "note_zh": "控制脚本异常：joint_cmd与joint_pos的右臂索引混用；观察脚本另未保持非活动臂命令。具体物理后果为推断。",
+    "evidence_zh": "观察：log step 157只读取views4.py源码，没有执行动作；其中go()把16路joint_cmd的右臂切片写成7:14，并用np.zeros((n,16))初始化命令后只写活动臂及其夹爪，未保持非活动臂命令。log step 158实际调用lib.move_arm而非该go()，返回的左、右末端位置分别为[0.382,-0.031,0.366]、[0.545,0.102,0.450]，与请求的[0.50,0.10,0.52]不同。log step 164重写的run_path同样从joint_cmd[7:14]取右臂关节，但将右臂命令写到8:15；该版本保持了另一臂命令，在log step 165修正语法后被调用来停靠双臂，调用超时转后台。log step 228的服务读数显示joint_cmd有16路、第7列为左夹爪255，joint_pos为14路；log step 229—230将右臂命令索引改为8:15、位置索引保留7:14，并改用位置读数作为逆解种子。推断：这些代码与读数支持控制脚本存在通道索引错误，可能妨碍甲侧板装配前的运动并引起扫板；但log step 157的代码读取不能解释log step 162自述的扫板，log step 228—230是在log step 190自述倒板之后才诊断和修复错误。无本次视频或板件状态，不能确认哪段命令造成碰倒；不以log step 214关于并发发令的自述作为已证实因果。"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json为kind=none，inputs/无本次replay.mp4及states.jsonl；日志只含[picture]占位文本与steps.bin的字节引用，inputs/未提供steps.bin图像载荷。四节点均无可判定其完成值的评分器或服务结果，所有intervals、final和视频时间均为null；成功参考视频只能说明装好时的外观，不能证明本次进度。碰倒、板件落地及落地后不可达均只有agent自述或其自编深度计算，缺少本次画面、接触对和板件状态，因此不标被挡/碰撞、没保持住或够不着，现象层留空；断点位置和控制问题对物理后果的影响为日志推断。reward记录3次资源OOM、infra_error=0；日志显示OOM后继续操作并主动结束，不能据此视为外因截断，也不把资源计数当作物理失败原因。"
+ },
+ "summary_zh": "评分器记录本次单次在线episode失败；四个装配节点均缺少逐节点服务结果，完成值全部保留未知，不能从零分推定全部未完成。日志将最早未修复的问题指向甲侧板装配前的近场探索，日志代码与读数支持控制脚本存在动作通道索引错误，但其造成扫板或倒板的因果链仍是推断；agent随后反复尝试摆正、抓取板件，最终主动停车并承认未完成装配（log step 327）。本次无视频或状态日志，无法核实碰倒、落地等物理现象及节点时间，现象层留空。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，四个节点按N9保持unknown、现象层留空并附gap_zh，这些处理合规；断点（甲侧板装配、探索）与“控制·控制脚本异常”根因方向可接受。只有根因证据链有一处推断过强，需要改写。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，四节点按N9保持unknown、现象层留空并附gap_zh；断点与控制根因均标明为推断，第1轮意见已落实，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": "2026-10-31T01:14:30Z",
+  "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/roboarc-ikea-eket-i00-standard--v8wmy7d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--v8wmy7d/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--v8wmy7d/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--v8wmy7d/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a9fe86b1ad7310342f315a240fb0d3654e0596dced44ab65dda721ef272ea6f9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--cmxa5nz.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--cmxa5nz",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 27379,
+   "sim_steps": 109516,
+   "control_steps": 27379,
+   "sim_time_s": 68.44749999994681,
+   "elapsed_s": 2044.8,
+   "service_time_s": 69.2,
+   "calls": 185,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.481,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.496,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：log step 43–64、95–102、127–130中，agent脚本反复命令左右机械臂靠近框架杆件、闭合夹爪并调整位姿；agent在log step 138自述最终仅框架A被扶起、B仍平放，未完成交叉装配。评分器reward仅报告整桌success=0，没有本节点终态字段；本次无视频和状态日志，不能用该自述或agent的点云拟合判定节点真假，final保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 44、63、95、128中，agent脚本命令左、右二指夹爪先后在框架杆件附近闭合，并读回夹爪开度；这些读数不证明夹住了框架。缺少本次视频及接触状态日志，无法核实实际作用端、对象接触方式及是否发生双臂协作。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述没有完成任何螺钉或保持连接步骤；inputs/run.json.reward只报告整桌success=0，未报告长螺钉的装配深度、锁定或节点结果。本次无视频、无状态日志，不能将agent自述或整桌零分当作本节点终值，final保留未知。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述没有完成任何螺钉或保持连接步骤；inputs/run.json.reward没有底螺钉的装配深度、锁定或节点结果。本次无视频、无状态日志，无法核实本节点终态，final保留未知；未在记录的动作代码中发现针对底螺钉的旋拧尝试。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述尚未进行圆环步骤；inputs/run.json.reward未报告圆环相对框架A的装配位姿或本节点结果。本次无视频、无状态日志，不能用agent自述判断圆环是否满足节点条件，final保留未知；日志中的动作尝试集中在框架恢复。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述尚未进行圆环及螺钉步骤；inputs/run.json.reward未报告已锁定且就位的环钉数量。本次无视频、无状态日志，无法核实至少1颗环钉的验收条件，final保留未知；未在记录的动作代码中发现环钉旋拧尝试。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述尚未进行圆环及螺钉步骤；inputs/run.json.reward未报告已锁定且占用不同孔的环钉数量。本次无视频、无状态日志，无法核实至少2颗环钉的验收条件，final保留未知；未在记录的��作代码中发现第二颗环钉旋拧尝试。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：agent在log step 138自述尚未进行托盘步骤；inputs/run.json.reward未报告托盘的装配位姿或圆环支承采样。本次无视频、无状态日志，不能由整桌success=0反推托盘节点真假，final保留未知；未在记录的动作代码中发现搬放托盘的尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": null,
+   "log_step": 22,
+   "where": "探索",
+   "evidence_zh": "推断：log step 19、22的agent脚本通过移动左臂腕部相机观察场景；log step 22的服务反馈出现左臂关节限位裁剪，log step 24读回左臂joint1约−2.87 rad。agent在log step 138将第三次相机定位自述为扫倒两框架且未恢复的起点；后续log step 43–64、95–102、127–130的动作代码持续尝试扶起、调整框架，没有进入后续装配操作。因此把最早未修复的步骤定位为框架交叉装配，出问题时处于相机探索阶段；碰倒经过仅为agent自述，缺少本次画面核实，且无视频时间可填。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": null,
+    "log_step": 22,
+    "evidence_zh": "推断：log step 19所写look.py仅检查IK的ok便将关节解直接插值提交，没有关节跳变筛选或场景碰撞检查；log step 22的服务反馈有left_actuator1限位裁剪，log step 24读回左臂joint1约−2.87 rad。agent在log step 138自述该次逆解使左臂大幅转动、扫倒框架且始终未恢复；恢复框架期间，log step 112、114、129的逆解又分别因ok=False或过大关节跳变中止路径生成。代码、服务反馈及agent自述共同支持轨迹与逆解处理缺陷影响框架装配，具体碰撞链条尚未独立核实。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json为kind=none，未提供本次replay.mp4或states.jsonl；run.json中图片只有占位文本与偏移引用，无法查看本次物体运动与接触。评分器虽记录video_rendered=1，但当前输入实际没有本次视频；reward的success/live_success=0仅为整桌结论，不含七个节点的终值，故全部intervals和final均为null，不能解释为七节点均已证实为假。框架接触标未知，碰倒、滑脱、对合偏差等现象无法独立核实，现象层留空；断点及控制根因依据动作代码、服务反馈和明确标为自述的报告推断。已查看成功参照视频的粗采样及成功参照视频29.9 s末态，但该视频只能说明成功装配外观，不能补作本次证据。log step 137服务返回done=False、reason=None、time_left_s=8775.0，log step 138是agent主动停止，不能把停止或预算当作失败原因，也没有基础设施中断证据。"
+ },
+ "summary_zh": "评分器报告整桌装配失败；日志中的动作集中于框架扶起与调整，agent在log step 138自述交叉框架仍未装好且尚未进行螺钉、圆环和托盘步骤。推断断点为框架交叉装配，早期腕部相机探索采用未检查路径的逆解，随后恢复路径又多次逆解���败，支持控制·轨迹或逆解根因。无本次视频和状态日志、无逐节点评分字段，七个节点的终值与时间区间均未知，实际接触未知，物理失败现象留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，七个节点 intervals/final 均为 null 并在 gap_zh 说明，符合 N9；断点（框架交叉装配，探索阶段）与控制·轨迹或逆解根因有 look.py 代码（只检查 ok、无跳变筛选）、log step 22 的 joint1 限位裁剪和 step 24 读回 −2.87 rad 支持，且明确标为推断；现象层留空并有 gap_zh，未把停止或预算当原因。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": "2026-10-31T00:57:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--cmxa5nz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--cmxa5nz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c2a21e25d0aa1aa966c325d7210039b5441a269d812cfa7f37261d76e3c9b281",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--feetks4.json

@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--feetks4",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 479550,
+   "sim_steps": 1918200,
+   "control_steps": 479550,
+   "sim_time_s": 1198.8749999914578,
+   "elapsed_s": 7138.6,
+   "service_time_s": 1569.6,
+   "calls": 3477,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.255,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.415,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 586,
+      "text_zh": "观察：agent 在 log step 586 自述两框架交叉站立；inputs/run.json 的 reward 仅报告整任务 live_success=0，没有框架相对位姿的服务验收字段。缺少本次视频和状态日志，不能将该自述判为满足毫米级装配条件，终值未知。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 286,
+      "text_zh": "观察：log step 166–167 的 agent 脚本以左夹爪执行长螺钉抓取命令；log step 285–286 执行以 (0.474, 0.006) 为中心的轨道下降，输出40圈命令计数，服务返回 done=False、reason=None。这些并非螺钉锁定或装配深度的验收字段；无本次视频和状态日志，终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 586,
+      "text_zh": "观察：agent 在 log step 297 撤回先前的旋入判断，称螺钉未啮合螺纹；log step 437 又称夹爪为空，log step 586 最终承认长螺钉未能可靠抓住。这些自述支持定位尝试目标，但不替代节点服务验收或实际接触证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 166–167、285–286、574 的脚本以左二指夹爪尝试抓取和操作长螺钉；没有本次视频或状态接触对，无法确认实际是否夹住、压碰或滑脱，也无法确认对孔时螺钉是否在手，故接触方式未知。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 586,
+      "text_zh": "观察：完整操作日志主要记录长螺钉抓取、翻转、对孔及旋拧尝试，未找到针对底螺钉的独立拧入操作或服务完成字段；log step 586 的总结也没有底螺钉验收结果。无本次视频和状态日志，不能从整任务 success=0 推出本节点为假，终值未知。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 577,
+      "text_zh": "观察：agent 在 log step 577 自述圆环仍平放在后方，在 log step 586 自述圆环带两颗螺钉；日志未报告圆环相对框架A的服务验收结果。无本次视频和状态日志，不能从代理对场景的描述确认圆环装到框架，终值未知。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 556,
+      "text_zh": "观察：agent 在 log step 556 同时称两颗小螺钉仍在盒内、圆环已带两颗螺钉；日志没有圆环螺钉旋入深度或保持锁定的服务字段。无本次视频和状态日志，不能把可见零件的代理辨认当作第1颗环钉拧入完成，终值未知。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 586,
+      "text_zh": "观察：agent 在 log step 586 自述圆环的两颗螺钉已就位，但本次 reward 仅报告整任务失���，未报告环钉锁定数量或不同接收孔匹配结果。无本次视频和状态日志，第2颗环钉终值未知。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 586,
+      "text_zh": "观察：agent 在 log step 586 承认托盘没有放到圆环上；log step 574–575 记录长螺钉定位脚本选到另一红色区域并撤回，agent 称该区域为托盘。没有托盘位姿、圆环支承力或本节点的服务验收字段；按无视频规则，代理自述不能决定节点终值，保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "long_screw_driven",
+   "t": null,
+   "log_step": 297,
+   "where": "操作中",
+   "evidence_zh": "推断：这是服务直接评分的单次在线尝试（reward.graded_by_live=1、sim_startups=1、resumes=0），不是交付文件的另一次回放。log step 166–167 的左夹爪抓取、log step 285–286 的旋拧脚本均以长螺钉为目标；agent 在 log step 297 称先前没有啮合螺纹，此后反复重抓至 log step 579 撤手，log step 586 承认该步骤仍未完成，评分器最终 live_success=0。因此将未修复的尝试断点定位为长螺钉拧入的操作中；缺少本次画面，不能定位物理失误瞬间，视频时间为null。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": null,
+    "log_step": 574,
+    "evidence_zh": "推断：长螺钉操作受错误的目标识别与位姿估计驱动。log step 271 的脚本把孔中心设为 (0.481, 0.014, 0.402)，agent 在 log step 422 又将先前的孔辨认为蓝色盒子；log step 431 将原始相机深度标成 head_z，agent 在 log step 432 承认误作世界坐标。更直接地，log step 574 的脚本在全部红色连通域中仅按样本数选最大者作为螺钉头，输出 HEAD AXIS=(0.5998,-0.0039) 并按此下降，而前后对螺钉的估计在 (0.21至0.25,-0.24) 附近；agent 在 log step 575 自述选中了托盘。由这些可核对的检测代码、输出和随后更正，推断感知错误使抓取及对孔反复偏离目标；未独立验证每次真实物体姿态。",
+    "source_zh": "日志",
+    "note_zh": "该根因依据脚本与计算记录及代理后续更正；没有把代理自述的滑脱、碰撞或卡阻直接列为物理现象。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明示 kind=none（远端404且无本地视频），目录内也无本次状态日志。日志图片仅为[picture]占位；代理的深度统计、夹爪宽度及“已抓住/已拧入/又掉落”等自述不是节点验收字段，且多次相互更正，无法区分空夹、没保持住、位姿偏差或实际阻挡，现象层留空，长螺钉实际接触记未知。评分器只给整任务 success=0、live_success=0，没有七节点各自的最终位姿与锁定结果，因此所有节点final及全部视频区间均为null；原生指标数值也未报告。已查看成功参考视频的粗采样及参考视频29.8 s末态，其桌架上托盘的外观仅作任务参照，不能补作本次证据。"
+ },
+ "summary_zh": "本次单一在线评分尝试的 live_success=0；日志可定位主要工作为长螺钉抓取、对孔与旋拧，agent 在 log step 586 承认长螺钉及���盘未完成，但没有逐节点服务验收字段，七个节点终值均保留未知。断点定位长螺钉拧入，脚本记录和后续更正支持目标识别及坐标估计错误的感知根因。缺少本次视频和状态日志，无法核实实际接触或具体物理现象，成功参考视频不能代替本次轨迹证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频（video.kind=none），标注方在无视频规则下把七个节点 final 与区间全部留 null、现象层留空并写 gap_zh，符合 N9；断点定在 long_screw_driven、感知根因的日志证据（log step 422 误把蓝色盒当孔、step 574 脚本选取跨度很大的红色连通域得到 HEAD AXIS=(0.5998,-0.0039)）均能在 run.json 核对，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:27Z",
+  "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/roboarc-ikea-gladom-i00-standard--feetks4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--feetks4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cfd883e8e834624962785af5cc6c17b864681a4368fac1e84e85dc27c98aad48",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--jiwac4n.json

@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--jiwac4n",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 18714,
+   "sim_steps": 74856,
+   "control_steps": 18714,
+   "sim_time_s": 46.784999999966516,
+   "elapsed_s": 10371.1,
+   "service_time_s": 44.5,
+   "calls": 133,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.213,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.417,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 197,
+      "text_zh": "观察：log step 56、73、163、175、181及195记录机器人抓取、抬升或扶起框架的脚本；log step 197中agent自写视觉检查输出“held pts 1 / NOT HELD”，log step 198随后执行停臂。没有本次视频、状态日志或服务逐框架装配判据，不能据自检或agent叙述判定框架交叉节点的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 56记录左夹爪抓取抬升命令，log step 73、163、175、181及195记录双夹爪或随后左夹爪单独扶起框架的命令；本次无画面和接触对，实际是否夹住框架杆件、滑脱或碰撞均无法核实，不能把命令当作抓握接触。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44中agent为取出螺钉编写推料盒脚本，log step 46记录推移执行；完整日志未记录选定长螺钉并旋入的执行，log step 200中agent自述螺钉未装配。评分器只给整桌live_success=0，无长螺钉锁定或装配位姿结果；本次无视频和状态日志，节点终值未知。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：log step 31中agent提出“先底螺钉、再扶起B”的计划，log step 44至46记录为取螺钉推料盒；完整日志未记录底螺钉旋入执行。评分器无底螺钉装配或锁定结果，本次无视频和状态日志，计划不能作为节点成立证据，终值未知。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 200,
+      "text_zh": "观察：log step 200中agent自述圆环仍在暂存位置，完整日志未记录将圆环装到框架的执行；这不是服务的圆环判据。评分器只报告整桌失败，本次无视频和状态日志，圆环装配终值未知。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 200,
+      "text_zh": "观察：log step 200中agent自述未完成组装且螺钉仍在暂存位置，完整日志未记录环钉旋入执行。评分器未报告已锁定环钉数量，本次无视频和状态日志，不能由整桌失败推定第1颗环钉终值。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 200,
+      "text_zh": "观察：log step 200中agent自述未完成组装，完整日志未记录环钉旋入执行。评分器未报告环钉计数或不同接收孔的验收结果，本次无视频和状态日志，第2颗环钉终值未知。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 140,
+      "text_zh": "观察：log step 137至138记录agent��清理框架工作区而执行双臂搬盘脚本；log step 140又自述托盘未移动，与log step 200中“Tray staged”的最终自述不一致。没有服务托盘支承或装配位姿结果，本次无视频和状态日志，不能认定托盘移动或上环，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 137至138中机器人执行为框架让出空间的双臂托盘搬移脚本，log step 140中agent称未搬动；这是准备性操作而非放到圆环的执行。本次无画面或接触对，左右夹爪是否接触、夹住托盘边缘均未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": null,
+   "log_step": 197,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 56起机器人反复尝试抓取并扶起框架，为两框架交叉装配做准备；log step 195的最后恢复脚本在log step 197因agent自检“NOT HELD”退出，log step 198随后停臂，未再进行框架恢复或交叉动作。因此将持续受阻且最终放弃的步骤定位为框架交叉装配；这仅定位工作对象，不据自检判定节点真值或具体接触现象。评分器graded_by_live=1、sim_startups=1、resumes=0，所评为该单次实时会话；无本次视频，时间锚点为null。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：框架恢复的控制实现持续受阻。log step 186、188、190分别记录agent脚本的nonlocal语法错误和数组维数错误；修复后log step 194的下一次下探仍收到IK ok=false，left_tcp位置残差0.0240 m，脚本退出。log step 195的替代脚本随后在log step 197因自身抬升检查失败而退出，log step 198停臂。上述记录支持将动作生成与执行恢复问题归于宽泛的控制因素；早期报错虽已修复，不将其单独视为最终不可逆故障，也不据agent自述进一步断言弱夹持、滑脱或目标不可达。"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json为kind=none（HF 404且无本地视频），inputs/中没有状态日志；reward虽有video_rendered=1，实际未提供本次可检查的影片。评分器只有整桌失败结果，无七项节点、保持连接或原生误差指标结果，故全部节点final与intervals均为null。日志中的图片只有引用和字节索引，当前没有对应图像；agent自写深度统计和“NOT HELD”不是服务接触读数，不能区分未夹住、抓后滑脱或其他位姿问题，因此现象留空，根因只保留日志支持的宽泛控制归因。成功oracle属于另一run，不能补作本次进度或接触证据。"
+ },
+ "summary_zh": "本次实时评分为失败；日志显示机器人主要反复尝试扶起框架，最终在最后一次抬升自检失败后停臂，断点定位为框架交叉装配。恢复脚本多次出现代码异常和逆解失败，支持宽泛的控制归因，但具体接触失败现象无法核实。本次没有视频或状态日志，评分器也无逐节点结果，七个节点终值全部未知，没有可确认完成的节点；成功oracle不能替代本次证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志(video.kind=none),七个节点按N9全部unknown、intervals为null,与证据规则一致;断点定位为框架交叉装配(log step 56起反复扶起框架、step 197 NOT HELD后step 198停臂)有日志支持,现象留空并写明gap_zh合理,控制根因为宽泛且有log step 186-195支持。未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--jiwac4n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--jiwac4n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "44d6658e0d6dfb265422497b7bbd9e3619b42961725f7cb3241e9c6470376aec",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--kkhfazz.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--kkhfazz",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 225702,
+   "sim_steps": 902808,
+   "control_steps": 225702,
+   "sim_time_s": 564.2550000094151,
+   "elapsed_s": 10669.6,
+   "service_time_s": 862.3,
+   "calls": 1040,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 3.123,
+   "peak_processes": 9,
+   "peak_disk_gb": 3.649,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 584,
+      "text_zh": "观察：log step 581、583 的 agent 控制脚本只在修正两副框架的相对位置；log step 584 的服务反馈记录 final_crossing_alignment 执行30行、done=false，未报告框架装配判据的结果。没有本次视频或状态日志，夹爪位姿不能证明框架已对合，故终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 583,
+      "text_zh": "观察：agent 在 log step 583 自述框架交叉仍未对齐；log step 585–587 随后执行释放、撤手及停臂。该自述用于定位所尝试的步骤，不作为框架装配终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 24、30、580 等记录左右夹爪闭合及框架操作命令；本次无视频、无物体接触对或持有状态，无法核实两指是否包夹框架，以及两臂实际如何接触，故不把命令或夹爪开度当作抓握事实。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对长螺钉的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告旋入深度、装配位姿及保持连接锁定，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对底螺钉的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告旋入深度、装配位姿及保持连接锁定，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对圆环的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告相对框架A的装配位置、倾角及相对速度，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对第1颗环钉的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告至少1颗环钉在接收孔内到位并锁定，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对第2颗环钉的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告两颗环钉分别占用不同接收孔且到位并锁定，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 的 agent 自建清单称四颗螺钉、圆环和托盘未装好；日志的已执行动作仍围绕框架，未见针对托盘的装配操作。该清单不是评分器结果；reward 只报告整桌 success=0，末次服务状态（log step 587）也没有报告装配位姿及圆环承重接触窗口，且无本次视频或状态日志，因此本节点终值未知，不能从总分0判为false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": null,
+   "log_step": 583,
+   "where": "操作中",
+   "evidence_zh": "推断：这是实时评分的单回合：reward 记录 graded_by_live=1、sim_startups=1、resumes=0、replays=0，log step 587 的控制步总数225702与 reward 一致。已执行命令从 log step 19 的框架接近一直延续到 log step 584 的末次交叉修正；agent 在 log step 583 自述交叉仍未对齐，随后 log step 585–587 释放并停臂，log step 589 承认未完成，整桌评分 success=0。因此将未修复的工作步骤定位为框架交叉装配；缺少本次物体观测，不能定位首次出错的物理瞬间，视频锚点留空。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 控制脚本在 log step 18、25 逐点求逆解，任一点 ok=false 就中止该段运动；log step 510–512 的双臂框架调平连续因左臂逆解失败而抛出 RuntimeError，log step 578 的框架换握平移又因右臂逆解失败中止（服务求解结果 pos_m≈0.00597、rot_rad≈0.00991）。这些是框架装配控制动作受阻的直接日志证据；结合 log step 583 仍自述交叉未对齐并在 log step 585–587 结束操作，保守归于控制。现有材料不能核实接触方案是否可行，也不足以在抓取设计、轨迹逆解及反馈控制之间细分。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明示 kind=none（回放链接404且无本地视频），inputs/ 中也无状态日志；日志 pics 仅是图像索引，没有可检查的本次图像文件。七个节点都没有服务或评分器逐项终值，故全部 intervals=null、final=null；总评分0只能说明联合成功未成立。框架动作的实际接触与首次未修复偏差不可核实，接触标未知，现象层留空，不将 agent 所称滑脱、卡碰或未对齐直接转作物理现象。成功参考视频已粗看并检查参考视频29.9 s末态，只能说明目标桌架和托盘的外观，不能证明本次节点或接触；根因仅据执行日志归到控制，不推断超时、任务设计或感知错误。"
+ },
+ "summary_zh": "本次为单回合实时评分，整桌 success=0；日志显示操作持续停留在框架交叉装配，末段仍在调整，随后释放零件并停臂（log step 581–589）。断点推断为框架交叉装配的操作中，多次逆解失败支持控制层障碍，但缺少本次视频和状态日志，无法确认具体现象或接触。七个节点的终值全部未知，未确认任何节点完成；评分器总分0不能替代逐节点判断。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志（video.kind=none），标注文件七个节点全部 unknown、intervals/final 为 null，符合 N9；断点推断、根因“控制”均有日志依据且保守，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--kkhfazz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--kkhfazz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0fc45118f3a6774e3dd8958db36e5df2644daf79a603d247076fdb5b7b70416c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--mbtbrwf.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--mbtbrwf",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 7400,
+   "sim_steps": 29600,
+   "control_steps": 7400,
+   "sim_time_s": 18.499999999992237,
+   "elapsed_s": 549.7,
+   "service_time_s": 23.6,
+   "calls": 40,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.575,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.261,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 91,
+      "text_zh": "观察：log step 88和91中，agent脚本向实时服务提交双臂接近、收爪及绕中心转动框架B的动作，服务分别返回executed_rows=80和120；log step 112的服务状态仍为done=False、reason=None，未报告框架B是否满足装配判据。本次无视频、无状态日志，agent在log step 113声称已交叉对合不能确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 88、91证实机器人已执行面向框架B的双臂动作；未提供本次视频、原始相机图像或接触对，不能确认左右夹爪是否夹住、推到或碰倒框架B，也不能将收爪指令视为实际抓握。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：log step 83、84仅记录agent对螺钉的点云测量；完整日志的动作提交没有长螺钉旋入动作，log step 112的服务状态未提供长螺钉装配或锁定结果。本次无视频、无状态日志，不能从整桌success=0或agent测量确定本节点终值。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：完整日志的动作提交没有底部螺钉旋入动作；log step 112的服务状态仅报告运行计数和done=False，未提供底部螺钉装配或锁定结果。本次无视频、无状态日志，本节点终值未知。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：log step 53包含agent对圆环区域的点云统计，后续提交的是框架B动作和撤臂动作；log step 112未提供圆环就位结果。本次无视频、无状态日志，点云统计不能代替节点验收，本节点终值未知。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：日志未提交圆环螺钉旋入动作；log step 112的服务状态和inputs/run.json的reward均未报告已旋入环钉数量。本次无视频、无状态日志，不能确定是否至少1颗环钉满足装配与锁定判据。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：日志未提交圆环螺钉旋入动作；log step 112的服务状态和inputs/run.json的reward均未报告已旋入环钉数量或接收孔匹配。本次无视频、无状态日志，不能确定是否至少2颗环钉满足装配与锁定判据。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 112,
+      "text_zh": "观察：log step 53包含agent对托盘区域的点云统计，完整日志没有托盘搬运动作；log step 112��reward未提供托盘位姿、圆环支承采样或支承力结果。本次无视频、无状态日志，本节点终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": null,
+   "log_step": 91,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 88、91中，机器人执行本次唯一针对装配目标的接近和框架B圆弧转动动作，服务确认完成提交行；log step 95随后撤臂，之后没有修复动作。agent自己的诊断在log step 104、105把框架区域橙色点的最高z测为约0.018 m，并以“fallen frames”命名后续检查（log step 106），提示交叉步骤发生了未修复偏差，因此将断点定位为框架B交叉对合。该诊断不是服务节点验收，实际倒伏、发生阶段和接触方式均无法独立核实，故不据此赋节点终值或物理现象。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次视频缺失：inputs/video.json记载HF返回404且无本地视频；inputs/只有成功参考视频，没有本次原始相机图像或状态日志。reward仅报告整桌success=0、live_success=0、graded_by_live=1、resumes=0，无七个节点的独立结果，故所有intervals和final均为null。agent点云脚本及其最终“已对合”自述不能充当节点值；框架B断点只能由动作记录和诊断推断，无法区分未夹住、滑脱、碰倒或其他位姿偏差，也无证据确定控制或认知根因，因此两层均留空。参考成功视频仅用于理解目标外观，不能填补本次证据。log step 56的dt参数错误已在log step 57修复，log step 29的端点访问失败后log step 30及后续实时动作正常，均非本次评分中断依据。"
+ },
+ "summary_zh": "实时评分失败（success=0），服务记录为单次运行、无恢复；已提交的装配动作仅针对框架B交叉，之后机器人撤臂并结束会话。依据动作及agent后续诊断，断点推定在框架B交叉对合的操作中，但没有本次视频或状态日志，七个节点终值和实际接触均无法确认，不能把零成功分数解释成七步全未完成。现象、根因及全部原生指标数值缺少独立证据，保留为空或未知。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志（video.kind=none），标注把七个节点全部留为unknown/null，现象与根因留空并在gap_zh说明，符合03与N9；断点标为推断并说明依据，未把agent自述当作节点值。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": "2026-10-31T00:58:53Z",
+  "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/roboarc-ikea-gladom-i00-standard--mbtbrwf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--mbtbrwf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5563ac5222b1cec59e43f51e5dc31f2d3a3204c7d719e591610d471a665f7eef",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--nybdmr6.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--nybdmr6",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 61994,
+   "sim_steps": 247976,
+   "control_steps": 61994,
+   "sim_time_s": 154.98500000048168,
+   "elapsed_s": 10357.5,
+   "service_time_s": 303.9,
+   "calls": 87,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.024,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.464,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 61,
+      "text_zh": "观察：log step 61、74、81记录agent脚本向实时机器人服务提交框架B交叉对合动作；log step 229服务状态为control_steps=23770、done=False、resumes=0。没有本次视频、状态日志或报告框架装配几何的服务结果，无法确认本步终值。"
+     },
+     {
+      "t": null,
+      "log_step": 256,
+      "text_zh": "观察：agent在log step 256自述“Frame B的保持焊接已经锁定”，依据是自己比较相机图像得到零位移；这不是评分器或服务的节点结果，不能据此确认框架交叉达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 61、74、81提交框架B操作脚本，agent在log step 62称左右夹爪共同抓杆旋转；缺少本次画面与接触状态，不能确认左右夹爪与框架B实际建立了何种接触。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 289,
+      "text_zh": "观察：log step 289、300、308、316、325、353、360记录agent运行长螺钉插入、旋转、重新对准及释放脚本。log step 363、365仅有agent自己计算的螺钉头高度，没有服务报告的旋入深度或锁定结果；本次无视频和状态日志，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 267、279、289、360运行长螺钉拾取、交接、旋拧与释放脚本；没有本次画面或接触记录，不能确认左、右夹爪与长螺钉实际发生的抓握、交接及传扭接触。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 372,
+      "text_zh": "观察：log step 368由agent脚本测量底部中心孔，log step 372调用机器人服务的ik/fk查询计算底孔附近的关节解和连杆位置；未见后续底螺钉物理动作提交，log step 373即出现模型过滤中断。评分字段未报告本步结果，不能从总success=0或未见提交断言本步终值为false。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：完整日志中所见装配动作提交针对框架B与长螺钉，至log step 373模型过滤中断前未见圆环就位动作提交或服务节点结果。本次没有视频、状态日志，评分器只报告总success=0，无法判定圆环最终装配几何。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：至log step 373中断，日志没有报告任一圆环螺钉达到装配深度并锁定的服务结果，也未见环钉旋拧动作提交；无本次视频和状态日志，无法确认已完成环钉数量，终值未知。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：至log step 373中断，日志没有报告两颗圆环螺钉在不同接收孔中到位并锁定的服务结果，也未见环钉旋拧动作提交；无本次视频和状态日志，无法确认已完成环钉数量，终值未知。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：至log step 373中断，日志未见托盘搬运提交或服务报告托盘装配位姿、圆环支承采样及平均接触力。本次视频和状态日志均不可用，总success=0不能单独确定托盘节点终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 373,
+   "where": "首步前",
+   "evidence_zh": "推断：log step 373是模型提供方的过滤中断信息；此前log step 360运行长螺钉释放脚本，log step 366仅汇总脚本，log step 372仍在查询底螺钉操作的逆运动学与连杆位置，未记录完整装配验收完成。实时评分已有动作记录，但无本次视频、状态日志或逐节点服务结果，不能确定中断前哪一步发生了未修复的物理失败；不把外因中断归为某个装配节点失败。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json记录kind=none、HF返回404且无本地视频；inputs中无本次replay.mp4和states.jsonl，亦无状态进度文件。reward仅给整体live_success=0、graded_by_live=1、sim_startups=1、resumes=0、control_steps=61994、sim_error=0，没有七个节点的验收值；所有视频时刻、区间及节点终值均保持null，未知不等于未完成。log step 373明确记录模型提供方过滤中断，之前未见完整成功交付经过验证或实时episode已结束的记录，按外因截断处理；finalized=1是汇总评分字段，不能证明过滤前结果已固定。不能用agent的图像深度自检或完成自述补成节点结果，也无法确认实际接触、未修复物理断点及其现象和根因，因此两层留空。inputs/oracle/有另一成功运行的参考视频，但它不能证明本次动作结果。"
+ },
+ "summary_zh": "日志记录本次单次实时评分中agent提交了框架交叉及长螺钉操作，评分器报告success=0；七个节点均缺少可用验收证据，终值全部未知，并非确认完成0步。log step 373出现模型提供方过滤中断，此前agent仍在计算底螺钉操作位姿，未见完整装配验收已结束的记录，按外因截断处理，不强行指定物理失败节点或归因。本次无视频和状态日志，agent自述与深度测量不能确认节点或接触，参考成功视频亦不能替代本次证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，七个节点全部unknown、两层留空并写gap_zh均合理（log step 373为Gemini过滤中断，属外因截断）。唯一需改：breakpoint.where应按03规则写“首步前”而非“未知”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；七个节点全部unknown、breakpoint为unknown/首步前、两层留空并写gap_zh，符合03外因截断条款（log step 373为Gemini过滤中断，此前仅在做底螺钉ik/fk查询，未见交付验证）。未发现需改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--nybdmr6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--nybdmr6/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--nybdmr6/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--nybdmr6/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ba6a11af5110f12ec8c73bc387925a38cf3b40aa4953f8aac184db8c91bc58d",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--wqxwcv7.json

@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--wqxwcv7",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "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,
+   "live_rows": 433641,
+   "sim_steps": 1734564,
+   "control_steps": 433641,
+   "sim_time_s": 1084.1025000098296,
+   "elapsed_s": 3943.0,
+   "service_time_s": 1525.4,
+   "calls": 4263,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.536,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.215,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 326,
+      "text_zh": "观察：log step 326 的脚本输出记录了框架杆件恢复抓取尝试，log step 329 记录抬升时的夹爪开度变化；agent 在 log step 381 自述未恢复交叉框架。无本次视频、状态日志或服务逐节点结果，不能据脚本判断框架装配终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对框架杆件的操作尝试，但缺少本次画面及接触对记录，无法确认实际接触者、夹持成立与接触方式。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 364,
+      "text_zh": "观察：agent 在 log step 364 写入笔记称四颗螺钉仍在零件盒中；完整日志没有执行长螺钉旋入的记录。评分器仅给整桌 success=0，未报告长螺钉锁定或装配结果；无本次视频和状态日志，终值未知。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 364,
+      "text_zh": "观察：agent 在 log step 364 写入笔记称四颗螺钉仍在零件盒中；完整日志没有执行底螺钉旋入的记录。评分器仅给整桌 success=0，未报告底螺钉锁定或装配结果；无本次视频和状态日志，终值未知。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 247,
+      "text_zh": "观察：log step 244-247 中 agent 的圆环脚本执行双臂下降、依次张开两夹爪和撤离；脚本报告下降未达到其误差阈值，不能据此确认圆环接触、搬运或就位。无本次视频、状态日志和圆环节点的服务验收字段。"
+     },
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：agent 在 log step 381 自述圆环释放后未坐稳并碰倒框架，后续恢复没有成功；这是 agent 对物理过程的叙述，不能代替本次画面或节点验收，故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对圆环的操作尝试，但缺少本次画面及接触对记录，无法确认实际接触者、夹持成立与接触方式。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 364,
+      "text_zh": "观察：agent 在 log step 364 自述四颗螺钉仍在零件盒中，日志没有环钉旋入操作。评分器未给圆环螺钉锁定数量；无本次视频和状态日志，不能确定至少一颗环钉就位的终值。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 364,
+      "text_zh": "观察：agent 在 log step 364 自述四颗螺钉仍在零件盒中，日志没有环钉旋入操作。评分器未给圆环螺钉锁定数量或不同接收孔匹配结果；无本次视频和状态日志，不能确定两颗环钉就位的终值。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 364,
+      "text_zh": "观察：agent 在 log step 364 自述托盘未动、仍平躺，日志没有托盘搬运操作。评分器未报告托盘位姿、圆环支承采样或支承力；无本次视频和状态日志，终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_lateral_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_tilt",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_yaw_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "value": null,
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_seated",
+   "t": null,
+   "log_step": 247,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 150 已执行过圆环放置脚本，log step 244-247 再次执行圆环下降、松爪及撤离；agent 在 log step 267、341、381 一致自述圆环未坐稳并碰倒框架，后续 log step 310-374 转向恢复框架，未记录圆环成功就位。由这些操作与自述将最早未修复的尝试定位为圆环装到框架；该物理失败未经本次视频或节点结果字段核实，log step 247 仅作日志锚点。"
+  },
+  "unmet": {
+   "frame_b_crossed": null,
+   "long_screw_driven": null,
+   "bottom_screw_driven": null,
+   "ring_seated": null,
+   "ring_screws_driven_1": null,
+   "ring_screws_driven_2": null,
+   "tray_on_ring": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，原因是 HF replay.mp4 返回404且无本地视频；inputs/ 中也无 states.jsonl，state 为空。本次 reward 只有整桌 success=0、live_success=0，没有七节点状态或原生指标；依据 N9，全部 intervals、final 和视频时间保持 null，不能由整桌零分或 agent 自行计算的深度、夹爪开度判断节点真假。日志中的图像仅有路径及文件元信息，未提供可检查的本次画面；已查看的 inputs/oracle/replay.mp4 属于另一成功运行，仅作外观参考。agent 在 log step 364、381 将失败解释为圆环夹片碰倒未锁定框架，但夹片尺寸、实际阻挡接触、释放时支承及框架后续状态均未独立核实，无法区分位姿不准、碰撞或放后不稳，也无法确认具体根因，因此两个失败层均留空。log step 380 服务报告 done=False、reason=None、time_left_s=6869.2；reward 的 infra_error=0、sim_error=0，agent 在 log step 381 主动结束，不能标为超时或外部中断。"
+ },
+ "summary_zh": "观察：本次为单次实时评分运行（graded_by_live=1、sim_startups=1、resumes=0），整桌 success=0；日志记录圆环放置及框架恢复尝试，但评分器未报告七节点状态，七个节点终值均未知，不能报告完成节点数。推断：结合圆环下降与释放脚本以及 agent 的失败自述，断点定位为“圆环装到框架”的操作中，后续未记录修复。观察：无本次视频或状态日志，实际接触、物理失败现象及根因无法核实，参考成功视频不作为本次进度证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无 states.jsonl，评分器仅给整桌 success=0。七个节点均为 unknown/null 符合 N9；断点定为 ring_seated 属日志推断并已如此标注，gap_zh 说明了缺失证据，两个失败层留空合理。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--wqxwcv7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--wqxwcv7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7750e0bb9efba1760af469d2abca301f16fd1135ce822ebc892f6668f37100c2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3gipyid.json

@@ -0,0 +1,300 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--3gipyid",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.128,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“拧出螺钉”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“螺钉暂放”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“两杆交叉”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“螺钉装回”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“翻转支架”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 25,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1，未提供“碗放支架”的阶段验收结果；本次无视频、无状态日志。log step 25 记录 API 输出长度错误，之前的调用仅读取源码或查询初始模型；无法判定本节点��受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1，本次没有交付机器人动作轨迹，故无受评轨迹接触可标注。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 25,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 25 的最终消息为“API Error: Claude's response exceeded the 32000 output token maximum”；评分记录 missing_trajectory=1。log step 2—17 的工具调用为源码读取及初始模型查询，未见动作执行、轨迹保存或交付验证调用；没有已固定结果的受评回合可定位物理失败步骤。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，inputs/ 无本次回放视频或状态日志，评分记录仅给出 success=0、missing_trajectory=1，未报告逐节点状态或六项原生测量。log step 9、13、15、18、20、22、24 的 tok.out 均为 32000，且 say、out.text 为空、calls=[]；log step 25 明确报生成回复超过 32000 输出 token 上限，全程 sim_total.submit=0、sim_total.reset=0，未交付动作轨迹。run.wall_s=4234，time_limit_s=10800，记录未显示耗尽墙钟预算，也未见提供商过滤、拒绝、网络或 harness 故障的记录。推断：此次终止对应 agent 自身生成长度超限，按 agent 侧无交付处理，不能仅凭“API Error”字样归为外部因素中断。按 DECISIONS.md D23 的现行处理，现象和根因均留空，会话证据不作受评轨迹现象，也不标“没尝试”；节点终值及视频时间均未知。成功参考视频仅属于另一运行，不能补足本次节点证据。"
+ },
+ "summary_zh": "观察：本次评分记录为 success=0、missing_trajectory=1，没有交付受评动作轨迹，六个节点均无可确认终值。观察：log step 9、13、15、18、20、22、24 各记录 tok.out=32000 且无文字或工具调用，log step 25 报生成回复超过输出长度上限，全程 sim_total.submit=0；推断：按 agent 侧无交付处理，断点保留 unknown／首步前，依 D23 现行规则将现象及根因留空。观察：本次无视频、无状态日志或逐节点验收字段，无法恢复进度、接触和原生指标。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（六节点 unknown、断点 unknown/首步前、两层为空）与证据一致：无视频、无状态日志，评分记录 missing_trajectory=1，全程 sim submit/reset=0。唯一问题是 gap_zh/summary 把终止解释成“外部因素中断”：log 中 step 9、13、15、18、20、22、24 连续七次空输出且各耗尽 32000 输出 token，step 25 的 API 报错正是 agent 自身过长生成所致，应按 agent 侧无交付（D23）写，而不是外部因素。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分记录 missing_trajectory=1，全程 sim submit/reset=0；六节点 unknown、断点 unknown/首步前、现象与根因为空并带 gap_zh，均与证据及 D23 一致；上轮 I1 已按要求修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:34Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--3gipyid/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--3gipyid/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--3gipyid/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--3gipyid/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "38fd55ad0a6ec20bfd5b8f6a6dacace9bf7c43c5513789cca1d8babcbbda8e03",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}