diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--cfvwout.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--cfvwout.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2691e189d4ff92003604d5a22d8571120049448
--- /dev/null
+++ b/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；此日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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--szpsrhp.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--szpsrhp.json
new file mode 100644
index 0000000000000000000000000000000000000000..632cee52a9c9cc02a958b7b647630d935ca5c659
--- /dev/null
+++ b/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评分器实测值。",
+ "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--negpalv.json b/phase2/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--negpalv.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ffafdf3c743b9fdf03b66fd2bde2793c37b9f18
--- /dev/null
+++ b/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、状态日志或节点结果，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--my8fshi.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--my8fshi.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ead2448cec8b57c4f46d2cb22f6a9469d9aa80
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--asdufcl.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--asdufcl.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edd39aab9bb76c0071686b5873d936e70b7fd5d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--8neyr6j.json
new file mode 100644
index 0000000000000000000000000000000000000000..d971ab900523cc0254db9151cf9b22b0b4a34304
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--xwzzems.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--xwzzems.json
new file mode 100644
index 0000000000000000000000000000000000000000..6312de4a792c70b7a42c46a25e72c471f409058a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh.json b/phase2/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--pnihzwh.json
new file mode 100644
index 0000000000000000000000000000000000000000..e392e8d9d88ecd5181df8fc1030ca447b045f093
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe.json b/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--hqrdywe.json
new file mode 100644
index 0000000000000000000000000000000000000000..c11c3810fb0dde974951f229494d29f3f29cd849
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a.json b/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--m3w4v2a.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba53a4074cde558f70b393cdd8ab7c355b84eaba
--- /dev/null
+++ b/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），无状态日志，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd.json b/phase2/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--nmrqkwd.json
new file mode 100644
index 0000000000000000000000000000000000000000..4768727ee9e53a6cde0d5383ebef8662bd8f4076
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq.json b/phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--kkt3vsq.json
new file mode 100644
index 0000000000000000000000000000000000000000..26405385889e0fa5007ca24a88e2823ffe968ecd
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy.json b/phase2/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--zq6zzuy.json
new file mode 100644
index 0000000000000000000000000000000000000000..60340602dfa903c4f843efacaaf959df9cef421c
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8fhxahu.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8e9719e824475fceecd616f6ef322429ef37a0
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--ceyufse.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--ceyufse.json
new file mode 100644
index 0000000000000000000000000000000000000000..5239d3da6e9721e81ac3101f72e44efc380a6043
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--gy2pmgw.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f9a9f1c18cae8bb2240251e8a9349c43434b81
--- /dev/null
+++ b/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交付的结果。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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--wssc3nq.json
new file mode 100644
index 0000000000000000000000000000000000000000..c945550a19131a03d7e8012d7e6f219601d26139
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--pddxeif.json b/phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--pddxeif.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca0e9ab0882ae5f94f493aa6d5d69a98beebdf6
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--xckapxr.json b/phase2/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--xckapxr.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae8459cdd6378ac84b0425eccd636861d48bc7c
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--aq48mpz.json
new file mode 100644
index 0000000000000000000000000000000000000000..537d5ec6b215d1a02cb81e92a82a05c8025ae963
--- /dev/null
+++ b/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、逆解和碰撞诊断及 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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--vpf366a.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--vpf366a.json
new file mode 100644
index 0000000000000000000000000000000000000000..e653bd7dc0da63ebbaf55f625e616541a7788579
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--4sukdh9.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--4sukdh9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9dc2a1821419e55c1c26aac5a6c7c2292bd9f0d
--- /dev/null
+++ b/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、卡阻或预算耗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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--dyoa7hv.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--dyoa7hv.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d3ab9e4e19cc1f9032dd5e1e298774a0b97002
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wsuxn4f.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wsuxn4f.json
new file mode 100644
index 0000000000000000000000000000000000000000..b97f4adee304d63b8a2143572d5da9ff9a52b269
--- /dev/null
+++ b/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，符合预算耗尽前未交付，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--kvbccjh.json b/phase2/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--kvbccjh.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb84e8bd0304d7f1f11ae5cea4397e5b94fcb2d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--svzcnfx.json b/phase2/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--svzcnfx.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4e1777d52b4568d64c709faeaa0b3781f33e07
--- /dev/null
+++ b/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；不把会话测试失败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"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--n9a7rry.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--n9a7rry.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bdc3c87873ddc42df66449a16554b3f3f90377d
--- /dev/null
+++ b/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_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"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--a5epyyr.json b/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--a5epyyr.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec43253dc6fedeb185a7ce9dcd47947db83bc70a
--- /dev/null
+++ b/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_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"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--gkh8zdv.json b/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--gkh8zdv.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec2982fcec2ef74f813b63921e20c127d03a229
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--hfqcsf4.json b/phase2/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--hfqcsf4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba29545be2ee0bf5b3f7976798c98a5e97cf788
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--74sqh9u.json
new file mode 100644
index 0000000000000000000000000000000000000000..3089c233a6c7dc2382cc24568b792ccafd2e5eed
--- /dev/null
+++ b/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，不能将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"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs.json b/phase2/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--kgwrkbs.json
new file mode 100644
index 0000000000000000000000000000000000000000..d59d45dbae1d03c591607e575071adac85b57bd2
--- /dev/null
+++ b/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 的机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"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ohawg89.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ohawg89.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4665d29620aa8eaae38716ff30d62acd62dbe71
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--mqlbnmj.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--mqlbnmj.json
new file mode 100644
index 0000000000000000000000000000000000000000..6895823258aacee0e6be67e31ae33a053bbbbcfb
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--uz6nutv.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--uz6nutv.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca87a7b0e543d684f4baa28e3ad3fcfc77dfb8f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--9fakdfg.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--9fakdfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2e953edc5bf10ab63ff614ea63a20f1aaefe00
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--ertyfat.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--ertyfat.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be35ce600d16853b8e3e9c940e313c38f2fd41b
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--j4uurha.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--j4uurha.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a6e5d2d3133fcb37bab0ef2d9197edffd8f5857
--- /dev/null
+++ b/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；成功参考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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--keve6zs.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--keve6zs.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff5fd0429da8e74c548ad5f4e0a7f193b84d45f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--sys58kj.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--sys58kj.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fc8b944a53af8dd94cee29472566906cf50792
--- /dev/null
+++ b/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，故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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--tixg9pt.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--tixg9pt.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8bb000e5a14cf62aec26de3b0120a428e0d85a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--v8wmy7d.json b/phase2/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--v8wmy7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2343acd0b186a9168a80679664bac369e96e11f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--cmxa5nz.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--cmxa5nz.json
new file mode 100644
index 0000000000000000000000000000000000000000..af04931bdc40ea14dd6e24d126a43ffdd18867c3
--- /dev/null
+++ b/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；未在记录的动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失败，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--feetks4.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--feetks4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8300c12b3cec6cae3b4178bd20d680a022884e
--- /dev/null
+++ b/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 仅报告整任务失败，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 承认长螺钉及托盘未完成，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--jiwac4n.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--jiwac4n.json
new file mode 100644
index 0000000000000000000000000000000000000000..7932d327167e0f65a609b3ca989e609330e491d5
--- /dev/null
+++ b/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为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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--kkhfazz.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--kkhfazz.json
new file mode 100644
index 0000000000000000000000000000000000000000..81eee8cc4f3899ad9c6cf8cd66a5430ad50d5e82
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--mbtbrwf.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--mbtbrwf.json
new file mode 100644
index 0000000000000000000000000000000000000000..da3736b14b128d4494368be8c685b95cd9cbbdfb
--- /dev/null
+++ b/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及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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--nybdmr6.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--nybdmr6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a639fa7eb5377d6e05ef78e6b60b5727d1e9f2
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--wqxwcv7.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--wqxwcv7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bea459dea1451d14b0938882358ecb23fff77f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3gipyid.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3gipyid.json
new file mode 100644
index 0000000000000000000000000000000000000000..97edd16b4c714d541c0f2a4102c3e8f41551dbc0
--- /dev/null
+++ b/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。"
+     }
+    ]
+   }
+  },
+  "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--a5drazu.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--a5drazu.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eff02d49edbc240695cbfc812f22b9b5107eb25
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--a5drazu.json
@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--a5drazu",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 148207,
+   "sim_steps": 592828,
+   "control_steps": 148207,
+   "sim_time_s": 370.51750000518626,
+   "elapsed_s": 2881.3,
+   "service_time_s": 785.2,
+   "calls": 921,
+   "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": 0.229,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.642,
+   "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": 124,
+      "text_zh": "观察：log step 124 的机器人命令在螺钉头上方闭合右夹爪，log step 125 随后命令右臂抬升；log step 165 的 agent 自述螺钉已拧出。没有本次视频、状态日志或服务 remove_same_screw 验收字段，夹爪开度和 agent 自测深度不能决定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 87–125 记录左臂旋转工具及右夹爪闭合、抬升命令；缺少本次视频和接触状态，无法确认刀头与螺钉、右指与螺钉实际如何接触。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 135,
+      "text_zh": "观察：log step 135 的 agent 脚本命令右夹爪向旁侧位置移动、下降并张开；log step 137 是 agent 自行筛选深度点的结果，log step 165 自述螺钉已暂放。没有本次画面或服务 park_same_screw 验收字段，不能确认暂移事件成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 135 记录右夹爪搬移、张开命令；缺少本次视频和接触状态，无法确认实际携带螺钉及释放接触。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 129,
+      "text_zh": "观察：log step 129 的 agent 说明要判断 B 如何跨在 A 上，命令右臂移动腕部相机取侧视；log step 130 服务本体读数显示右臂关节力矩饱和。log steps 144–156 的脚本随后操作 A，log step 165 的 agent 自述 B 从未被触碰。没有服务 cross_members 结果或本次视频，无法据此给交叉状态终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 129 记录机器人为交叉操作取侧视，log steps 144–156 记录右夹爪尝试调整 A；缺少本次视频及接触对，无法确认右夹爪与 A 的实际接触方式或是否碰到 B。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 165,
+      "text_zh": "观察：log step 165 的 agent 将插回、拧紧螺钉列为尚待执行的操作；本次日志未提供 return_same_screw、reinstall_same_screw 验收或保留连接终态字段。无视频、无状态日志，不能用自述或总失败分数将本节点判假，终值未知。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 156,
+      "text_zh": "观察：log step 156 的脚本为恢复构件 A 而旋转右夹爪，log step 165 的 agent 将整体支架翻转列为后续工作；单独恢复 A 的动作不证明组装支架已翻面。没有本次画面、状态日志或 turn_stand 结果，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 164,
+      "text_zh": "观察：log step 164 服务状态为 done=False、reason=None、settle_failed=0；reward 只报告 live_success=0，未报告 place_bowl、碗的支承关系或联合终态各项结果。log step 165 的 agent 自述碗仍在初位；无本次视频或状态日志，终值未知。"
+     }
+    ]
+   }
+  },
+  "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": "members_crossed",
+   "t": null,
+   "log_step": 130,
+   "where": "探索",
+   "evidence_zh": "推断：log step 129 的机器人正为两杆交叉移动腕部相机以探查连接几何；log step 130 服务返回右臂第二、第四关节力矩均为 87 N·m，末端位置约 (0.449,0.069,0.1033) 米，未到达 log step 129 指令位置约 (0.470,0.087,-0.024) 米。log step 165 的 agent 自述这次运动碰倒 A，随后恢复 A 时又滑落并停止，交叉工作没有完成；据当前操作目标将断点定位于两杆交叉的探索阶段。碰倒与恢复失败仅有自述支持，不能直接核实；无视频故 t=null。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": null,
+    "log_step": 130,
+    "evidence_zh": "观察：log step 130 打印的是机器人服务 get_obs 的 joint_effort 和 tcp_pose 读数，不是 agent 估计的物体位置；右臂第二、第四关节均达 87 N·m，末端仍高于 log step 129 的取景目标约 0.127 米。log step 131 将指令改为当前实际关节位置后，相关力矩降至 0.21 和 -0.14 N·m。推断：探查交叉几何时出现明显负载异常并阻止正常到位；没有画面或接触对，不能确定阻挡物，也不额外标碰撞或构件滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 129,
+    "t": null,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 6 的服务说明 IK 不检查碰撞；log step 40 的 search 按关节余量和关节姿态代价筛选解，没有路径碰撞检查，log step 13 的 goto/plan 直接在关节空间插值。log step 129 选择该搜索的首个解并执行，log step 130 出现末端未到位和双关节 87 N·m 饱和；log step 165 的 agent 自述该取景路径使前臂压到台面并碰倒 A。推断：取景目标的关节解被直接当作可通行路径执行，运动路径未避开环境，是交叉探索受阻的控制原因；具体碰撞部位仍待画面核实。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（HF 返回 404、无本地视频），且未提供状态日志；run.json 中图片只有引用，不能当作已看过的画面。评分器与服务最终状态没有逐阶段验收、接触对或原生误差指标，故六节点 final 和全部视频时间均为 null；前两步完成、A 倒下及恢复时滑落仅是 agent 自述或自测，未计作节点值或滑落现象。服务力矩读数支持负载异常，不能确定碰撞对象和构件运动；根因及断点归属含推断。已抽看成功参考视频，其画面只属于另一次运行，不能补成本次证据。"
+ },
+ "summary_zh": "评分器判本次单次在线回合失败；agent 在 log step 165 自述已拧出并暂放螺钉、尚未交叉两杆，但无逐节点服务验收，六个节点终值均未知。断点推定为两杆交叉的探索阶段：log steps 129–130 的取景运动出现力矩饱和和末端未到位，搜索关节解后直接插值执行的控制路径是有日志依据的原因；agent 随后自述恢复 A 失败并主动停止，log step 164 服务仍有 7949.6 秒预算。无本次视频和状态日志，不能确认具体碰撞、滑落及实际接触，也不能给出视频时间。",
+ "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，标注者把六个节点终值和所有视频时间置 null，仅以服务读数（log step 130 的 87 N·m 关节力矩与末端未到位）支持接触力异常，断点、根因的推断部分均已标明，未把 agent 自述当作观察，未把停止或预算当作原因；未发现需要改动内容的错误。",
+    "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": "2026-10-31T01:06:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--a5drazu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--a5drazu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c2c862834c0b4a6eccd64987f61d1ec0d8ff2bae8d1193834bc724f8ae561b78",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--bdjbq3v.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--bdjbq3v.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a9e65a7be13fca0b1ad45b16c66287bded651c2
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--bdjbq3v.json
@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--bdjbq3v",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 140109,
+   "sim_steps": 560436,
+   "control_steps": 140109,
+   "sim_time_s": 350.27250000474436,
+   "elapsed_s": 3911.4,
+   "service_time_s": 987.3,
+   "calls": 1083,
+   "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": 0.672,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.169,
+   "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": 373,
+      "text_zh": "观察：log step 373 的机器人脚本命令左夹爪接近螺钉头并闭合，目标 TCP 为 [0.4438,-0.2330,-0.0570] 米，服务本体读数为 [0.4441,-0.2350,-0.0527] 米；log step 375 记录短距离抬升后左爪开度约为零。没有本次视频、状态日志或 remove_same_screw 接受字段，开度不能证明螺钉被夹住或退出，终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 497,
+      "text_zh": "观察：agent 最终自述“螺钉从未离开构件 A”（log step 497）；这不是服务的节点验收结果，不能据此把终值设为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 373、431 的机器人脚本命令左夹爪直接接近并闭合于估计的螺钉头位置；无本次画面或接触对日志，不能确认指尖是否接触螺钉、形成对向夹持或只碰到构件 A，实际接触未知。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 496,
+      "text_zh": "观察：log step 496 的在线服务最终 status 只记录 done=False、reason=None、settle_failed=0、resumes=0，没有 park_same_screw 或螺钉位置结果；无本次视频和状态日志，无法判定暂放节点。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 438,
+      "text_zh": "观察：log steps 435、438 的机器人脚本执行名为抓取 B、旋转、移向 A、释放和退开的动作；log steps 456、458 又执行一次构件搬放。输出是 TCP 与夹爪开度，未报告 cross_members 接受或两构件对齐结果；无本次画面，不能由动作命令确认交叉叠合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 435、438、456、458 记录左夹爪的构件抓取与铺放命令；无本次画面或接触对日志，实际是否夹住哪个构件及接触方式未知。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 496,
+      "text_zh": "观察：log step 496 的服务最终 status 未报告 return_same_screw、reinstall_same_screw、螺钉对齐或保留连接；run.json.reward 只给整体 live_success=0，没有该节点分项。无本次视频和状态日志，装回节点终值未知。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 496,
+      "text_zh": "观察：log step 496 的服务最终 status 未报告 turn_stand 接受或构件 A 的朝向；本次无视频和状态日志。日志中的构件平面旋转命令不能证明组装支架整体翻面，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 488,
+      "text_zh": "观察：log steps 454、485、488、490 的机器人脚本尝试接近碗沿、闭爪及抬升；log step 488 的下降目标 z=-0.14 米，而服务 TCP 读数 z=-0.0467 米。没有 place_bowl 接受、碗与支架支承或全局终态分项结果；无本次画面，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 454、488、490 记录左夹爪接近碗沿、闭合及抬升命令；无本次画面或接触对日志，不能确认是否碰到或夹住蓝碗，实际接触未知。"
+     }
+    ]
+   }
+  },
+  "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": "screw_unscrewed",
+   "t": null,
+   "log_step": 373,
+   "where": "操作中",
+   "evidence_zh": "推断：本次为被评分的单个在线回合（reward.graded_by_live=1、sim_startups=1、resumes=0）。机器人脚本在 log steps 292—431 反复接近螺钉头，log step 373 的闭爪接近尚有约 4.7 毫米目标误差，log step 431 再次接近仍有约 4.3 毫米误差；随后转去铺放构件和抓碗。agent 在 log steps 472、497 均自述螺钉未退出，最终服务 status（log step 496）仍 done=False；据操作记录与自述，将首个未修复步骤定位为拧出螺钉，但退出与否缺少独立物体证据，不据此确定节点终值。无本次视频，t 保留 null。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": null,
+    "log_step": 373,
+    "evidence_zh": "观察：log step 373 的机器人脚本把左 TCP 目标设为 [0.4438,-0.2330,-0.0570] 米，服务本体反馈的接近终点为 [0.4441,-0.2350,-0.0527] 米，脚本报告未收敛、误差约 4.7 毫米后仍闭爪；log step 431 再次接近报告约 4.3 毫米偏差。这里的本体反馈来自在线机器人服务 get_obs/submit 的 proprio 通道，属于同一被评分回合的实际末端读数；只确认接近动作偏离所命令位姿，不声称看到了空夹、滑脱或碰撞。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 341,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 341 调用在线服务的 IK、FK 并读取 proprio；命令关节的 FK 对应左 TCP z=-0.0643 米，而实际关节 FK 和服务 TCP 均为约 z=-0.0446 米。log step 343 又发送向下 0.02、0.05、0.08 米的目标，实际 TCP 从 z=-0.0446 米仅到约 -0.0451、-0.0464、-0.0478 米，并记录关节力矩达到 -87、±12 牛米。结合 log steps 373、431 在未收敛时闭爪，支持接近执行与控制未能可靠到位；因缺接触对与画面，不能进一步区分接触几何、环境阻挡及反馈控制，故只标控制大类。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地视频），没有状态日志；日志中 look 输出只有图片路径和尺寸，实际图片未随本次输入提供。六个节点均无评分器或服务的分项验收字段，整体 success=0 不能逐项推出 false，所有 intervals 与 final 均保留 null；已执行的螺钉、铺杆和抓碗动作仅能确定尝试，contact_actual 均未知。服务本体反馈可支持末端位姿偏差，但不能判断是否空夹、碰撞、螺钉是否退出或物体落地过程；断点节点由操作顺序和 agent 自述推断。已查看成功参考视频的概览与参考视频 29.96 s 末帧（碗在十字支架上、机械臂退开），它只说明成功外观，不是本次证据。六个 native_metrics 在本次评分字段均未报告，value 保留 null。"
+ },
+ "summary_zh": "评分器记录本次单个在线回合失败（live_success=0）；因无本次视频、状态日志及逐节点服务验收结果，六个节点终值均未知，不能将总失败等同于六步都未完成。根据机器人反复接近并闭爪的操作记录及 agent 自述未拧出螺钉，断点推断为拧出螺钉的操作中；在线服务本体读数支持末端位姿偏差，根因保留控制大类，后续还有铺杆与抓碗尝试。实际物体接触、退出及放置结果均缺独立证据，成功参考视频只用于理解完成外观。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无本次视频与状态日志，六个节点保持 unknown/null 合理；断点定为拧出螺钉（操作中）、位姿不准与控制大类均有服务本体读数（log step 341/343/373/431）支撑，且明确标为推断，未采用 agent 自述当节点值。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": "2026-10-31T01:02:54Z",
+  "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-ikea365-i00-standard--bdjbq3v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--bdjbq3v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22b539e0b71419663ada638090324455990f93d6687bd00a2f037e37f38b87a5",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--hmdtqfg.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--hmdtqfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..25febd9c1d7337195fef4d4acdd77af7b11679af
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--hmdtqfg.json
@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--hmdtqfg",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 288069,
+   "sim_steps": 1152276,
+   "control_steps": 288069,
+   "sim_time_s": 720.1725000128184,
+   "elapsed_s": 10660.5,
+   "service_time_s": 2175.2,
+   "calls": 1485,
+   "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": 6.198,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.41,
+   "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": 1432,
+      "text_zh": "观察：log step 1432 中 agent 启动拧出螺钉脚本，log step 1425 的前一次旋拧提交已执行且服务返回 done=False、reason=None；这些字段不报告 remove_same_screw 是否被接受。"
+     },
+     {
+      "t": null,
+      "log_step": 1542,
+      "text_zh": "观察：agent 在 log step 1542 自述螺钉已退出；本次没有视频、状态日志或该节点的服务验收字段，不能用这段自述确认拧出事件，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1422、1432 记录机器人旋拧尝试；没有本次视频或接触对，无法确认夹爪、螺丝刀与原螺钉实际如何接触。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1451,
+      "text_zh": "观察：log step 1451 的脚本日志列出抬起、移动到暂放点、张爪、退开及静置，提交返回 done=False、reason=None、Clipped=[]；这只能确认命令执行，未报告 park_same_screw 的接受结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1492,
+      "text_zh": "观察：log step 1492 的 agent 自写视觉搜索输出暂放点附近金属候选为零；没有本次图像或状态日志可核对，既不能据此确认暂放完成，也不能判定螺钉丢失，final 未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1448—1451 记录机器人暂放动作提交；缺少本次图像和接触日志，不能确认左夹爪是否夹着原螺钉及实际接触方式。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1488,
+      "text_zh": "观察：log step 1488 的脚本日志记录构件 B 对合、张爪、退开和静置提交完成，返回 done=False、reason=None、Clipped=[]；log step 1512 另记录下压尝试完成。服务未提供 cross_members 接受结果或构件相对误差，且本次图像未随日志提供，final 未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1485—1488、1510—1512 记录机器人铺放及下压构件 B 的动作提交；无本次画面或接触对，无法判定实际抓握、下压或未接触。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1502,
+      "text_zh": "观察：log step 1492、1502、1516 是 agent 自写脚本查找螺钉候选的输出，未包含螺钉装回的服务验收结果；此后的动作提交转为构件 B 下压及放碗。没有 return_same_screw、reinstall_same_screw 或保留连接状态报告，不能由总失败结果确定该节点的 final。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1522,
+      "text_zh": "观察：log step 1522 仅测试翻转路径的逆解，输出 in: ok=True，lift、flip、down: ok=False；这是 agent 的路径测试，不能作为支架姿态或 turn_stand 验收值。随后日志记录放碗提交，未提供翻转节点的服务结果，本次又无视频或状态日志，final 未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1533,
+      "text_zh": "观察：log step 1533 记录 agent 的放碗和退臂脚本执行完成，末次静置返回 done=False、reason=None；该脚本打印的夹爪开度不是碗放上支架的验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1540,
+      "text_zh": "观察：log step 1540 的服务状态仍为 done=False、reason=None、settle_failed=0；inputs/run.json 的 reward 给出 success=0、live_success=0、graded_by_live=1、finalized=1，且 sim_error=0、infra_error=0、grader_error=0。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：task/task_dag.json 中 bowl_on_stand 的 criterion_zh 包含 place_bowl 和评分器成功所需的全部联合终态（七阶段顺序、其余目标、离手、静置、承重及无仿真崩溃）；reward.success=0、live_success=0 界定该完整判据终态不成立，故 final=false（docs/03_trajectory.md Step 2，总结果的逻辑推断）。这不判定具体哪项未满足，也不决定其余五节点的值；本次无视频，intervals 仍为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1527—1533 记录机器人抓碗沿、搬运及释放的动作提交；没有本次画面或接触日志，实际夹爪与蓝碗的接触未知。"
+     }
+    ]
+   }
+  },
+  "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": 1540,
+   "where": "未知",
+   "evidence_zh": "观察：log step 1540 服务仍为 done=False，且 reward.live_success=0；日志记录了拧出、暂放、交叉及放碗的动作提交，但未报告任何原生阶段是否接受。推断：无法区分早期旋拧或暂放未完成、交叉未对齐及后续安装/翻转缺失等情况，不能唯一定位最早未修复的失败步骤；此 log step 仅锚定最后状态，不是失败发生时刻。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404、无本地视频），且没有状态日志；reward.video_rendered=1 不等于本工作目录提供了本次视频。运行日志中的看图调用未附图片，夹爪开度、深度点云和物体位置统计均来自 agent 自写脚本，不能替代节点的服务验收值；服务只报告总体未成功，没有逐阶段接受账本、相对位姿、保留连接或承重结果。bowl_on_stand 的完整联合终态由评分器总结果推断为 false；其余五节点 final 和全部时间区间保留未知。无法确认实际接触、首次未修复的物理失败及其原因，故现象和根因留空。inputs/oracle/replay.mp4 存在，但属于另一次成功运行，不能补作本次的轨迹证据。"
+ },
+ "summary_zh": "本次在线单回合被评分器判为失败；bowl_on_stand 的完整联合终态由 reward.success=0、live_success=0 推断为 false，其余五节点缺少逐项验收证据，final 保留未知。日志记录 agent 执行了拧出螺钉、暂放、交叉构件及放碗的尝试，末次服务状态仍为 done=False（log step 1540），agent 最终自述的前三步完成不能替代验收证据。缺少本次视频和状态日志，无法定位最早未修复的失败或可靠归因，置信度仍为 4。",
+ "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，前五个节点保持未知、断点未知是合理的；但 bowl_on_stand 是绑定评分器成功判定的终态目标节点，评分器明确给出 success=0、live_success=0，其 final 应为 false，而不是 null。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；bowl_on_stand 已按评分器 success=0 设为 false，其余节点、断点、现象与根因保持未知/留空并有 gap_zh，符合 N9。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": "2026-10-31T01:14:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--hmdtqfg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--hmdtqfg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--hmdtqfg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--hmdtqfg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e81b68f66d488ed66dd6d7a9920e8d7027c74625a48a12717f0b216a5e1b9893",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--pqcxgt7.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--pqcxgt7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2e229f02d118122145c3d1f85b9c886dcd21d3
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--pqcxgt7.json
@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--pqcxgt7",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 422831,
+   "sim_steps": 1691324,
+   "control_steps": 422831,
+   "sim_time_s": 1057.0775000141555,
+   "elapsed_s": 10301.6,
+   "service_time_s": 1685.8,
+   "calls": 678,
+   "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": 1.476,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.357,
+   "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": 106,
+      "text_zh": "观察：log step 106 中 agent 的旋拧脚本输出 U5 engaged True、连续转动后 plateau 及 unscrew done；这些是脚本用末端高度变化生成的自检，不是服务的 remove_same_screw 接受结果。log step 116、141 中 agent 又自述螺钉仍在 A 内；本次无视频、无状态日志，评分器也未报告该阶段，故完成情况未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 104、106 的脚本尝试左夹爪固定构件 A、右夹爪拾取螺丝刀并对螺钉旋拧；后续又执行构件恢复。无本次视频或接触状态日志，不能确认夹爪是否包夹 A、是否握住工具、刀头是否嵌合螺钉，也不能把脚本的 engaged 自检当实际接触。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 124,
+      "text_zh": "观察：log step 75、80 编写暂放及交叉脚本，log step 123 启动 auto1 后，log step 124 只返回 S1 FAIL no driver grip；未见服务报告 park_same_screw 被接受。本次无视频或状态日志，不能由脚本名称、已编写代码或总体失败推断螺钉暂放的终值。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 134,
+      "text_zh": "观察：log step 134 的恢复脚本输出 t2 B moved 后立即输出 T2 FAIL no A，log step 140 随后打印两组木件测量；这些均为 agent 自写检测，未有服务的 cross_members 接受及末端对齐结果。本次无视频或状态日志，不能据此确认两杆交叉或其终态，保留未知；恢复中挪杆不等同完成交叉步骤。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 206,
+      "text_zh": "观察：log step 206 仅把 screw_in 阶段写入综合脚本，log step 207 只编译该脚本并读取机器人状态，log step 208 最终报告任务未完成；未见服务报告 return_same_screw、reinstall_same_screw 或保留连接结果。无视频或状态日志，终值未知。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 206,
+      "text_zh": "观察：log step 206 写入 flip 阶段，但未显示执行该阶段或服务接受 turn_stand；log step 181—186 的旋转与恢复脚本针对单独构件，并不报告已连接支架翻面。无视频、状态日志或服务终态方向字段，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 208,
+      "text_zh": "观察：log step 208 中 agent 明确自述任务未完成；run.json 的 reward 仅报告 live_success=0、finalized=1，没有 place_bowl、碗与支架支承关系或联合终态的分项结果。无视频或状态日志，总体失败不能单独决定此节点，终值未知。"
+     }
+    ]
+   }
+  },
+  "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": "screw_unscrewed",
+   "t": null,
+   "log_step": 106,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 104、106 显示机器人执行拧出螺钉的夹持、工具接近和旋拧脚本，log step 106 自检停在 plateau；log step 116、141 中 agent 随后仍称螺钉在 A 内，之后日志持续执行 A 的恢复与寻找，log step 203 停止装配并退臂，log step 208 承认未完成。由这些操作记录将最早未修复的工作步骤定位为拧出螺钉，而不是尚未执行的放碗；无服务阶段账本或画面，具体退出程度及失败时刻不能确认。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": null,
+    "log_step": 116,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 116 的 agent 脚本明确把指尖相对 TCP 的偏移写成 TIP=0.0585 m；服务的 proprio_layout 在 log step 114 已说明 TCP 位于两指尖之间。log step 124、141、155、167 反复打印闭爪开度近零，log step 177—178 的后续空台面下降探测中，TCP 可跟踪到 z=-0.0538 m 后才在 z=-0.0557 m 附近停住，脚本相对其桌面估计计算偏移为 0.0084 m；log step 179 据此改为物体中部高度抓取。代码假设与后续探测明显不相容，支持接触高度设计错误使工具/构件夹持反复失效并妨碍拧出阶段。该探测是会话诊断证据，不据它判定节点完成或实际抓住了对象。",
+    "note_zh": "后续改法的实际抓取效果只有夹爪开度与 agent 自述，缺少画面及接触对，故可行替代方案标未知；不把构件飞离工作台及不可达范围的自述当成已核实物理现象。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（HF 视频返回 404，且无本地视频），inputs/ 中也无 states.jsonl；run.json 的图片条目只是未随输入提供的 steps.bin 偏移索引。现有服务 status 只给控制计数、done、reason 等运行状态，没有六个节点的原生阶段接受或几何终值；因此所有 intervals、节点 final 和视频锚点均为 null，不将 success=0 当作各节点 false。失败现象留空：agent 在 log step 193、203、208 自述 A 被带走、扫落且无法够到，但缺少画面或部件接触/位姿读数，无法区分碰撞、失持等具体物理事件；根因仅用代码及会话诊断支持。所附 oracle 是另一成功回合，不能补成本次观测。"
+ },
+ "summary_zh": "本次在线回合无重置，评分器记录 live_success=0；未提供本次视频、状态日志或原生阶段账本，六个节点均未知，不能解释为已证实完成零步。日志支持把断点推断定位在拧出螺钉，接触高度设计使用了与后续探测不符的指尖偏移，后续主要进行构件恢复而未完成装配。agent 最终自述构件 A 已落到不可达位置后停止，但该物理过程无法独立核实，故失败现象留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志；六个节点均标未知、断点按日志推断为 screw_unscrewed、失败现象留空并写 gap_zh，均符合证据纪律。根因（指尖偏移 0.0585 m 与后续探针 8.4 mm 不符）有 log step 116、177-178、179 支持，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:01Z",
+  "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-ikea-ikea365-i00-standard--pqcxgt7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--pqcxgt7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ff4a559e546b8a59d843411df5d477c0908cac5d51a984d02e3e935392c08566",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--qnae6ey.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--qnae6ey.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e1508d2aa133aa604840fb59781105f257bf45
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--qnae6ey.json
@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--qnae6ey",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 309037,
+   "sim_steps": 1236148,
+   "control_steps": 309037,
+   "sim_time_s": 772.5925000139626,
+   "elapsed_s": 10653.9,
+   "service_time_s": 3059.5,
+   "calls": 964,
+   "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": 0.323,
+   "peak_processes": 9,
+   "peak_disk_gb": 5.005,
+   "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": 561,
+      "text_zh": "观察：log step 92、94 的脚本向在线机器人提交拧出螺钉的旋转动作，log step 93、96 的服务响应确认动作已执行；log step 561 中 agent 自述“screw removal remained unresolved”。本次无视频、无状态日志，服务及 reward 未报告 remove_same_screw 的接受结果，故不能把 agent 的判断作为节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 92、94 的脚本尝试以左臂所持螺丝刀拧动螺钉，log step 412、437、439 的脚本又尝试右夹爪夹螺钉头旋转、左夹爪固定构件 A；但本次无视频和物体接触对日志，不能确认实际工具—螺钉接触、夹持或双臂同时接触的方式，故记未知。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 560,
+      "text_zh": "观察：log step 560 的服务最终状态只有 done=False、reason=None 等整局信息，没有 park_same_screw 的接受字段；本次无视频或状态日志，不能确认螺钉是否已退出并暂移。日志中的 driver_park 动作指停放螺丝刀，不是暂放螺钉。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 561,
+      "text_zh": "观察：log step 561 中 agent 自述组装未完成，完整日志未返回 cross_members 接受结果或两构件的最终对齐报告；本次无视频、无状态日志，无法独立核实该节点。整局 success=0 不能单独决定该节点为假。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 560,
+      "text_zh": "观察：log step 560 的服务最终状态没有 return_same_screw、reinstall_same_screw、螺钉坐实误差或保留连接字段；本次无视频、无状态日志，无法核实装回节点的终值。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 561,
+      "text_zh": "观察：log step 348—367 的脚本包含为继续拧出螺钉而翻动构件 A 的恢复动作，未返回 turn_stand 接受结果；这不证明已组装支架整体翻面。本次无视频、无状态日志，也无该节点的服务验收字段，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 560,
+      "text_zh": "观察：log step 560 的服务最终状态为 done=False、reason=None，reward 的 live_success=0，但未返回 place_bowl、碗的支承关系或联合终态报告；本次无视频、无状态日志，不能从总失败分数判定本节点的终值。"
+     }
+    ]
+   }
+  },
+  "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": "screw_unscrewed",
+   "t": null,
+   "log_step": 97,
+   "where": "操作中",
+   "evidence_zh": "推断：这是单次在线评分回合，reward 记录 graded_by_live=1、sim_startups=1、resumes=0；log step 92、94 的脚本提交拧出动作，log step 93、96 的服务响应确认执行，随后 agent 在 log step 97 自述螺钉未见抬升并改用夹爪。之后持续改握、旋拧和恢复构件 A，直至 log step 558、561 明确停止并自述拧出仍未解决；服务在 log step 560 未报成功。因此最早持续未修复的工作步骤定位为拧出螺钉，而不是后续未启动的组装步骤；无本次视频，不能定位视频时刻，也不能独立确认螺纹退出状态。"
+  },
+  "unmet": {
+   "screw_unscrewed": null,
+   "screw_parked": null,
+   "members_crossed": null,
+   "screw_reinstalled": null,
+   "stand_turned": null,
+   "bowl_on_stand": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 501,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 256 的旋拧程序因逆解跳变 0.45575 而中止；log step 191、443 展示 agent 用服务返回的 tcp_pose 与 joint_cmd 对应的正运动学结果比较，偏差超过 0.025 米即中断后续脚本。log step 386、501 分别记录该脚本算得跟踪偏差 0.04654 米、0.35424 米并触发 RuntimeError，反复阻止夹持、对准与旋拧动作继续；log step 549 直接打印的服务本体读数也显示左臂关节位置与命令明显不符。结合持续旋拧及恢复失败的记录，支持控制执行困难这一宽泛归因；上述计算不是物体接触或节点验收，不能据此细分为抓取设计、反馈控制或感知错误。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 的 kind=none，且无本次状态日志；inputs/oracle/replay.mp4 是另一次成功回合，只可作参考，不能证明本次进度或接触。在线服务最终状态和 reward 只给整局失败，未给六个节点的原生阶段账本、部件最终关系与数值指标，因此所有 intervals 和节点 final 均为 null，六项原生指标值亦为 null。日志足以定位一直操作的拧出步骤，但夹爪开度、末端跟踪误差及 agent 自述不能独立区分未接触、滑脱、受阻或带动构件，故现象层留空、实际接触记未知，根因仅保留日志支持的宽泛控制归因。"
+ },
+ "summary_zh": "本次为单次在线回合，评分器记录 success=0；日志显示机器人反复尝试拧出螺钉，agent 最终自述该步仍未解决后结束。断点定位为拧出螺钉的操作中，逆解跳变和反复触发跟踪保护支持宽泛的控制归因。由于本次无视频、无状态日志且服务未提供逐节点验收结果，六个节点终值均未知，不能报告已确认完成的节点或具体接触失败现象。",
+ "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），标签已按 N9 把全部节点记为 unknown、intervals 为 null；断点定在拧出螺钉（log id 97 起持续操作，id 561 自述未解决）与日志一致；现象层留空并写了 gap_zh，根因仅保留日志支持的宽泛“控制”（id 256 的 IK 跳变中止、id 386/501 的跟踪误差中止、id 549 的关节命令与实际不符）。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": "2026-10-31T01:01:53Z",
+  "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-ikea365-i00-standard--qnae6ey/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--qnae6ey/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "753721e103903c5be1560d3a5c9c5eefb14661f793a6e7253dc824ad2f54006f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--uacp3wz.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--uacp3wz.json
new file mode 100644
index 0000000000000000000000000000000000000000..107ad0f07070028c9e25e3de915dcadff0860931
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--uacp3wz.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--uacp3wz",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 20023,
+   "sim_steps": 80092,
+   "control_steps": 20023,
+   "sim_time_s": 50.05749999996354,
+   "elapsed_s": 3406.8,
+   "service_time_s": 136.6,
+   "calls": 44,
+   "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": 0.362,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.337,
+   "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": 44,
+      "text_zh": "观察：log step 44 中，机器人在线服务的 status（回合状态接口）报告 done=False、reason=None、control_steps=3400，但没有 remove_same_screw 阶段结果；评分记录仅报告整体 success=0、live_success=0。log step 18、35 的脚本主要移动腕部相机观察构件 A 和螺钉，log step 77、88、102、106、113 的脚本尝试恢复或搬移构件 A；未提供本回合视频、状态日志或螺钉退出的服务端验收字段，无法确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 18、35 的脚本将腕部相机移向螺钉及构件 A，后续 log step 77、102、106、113 尝试抓取、换手和恢复构件 A，以准备后续操作；无本回合帧或接触对，无法确认哪只夹爪实际接触构件 A 或螺钉，也不能把闭爪命令当作抓握事实。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 113,
+      "text_zh": "观察：log step 113 的脚本目标是把构件 A 移回桌面中央，没有报告 park_same_screw 阶段结果；完整日志与评分记录均未给出本节点的服务端验收值。本回合无视频或状态日志，不能据动作缺席或整体零分确定螺钉暂放的终值。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "观察：log step 43 输出的是 agent 脚本从深度图计算的构件 B 坐标，不是服务端 cross_members 验收字段；log step 44 的服务状态只含控制计数与回合是否结束。无本回合视频、状态日志或交叉对齐的服务端结果，本节点终值未知。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：log step 92 的螺钉头坐标来自 agent 自写的深度分析脚本，不是 return_same_screw、reinstall_same_screw 或保留连接的服务端结果；评分记录也未报告这些字段。无本回合视频或状态日志，不能据坐标分析确定螺钉已重装或未重装。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的脚本描述翻转并重新放置单独的构件 A，未报告已连接十字支架的 turn_stand 验收结果；log step 107 只是 agent 对该脚本目标的自述。本回合无视频、状态日志或组装与翻转的服务端结果，不能把该命令算作本节点完成，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 123,
+      "text_zh": "观察：评分记录的 success=0、live_success=0 仅决定联合成功未通过，没有单独报告 place_bowl、碗支承接触或联合终态各条件；log step 123 以 Gemini 过滤提示结束。无本回合视频或状态日志，整体失败不足以单独判定碗放支架的终值。"
+     }
+    ]
+   }
+  },
+  "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": 123,
+   "where": "未知",
+   "evidence_zh": "观察：log step 44 的在线服务状态为 done=False、reason=None，log step 82 的动作回执仍为 done=False；log step 113 的脚本仍在尝试把构件 A 搬回中央，log step 120、121 在计算可达姿态，log step 123 随即记录 Gemini 过滤中断。评分记录确认单次在线回合、sim_startups=1、resumes=0、control_steps=20023，但没有逐阶段结果。推断：未见过滤前回合已结束或结果已固定的证据；缺少本回合影像和状态日志，不能核实此前是否发生独立物理失败，无法定位一个已证实且未修复的 DAG 断点。"
+  },
+  "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 明确为 kind=none（视频获取返回 404，且没有本地视频）；本作业也无状态日志，inputs/run.json 的所有图片条目均为空。已检查 inputs/oracle/replay.mp4 的成功参考及末帧，但它属于另一回合，不能代替本回合证据。评分记录只有联合失败与执行计数，没有六个节点、阶段账本、接触对或六项原生指标的验收值；log step 44 的 status 也没有这些字段，故六个节点 final 及全部视频区间均为 null。agent 的深度分析和闭爪命令不用于确定节点值、实际抓握或碰撞现象。log step 123 记录模型提供方过滤；过滤前没有已固定终局的回执，也没有足以独立确证物理失败的影像或服务测量，按外因中断待重试处理，保留 catalog 的 success=0，不据此归因于机器人。现象与根因均留空，不能确认具体失败位置。"
+ },
+ "summary_zh": "本次单回合在线执行有 20023 个控制步，但无本回合视频或状态日志，服务与评分记录未报告逐节点结果，六个节点终值均未知，无法确认完成数。日志显示机器人脚本先观察零件、随后尝试恢复和搬移构件 A，最终在 log step 123 被模型提供方过滤中断；未见过滤前已固定终局的证据，按外因中断待重试处理，保留目录评分 success=0。缺少影像、接触对和阶段账本，无法核实此前的物理失败、定位断点或支持现象与根因标签；成功参考视频不作为本回合证据。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本回合无视频、无状态日志；标签把六个节点 final 置为 unknown、断点 unknown、现象与根因留空并写明 gap_zh，符合 N9 与外因中断规则（log step 123 Gemini 过滤中断，过滤前无已固定的终局回执）。时钟与 log step 引用均核对无误，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": "2026-10-31T01:04:50Z",
+  "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-ikea365-i00-standard--uacp3wz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--uacp3wz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2e16bcbdb8865ecb473e6e18e811c428f382940409fdba1eb447fa410dcb57b8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--zktxs3z.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--zktxs3z.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6bed4a63a1ca704230b2b245b3604b34ec1ec56
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--zktxs3z.json
@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--zktxs3z",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "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": 449691,
+   "sim_steps": 1798764,
+   "control_steps": 449691,
+   "sim_time_s": 1124.2275000034067,
+   "elapsed_s": 8877.1,
+   "service_time_s": 3638.5,
+   "calls": 7559,
+   "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": 0.585,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.337,
+   "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": 217,
+      "text_zh": "观察：agent 的旋拧脚本打印累计转动 300 度的检查信息，随后因螺钉头检测返回 None 而在 float(h) 处抛出 TypeError；这不是服务的 remove_same_screw 验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 330,
+      "text_zh": "观察：agent 在会话笔记中自述“螺钉从未取出”；本次无视频、无状态日志，评分器也未报告此节点，按 N9 将终值保留未知，不能由该自述或整体 success=0 判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 212 的旋拧脚本从机器人服务 get_obs 的 meta.proprio.now[29] 读取右夹爪开度，log step 217 输出 start opening 0.0218；log step 218、221 输出 opening 0.0217。agent 在 log step 272、331 的笔记将工具柄抓持开度记为 0.0217 米，此笔记是 agent 自述。推断：这些非零开度与持住工具柄相符，支持当时右夹爪可能握着螺丝刀；随后 log step 327–328 重抓时服务开度约零，支持这两次未夹住工具。无本次视频或接触对状态日志，仍不能确认螺丝刀刀头与螺钉/A 的实际接触及嵌合旋拧方式，按工具接触链路在目标端标注的规则保留未知。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 330,
+      "text_zh": "观察：agent 在笔记中称螺钉从未取出；日志没有服务报告的 park_same_screw 接受状态，无视频或状态日志可确认螺钉暂移，故终值未知。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 266,
+      "text_zh": "观察：agent 执行将 B 铺在 A 上的脚本，脚本在闭爪后打印 GRASP FAIL；log step 267 重试也打印 GRASP FAIL。这些是 agent 自行编写的检查，未报告服务的 cross_members 验收状态，无视频或状态日志，故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 266–267 记录 agent 驱动右夹爪接近并尝试抓取构件 B，以便铺到 A 上；没有本次视频或接触对记录，实际接触方式未知。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 333,
+      "text_zh": "观察：agent 最终报告仅列出 A 调姿和拧出准备，未报告完成穿过两构件重装；服务和评分器均没有 return_same_screw、reinstall_same_screw 或保留连接字段。本次无视频或状态日志，终值未知。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 295,
+      "text_zh": "观察：agent 脚本执行的是单个构件 A 的调姿，agent 在 log step 333 也称将 A 调成螺钉头朝上；这不能替代组装支架整体翻面及 turn_stand 的验收。无视频、状态日志或服务节点结果，终值未知。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 332,
+      "text_zh": "观察：服务末次状态为 done=False、reason=None、settle_failed=0，评分器 reward.live_success=0；均未单独报告 place_bowl 或碗的支承关系。无视频、状态日志及逐节点验收结果，整体失败不能单独确定本节点，终值未知。"
+     }
+    ]
+   }
+  },
+  "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": "screw_unscrewed",
+   "t": null,
+   "log_step": 217,
+   "where": "操作中",
+   "evidence_zh": "推断：本次为单次在线评分回合（reward.graded_by_live=1、sim_startups=1、resumes=0）。log step 217 记录拧出脚本累计旋转 300 度后在检查点报 TypeError；agent 随后继续尝试，在 log step 329 停止操作，log step 330 笔记自述螺钉从未取出。结合最终 live_success=0，仍将最早持续未修复的工作步骤定位为拧出螺钉，log step 217 仅作该次尝试的日志锚点，不把异常认作失败原因；log step 326–328 的逆解与工具重抓失败属于后续尝试，不能反推此前旋拧的具体失败现象。该定位不等于服务已报告节点为 false；无本次视频，t 为 null。"
+  },
+  "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": "本次 inputs/video.json 为 kind=none（HF 文件返回 404 且无本地视频），也没有状态日志；inputs/oracle/replay.mp4 是其他成功运行，不能作为本次接触或节点结果的证据。完整运行日志和 reward 只提供整体失败，没有六个原生节点的验收状态；按 N9，agent 的图像统计、抓取检查及最终叙述不能替代节点服务结果，因此全部 intervals/final 为 null。log step 217 输出累计旋转 300 度、随后 head top=None 并在 float(h) 处异常；log step 212 的脚本原计划最多旋转 60 个增量，异常确实中断了后续脚本，但 agent 在 log step 220 将检测失败解释为掩膜问题并继续操作，不能据此认定异常导致整次拧出失败。log step 218、221 的服务夹爪开度约 0.0217 支持当时可能持有工具，无法确认刀头与螺钉的接触。log step 327–328 的服务闭爪开度约零仍支持末尾重抓未夹住工具；此为后续恢复尝试的失败，保留在接触说明中，不用它解释 log step 217 处的旋拧问题。agent 关于刀头未嵌合、螺钉未抬升、A 倒下及左臂撞落工具的说法（log step 218、220、229、239）缺乏本次视频或状态日志核实，无法裁定断点处的具体物理现象及其根因，故 phenomena 与 root_causes 均留空；已尝试步骤的目标端 contact_actual 仍为未知，不推算视频时间。"
+ },
+ "summary_zh": "评分器确认本次单次在线回合失败（live_success=0），六个 DAG 节点均无服务级验收记录，实际节点终值全部未知；结合旋拧尝试与 agent 最终自述，断点仍推断为拧出螺钉。log step 217 的检查点异常与后来 log step 326–328 的逆解、工具重抓失败不能解释最初旋拧未完成的原因，现象层和根因层均留空；铺放 B 也有尝试，单独调姿 A 不等于组装支架翻面。无本次视频和状态日志，目标端接触、节点结果与失败机理仍有缺口，置信度维持 5，全部时间区间留空，原生终态指标未报告。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "无视频、无状态日志，全部节点 unknown、断点在 screw_unscrewed(log step 217)基本站得住；但现象层完全留空与 contact_actual 全为未知偏保守：log step 327/328 的抓工具与 266/267 的抓 B 在闭爪后 op=-0.0（夹爪读数为服务在线回合的 proprio 观测），可支持“没建立接触”，step 217 的 opening 0.0218 与工具柄厚度 0.0217 吻合，可支持右手持工具。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频/状态日志，全部节点 unknown、断点 screw_unscrewed 可接受；但根因“控制·控制脚本异常（log step 217 TypeError）”与日志不符：该异常发生在已转满 300° 的检查点，agent 随后自己判定是掩膜问题并继续作业约 100 步，它不是拧出失败的原因；现象“没建立接触”锚在 step 327，是断点之后的下游事件（工具被左臂挥落后重抓），并非断点处发生的事。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两项 accept 均已在 prev/trajectory.json 中完整落实：root_causes 与 phenomena 均为空，gap_zh、断点证据和 summary_zh 同步改写，因果暗示已消除，未发现新的事实错误。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两项 accept 均已在 prev/trajectory.json 中完整落实：root_causes 与 phenomena 均为空，gap_zh、断点证据和 summary_zh 同步改写，因果暗示已消除，未发现新的事实错误。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:16:00Z",
+  "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-ikea-ikea365-i00-standard--zktxs3z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--zktxs3z/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--zktxs3z/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--zktxs3z/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--zktxs3z/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--zktxs3z/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd404abed4c4a750a7e95b1c09f7cea75e630dcca1edeff6ea7e19e999d51e16",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--5suurhu.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--5suurhu.json
new file mode 100644
index 0000000000000000000000000000000000000000..828eea5ca3007735f0ee780e274b71e6990b3d37
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--5suurhu.json
@@ -0,0 +1,238 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--5suurhu",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 0.17,
+   "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": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 18,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告已拧紧桌腿数量；log step 18 记录响应超过32000输出token上限的 API Error。inputs/video.json 为 kind=none，且无状态日志，无法判定“至少1根腿拧紧”的评分终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付受评轨迹，轨迹级接触不适用；会话读取几何和初态不作为实际接触。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 18,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告已拧紧桌腿数量；log step 18 记录响应超过32000输出token上限的 API Error。inputs/video.json 为 kind=none，且无状态日志，无法判定“至少2根腿拧紧”的评分终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付受评轨迹，轨迹级接触不适用；会话读取几何和初态不作为实际接触。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 18,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告已拧紧桌腿数量；log step 18 记录响应超过32000输出token上限的 API Error。inputs/video.json 为 kind=none，且无状态日志，无法判定“至少3根腿拧紧”的评分终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付受评轨迹，轨迹级接触不适用；会话读取几何和初态不作为实际接触。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 18,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告已拧紧桌腿数量；log step 18 记录响应超过32000输出token上限的 API Error。inputs/video.json 为 kind=none，且无状态日志，无法判定“至少4根腿拧紧”的评分终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，本次未交付受评轨迹，轨迹级接触不适用；会话读取几何和初态不作为实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 18,
+   "where": "首步前",
+   "evidence_zh": "观察：log steps 2至10 仅记录 agent 读取场景源码、几何及初始化 Session 后检查初态，未记录执行装配或保存轨迹；log steps 11、13、15、17 无工具调用和输出，log step 18 以“API Error: Claude's response exceeded the 32000 output token maximum”结束；评分器报告 missing_trajectory=1。推断：会话在交付前因 API/CLI 输出上限中断，没有可定位到某个桌腿节点的受评物理失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有视频（inputs/video.json: kind=none）、没有状态日志，评分器只报告缺失轨迹而无逐腿装配结果；log step 18 为响应超过32000输出token上限的 API 错误，未见交付完成或回放验收记录。推断：依 CASES.md FAIL-5 按交付前外因中断处理，保留目录 success=0，但不归为机器人能力失败；断点步骤未知、位置首步前，现象与根因均留空，不标“没尝试”，不从缺交付推断“交付操作出错”。四节点终态与所有原生指标均未知；log step 10 的会话初态测量不能代替评分结果，成功 oracle 也不能作为本次进度证据。",
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  }
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1；会话只记录 agent 读取场景和检查初态，四个桌腿装配节点均无可判定的评分终态。观察：log step 18 以响应超过32000输出token上限的 API 错误结束，未交付轨迹。推断：这是交付前外因中断，断点步骤未知、位置首步前；本次无视频及状态日志，不能判断物理接触、节点时刻或机器人失败现象与根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1，log step 18 为输出token上限 API 错误，未交付。按 FAIL-5 处理为交付前外因中断（断点 unknown/首步前，现象与根因为空并有 gap_zh，节点均 unknown）是合理的，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": "2026-10-31T01:06:12Z",
+  "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-ikea-lack-i00-privileged--5suurhu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--5suurhu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6d09474e8f419dbe7f87014e3701dde01895f1bc13b7c9110c80be45c000c658",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--hh3vkvs.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--hh3vkvs.json
new file mode 100644
index 0000000000000000000000000000000000000000..422245aa1f1f45f73512ac331a470429cfe8b830
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--hh3vkvs.json
@@ -0,0 +1,238 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--hh3vkvs",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 0.398,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.251,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未报告合格桌腿数量；log step 79 记录 Gemini 过滤器中断。inputs/video.json 为 kind=none，且无状态日志；无法判定至少1根桌腿拧紧的终态，会话中的独立仿真测试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；未交付可评分轨迹，调试会话的夹爪接触不计入本节点。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未报告合格桌腿数量；log step 79 记录 Gemini 过滤器中断。inputs/video.json 为 kind=none，且无状态日志；无法判定至少2根桌腿拧紧的终态，会话中的独立仿真测试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；未交付可评分轨迹，调试会话的夹爪接触不计入本节点。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未报告合格桌腿数量；log step 79 记录 Gemini 过滤器中断。inputs/video.json 为 kind=none，且无状态日志；无法判定至少3根桌腿拧紧的终态，会话中的独立仿真测试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；未交付可评分轨迹，调试会话的夹爪接触不计入本节点。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未报告合格桌腿数量；log step 79 记录 Gemini 过滤器中断。inputs/video.json 为 kind=none，且无状态日志；无法判定至少4根桌腿拧紧的终态，会话中的独立仿真测试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；未交付可评分轨迹，调试会话的夹爪接触不计入本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 79,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 78 仍为 agent 在新建 Session 中进行中央交接位姿的逆运动学测试；log step 79 随后记录“This request was blocked by Gemini's filters”。评分器报告 missing_trajectory=1、grader_error=0，日志未见保存并验证交付的记录；无法定位受评物理步骤，按外部过滤器中断且无交付处理。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无受评视频、无状态日志，评分器仅报告 missing_trajectory=1，未给出逐腿装配终态或任何 DAG 原生指标。log step 61–67 的抓取、换手及旋拧均为独立会话测试，log step 73、75 还直接设置零件位姿作碰撞检查，不能据此判定本次受评进度或接触；run.json 的 trajectory 元数据虽列有会话记录文件，但不证明存在已保存并验证的合规交付。log step 79 的模型提供方过滤器在交付完成前中断会话；依外部中断规则，两层标签留空，不归因于机器人，也不标“没尝试”。成功示范仅供参考，不能补足本次证据。"
+ },
+ "summary_zh": "评分器保留 success=0、missing_trajectory=1；本次没有可核验的受评轨迹，四个桌腿拧紧节点均为未知，调试会话的抓取和旋拧测试不计为进度。log step 79 记录 Gemini 过滤器中断，且此前未见保存并验证交付，按外部因素中断处理，断点为 unknown／首步前，不计入机器人失败分析。无本次视频或状态日志，也无逐腿评分字段，不能确定物理失败现象或根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频/状态日志，评分器 missing_trajectory=1；agent 从未提交（sim submit=0），log step 79 为 Gemini 过滤器中断。四节点 unknown、断点 unknown、两层空并附 gap_zh，处理正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:04:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--hh3vkvs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--hh3vkvs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a6cf3cb8255adb1974e88ac629af4904f4db3926bcdc4136857638e98779c7e9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--xh9ohhd.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--xh9ohhd.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc37478009bd8d500e072ea31c458a347deb9a0
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--xh9ohhd.json
@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--xh9ohhd",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "bad_trajectory": 1,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.841,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.262,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 243,
+      "text_zh": "观察：本次 inputs/video.json 标为 kind=none，且无状态日志；评分器 reward 仅报 success=0、bad_trajectory=1，没有合格桌腿数量。log step 243 的生成器输出四腿 welded 均为 False，但这是 agent 在本地生成轨迹后调用场景检查的会话结果，没有新进程受评回放的逐节点结果，不能据此判定“至少1根腿拧紧”的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 240 的生成脚本依次为四根桌腿调用 pick_and_seat 与 release_and_retract，log step 243 改为右臂后左臂串行执行并打印四腿处理记录；没有受评视频或接触状态日志，无法核实第1个装配计数步骤中的实际作用端及接触方式，不能照搬计划中的夹爪抓握。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 243,
+      "text_zh": "观察：本次 inputs/video.json 标为 kind=none，且无状态日志；评分器 reward 仅报 success=0、bad_trajectory=1，没有合格桌腿数量。log step 243 的生成器输出四腿 welded 均为 False，但这是 agent 在本地生成轨迹后调用场景检查的会话结果，没有新进程受评回放的逐节点结果，不能据此判定“至少2根腿拧紧”的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 240 的生成脚本依次为四根桌腿调用 pick_and_seat 与 release_and_retract，log step 243 改为右臂后左臂串行执行并打印四腿处理记录；没有受评视频或接触状态日志，无法核实第2个装配计数步骤中的实际作用端及接触方式，不能照搬计划中的夹爪抓握。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 243,
+      "text_zh": "观察：本次 inputs/video.json 标为 kind=none，且无状态日志；评分器 reward 仅报 success=0、bad_trajectory=1，没有合格桌腿数量。log step 243 的生成器输出四腿 welded 均为 False，但这是 agent 在本地生成轨迹后调用场景检查的会话结果，没有新进程受评回放的逐节点结果，不能据此判定“至少3根腿拧紧”的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 240 的生成脚本依次为四根桌腿调用 pick_and_seat 与 release_and_retract，log step 243 改为右臂后左臂串行执行并打印四腿处理记录；没有受评视频或接触状态日志，无法核实第3个装配计数步骤中的实际作用端及接触方式，不能照搬计划中的夹爪抓握。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 243,
+      "text_zh": "观察：本次 inputs/video.json 标为 kind=none，且无状态日志；评分器 reward 仅报 success=0、bad_trajectory=1，没有合格桌腿数量。log step 243 的生成器输出四腿 welded 均为 False，但这是 agent 在本地生成轨迹后调用场景检查的会话结果，没有新进程受评回放的逐节点结果，不能据此判定“至少4根腿拧紧”的受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 240 的生成脚本依次为四根桌腿调用 pick_and_seat 与 release_and_retract，log step 243 改为右臂后左臂串行执行并打印四腿处理记录；没有受评视频或接触状态日志，无法核实第4个装配计数步骤中的实际作用端及接触方式，不能照搬计划中的夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 243,
+   "where": "未知",
+   "evidence_zh": "观察：评分器 reward.success=0、bad_trajectory=1、grader_error=0；log step 240 的生成脚本在完成动作后调用 save_trajectory，log step 243 的最终运行正常退出，打印 rows=303560，并在本地场景检查中返回四腿均未锁定。推断：日志支持曾保存候选交付，但未提供受评回放或 bad_trajectory 的具体拒收原因，无法确定受评尝试在哪个物理步骤、什么阶段发生首个未修复失败。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有受评视频（inputs/video.json: kind=none），没有状态日志，也未提供交付轨迹文件或评分器回放明细。inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次动作或接触。log step 243 的四腿未锁定、几何量和 terminal 字段来自 agent 本地生成过程后的检查，不能替代受评终值或原生指标；此前调试中的卡滞、倾斜、滑落和双臂干涉同样不能直接作为受评失败现象。评分器仅给 bad_trajectory=1，未说明格式、控制限值、内容或其他拒收条件，故四节点终值、接触和物理断点均未知；现象与根因两层留空，不能仅凭失败或未见回放验证推定控制或交付操作出错。"
+ },
+ "summary_zh": "评分器判定失败（success=0、bad_trajectory=1），四个装配计数节点均无可确认的受评终值。log step 243 的最后一次本地生成运行保存了候选轨迹并报告四腿均未锁定，但未见该文件的新进程回放验收，不能将本地检查当作受评进度。缺少本次视频、状态日志及评分器拒收详情，物理断点、实际接触、失败现象和根因均无法可靠确定。",
+ "conf": 3,
+ "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，标注者把节点、断点、现象和根因留空并写明 gap_zh，总体稳妥且没有把 agent 本地检查当受评事实。唯一需改：legs_screwed_4 的 final 可由评分器字段 success=0 决定为 false，不应留 null。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无受评视频、无状态日志；标注者把四个节点、断点、现象、根因留空并在 gap_zh 说明，未把 agent 本地生成/检查（log step 243 的 welded 全 False）当作受评事实，与 03 的 N9 一致。上一轮 I1（legs_screwed_4 final=false）已被有证据地驳回，本轮无新证据，不重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--xh9ohhd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--xh9ohhd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--xh9ohhd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--xh9ohhd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8d89d447a2704c87c96093fb80e3b62d580e9111828ad1c4170a7569c89edf2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--57zsrhz.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--57zsrhz.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5ffa8bd8d74c12780b8bfc8c3f43e3aa47f54e
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--57zsrhz.json
@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--57zsrhz",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 744560,
+   "sim_steps": 2978240,
+   "control_steps": 744560,
+   "sim_time_s": 1861.3999998854067,
+   "elapsed_s": 10363.6,
+   "service_time_s": 4772.0,
+   "calls": 1900,
+   "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": 0.846,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.335,
+   "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": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 562,
+      "text_zh": "观察：log step 562 中，agent 的装配脚本在执行旋拧、松爪和退回指令后打印“Leg 0 assembly onto Stud 2 completed successfully”；log step 1014 中 agent 最终自述仅 Leg 0 已坐实锁定。两者均非服务端逐腿验收报告；本次无视频、无状态日志，不能确认至少1根腿合格，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录双臂对桌腿的抓取、交接及旋拧指令（如 log step 101、130、562、574），但无本次视频或状态接触对；夹爪开度和脚本成功打印不足以确认实际夹持，亦不能将各次操作对应到已合格腿数的累计阶段。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 574,
+      "text_zh": "观察：log step 574 的脚本输出记录 Leg 2 搬运至 Stud 0、执行五段旋拧后打印成功，log step 562 还包含其他桌腿脚本的成功打印；这些是 agent 脚本输出。服务回执未报告同时坐实锁定的腿数，本次无视频、无状态日志，不能确认至少2根腿合格，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录双臂对桌腿的抓取、交接及旋拧指令（如 log step 101、130、562、574），但无本次视频或状态接触对；夹爪开度和脚本成功打印不足以确认实际夹持，亦不能将各次操作对应到已合格腿数的累计阶段。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 562,
+      "text_zh": "观察：log step 562 中，agent 的多个装配脚本先后打印 Leg 0、Leg 1 以及另一根腿的装配成功；服务端 log step 528 仍为 done=False、reason=None，未给出合格腿数。脚本打印不能证明三根腿同时满足锁定与几何公差；本次无视频、无状态日志，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录双臂对桌腿的抓取、交接及旋拧指令（如 log step 101、130、562、574），但无本次视频或状态接触对；夹爪开度和脚本成功打印不足以确认实际夹持，亦不能将各次操作对应到已合格腿数的累计阶段。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1000,
+      "text_zh": "观察：log step 1000 的现场服务状态为 done=False、reason=None、settle_failed=0；inputs/run.json 的 reward 为 success=0、live_success=0，但未报告逐腿装配结果。联合成功还要求离手、静止及复验，整体失败不能单独推出四腿装配关系为假；本次无视频、无状态日志，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录双臂对桌腿的抓取、交接及旋拧指令（如 log step 101、130、562、574），但无本次视频或状态接触对；夹爪开度和脚本成功打印不足以确认实际夹持，亦不能将各次操作对应到已合格腿数的累计阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 1014,
+   "where": "未知",
+   "evidence_zh": "观察：评分器 reward 报告单次现场运行失败（graded_by_live=1、sim_startups=1、resumes=0、live_success=0）；log step 1014 中 agent 自述仅 Leg 0 已装到 Stud 2，其余腿已掉到地面。该自述无本次画面或逐腿服务结果支持；log step 562、574、656、938 的成功打印也来自 agent 脚本。推断：无法确定最早未修复的失败发生在第几个合格腿计数步骤，断点保留 unknown；无视频时刻可填写。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地录像），inputs/ 中无 states.jsonl；oracle 录像属于另一成功运行，不能补成本次证据。现场服务回执只有运行计数、done、reason、settle_failed 等字段，评分器未报告 welded、assignment、逐腿 depth_m/lateral_m/axis_deg 或终态零件速度与接触，故四节点 final 和所有视频区间均为 null，实际接触未知。log step 572 中 agent 脚本按夹爪开度判定交接丢腿；log step 204、987 分别记录 IK seed 长度错误和 KeyError，但后续仍继续装配，缺少证据证明这些事件中哪一个未修复并决定最终失败；不能据此指定断点的物理现象或根因，两个层级留空。agent 最终自述的掉落、不可达及已锁定也未得到独立验收支持。"
+ },
+ "summary_zh": "评分器确认这次连续现场装配运行失败，但未报告合格桌腿数量；四个计数节点均未知，不能把 agent 自述的一根已装好或脚本的多次成功打印作为节点结果。缺少本次视频、状态日志和逐腿服务验收，无法确定最早未修复的失败步骤、实际接触及其现象和根因。",
+ "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；各节点 final、区间、断点保持 unknown/null 符合 N9（只有评分器/服务字段可定 final，agent 脚本打印和自述不算），现象与根因留空并有 gap_zh 说明，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": "2026-10-31T01:08:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--57zsrhz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--57zsrhz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d766aec7841fca1ffcc9b428659bb653fd098abd2c5a6fbc45f5769ecdd59760",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--brrybmw.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--brrybmw.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d22563931264684ed3a91883773a0e9ef239ee
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--brrybmw.json
@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--brrybmw",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 482552,
+   "sim_steps": 1930208,
+   "control_steps": 482552,
+   "sim_time_s": 1206.3799999902565,
+   "elapsed_s": 9061.3,
+   "service_time_s": 5768.7,
+   "calls": 2509,
+   "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": 0.314,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.623,
+   "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": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 60,
+      "text_zh": "观察：log step 60 记录 agent 向右臂提交旋拧指令及夹爪开度读数；log step 72 记录松爪、抬臂及 agent 自行计算的腿顶高度。这些不是服务端的坐实锁定判定；本次无视频或状态日志，不能确认至少1根腿合格。"
+     },
+     {
+      "t": null,
+      "log_step": 287,
+      "text_zh": "观察：log step 287 的服务最终状态为 done=False、reason=None、settle_failed=0、resumes=0；inputs/run.json 的评分字段为 graded_by_live=1、live_success=0、sim_error=0、infra_error=0。没有报告本节点所需的合格腿数或逐腿锁定状态，整体失败不能决定此节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志记录了该计数目标对应的抓取、搬运或旋拧指令（log step 60）；无本次可用图像或状态接触对，不能确认左右夹爪与桌腿、桌板实际怎样接触，也不能据指令认定抓握成立。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 182,
+      "text_zh": "观察：log step 181–182 记录 agent 向左臂提交下探及连续旋拧指令，右臂此前被指令夹住另一螺柱；输出只有本体读数和 agent 的接触判断。服务未报告合格腿数量，无法确认至少2根腿坐实锁定。"
+     },
+     {
+      "t": null,
+      "log_step": 287,
+      "text_zh": "观察：log step 287 的服务最终状态为 done=False、reason=None、settle_failed=0、resumes=0；inputs/run.json 的评分字段为 graded_by_live=1、live_success=0、sim_error=0、infra_error=0。没有报告本节点所需的合格腿数或逐腿锁定状态，整体失败不能决定此节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志记录了该计数目标对应的抓取、搬运或旋拧指令（log step 182）；无本次可用图像或状态接触对，不能确认左右夹爪与桌腿、桌板实际怎样接触，也不能据指令认定抓握成立。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 222,
+      "text_zh": "观察：log step 213–222 记录 agent 执行左臂旋拧脚本，log step 222 的“depth reached”由脚本按末端高度下降量打印，并非服务判定；log step 223 的“done”也来自 agent 脚本。无本次图像、锁定或逐腿报告，无法确认至少3根腿合格。"
+     },
+     {
+      "t": null,
+      "log_step": 287,
+      "text_zh": "观察：log step 287 的服务最终状态为 done=False、reason=None、settle_failed=0、resumes=0；inputs/run.json 的评分字段为 graded_by_live=1、live_success=0、sim_error=0、infra_error=0。没有报告本节点所需的合格腿数或逐腿锁定状态，整体失败不能决定此节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志记录了该计数目标对应的抓取、搬运或旋拧指令（log step 222）；无本次可用图像或状态接触对，不能确认左右夹爪与桌腿、桌板实际怎样接触，也不能据指令认定抓握成立。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 267,
+      "text_zh": "观察：log step 261–266 记录 agent 执行其称为第4根腿的右臂旋拧；log step 267 松爪抬臂并等待后，服务返回 done=False、reason=None、settle_failed=0。该结果只表明联合成功尚未通过，不能区分四腿装配、离手或静止中的哪项未满足，故不把四腿装配节点判为 false。"
+     },
+     {
+      "t": null,
+      "log_step": 287,
+      "text_zh": "观察：log step 287 的服务最终状态为 done=False、reason=None、settle_failed=0、resumes=0；inputs/run.json 的评分字段为 graded_by_live=1、live_success=0、sim_error=0、infra_error=0。没有报告本节点所需的合格腿数或逐腿锁定状态，整体失败不能决定此节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志记录了该计数目标对应的抓取、搬运或旋拧指令（log step 267）；无本次可用图像或状态接触对，不能确认左右夹爪与桌腿、桌板实际怎样接触，也不能据指令认定抓握成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 283,
+   "where": "未知",
+   "evidence_zh": "观察：log step 280–282 记录 agent 尝试双臂配合补拧，其控制脚本因 RuntimeError: screw2 jump 中断；log step 283 随后发送松爪、双臂抬离指令并等待，服务仍返回 done=False、reason=None、settle_failed=0；log step 287 的最终服务状态相同。推断：现场任务未达联合成功，但无逐腿合格计数、锁定报告或本次图像，不能判明哪个计数节点首次失败且始终未修复，也不能确认已达四腿装配而只在终态验收失败。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（replay.mp4 获取失败），inputs/ 没有本次状态日志，日志的图片仅有占位和未随输入提供的二进制偏移；故所有视频时间及 intervals 均为 null，四个节点终值及实际接触均未知。服务仅报告整体 done=False、settle_failed=0，没有 welded、assignment、逐腿位置轴向误差、零件接触或速度判定；不能由整体失败推断任何特定腿未装好。agent 自述四腿已拧上、怀疑未锁定、桌板随动及夹爪滑脱（log step 288）均未获本次图像或物体状态印证，不据此标失败现象或断点。日志虽有逆解、防跳变报错和补拧中断（如 log step 282），但后续仍能操作，缺少证据把这些控制困难与最终未通过的具体物理判据相连，根因留空；也无证据认定评分器或任务设计有误。成功参考仅检查了 oracle 视频 0、8、14、20、29、29.96 s 的装配外观，不是本次进度的证据。"
+ },
+ "summary_zh": "本次为无重置的连续现场评分，日志记录了 agent 依次尝试四根腿并在末尾补拧，但末次服务状态仍为 done=False、settle_failed=0，评分 success=0（log step 287；inputs/run.json）。本次无可用视频和状态日志，服务也未提供逐腿验收结果，四个装配节点均无法确定终值，不能将 agent 自述的四腿已装好当作已完成。最早未修复的失败步骤、实际接触及最终失败的物理原因均无法可靠定位，现象与根因留空。",
+ "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（kind=none）、无状态日志，标注者把四个计数节点、实际接触和断点保守地留为 unknown，未把 agent 自述当作事实，也未由整体 done=False 推断某条腿失败；时钟、log step 引用与证据措辞均符合规则，我没有找到需要修改的错误。",
+    "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": "2026-10-31T01:08:54Z",
+  "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-lack-i00-standard--brrybmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--brrybmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe99173846621caa89d9cc70b043254ec739bd40e2ce86868cdc4af3ecad780f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--f9475zf.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--f9475zf.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefca5ef4f3f1f2123db6805bf7d648a21f3c123
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--f9475zf.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--f9475zf",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 331003,
+   "sim_steps": 1324012,
+   "control_steps": 331003,
+   "sim_time_s": 827.5075000151613,
+   "elapsed_s": 7194.4,
+   "service_time_s": 3728.9,
+   "calls": 609,
+   "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": 0.309,
+   "peak_processes": 10,
+   "peak_disk_gb": 2.575,
+   "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": 4,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "观察：log step 451 中，agent 控制脚本打印现场机器人服务返回的 done=True、reason=success；log step 12 的脚本表明 done 和 reason 直接读取服务 obs.meta。inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、settle_failed=0；sim_startups=1、resumes=0、replays=0，评分对象为这一连续现场 episode。"
+     },
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "推断：任务文本规定服务仅在四根腿坐实锁定于不同螺柱、满足位置轴向公差、全部零件离手静止且无历史仿真崩溃，并通过末指令保持仿真 1 秒后的复验时返回 success。结合 log step 451 的服务结果与 reward.live_success=1，终态至少有1根合格装配腿，故本累计节点 final=true；无本次视频及状态日志，无法定位首次达成或中途失去时刻，intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次未提供视频或状态日志中的接触对；日志有机器人夹爪运动、开合和旋拧指令，但不足以确定本累计装配步骤实际由哪只夹爪接触哪根腿、是否夹紧或与另一臂同时作用于桌板。实际接触标未知，不从典型方案或成功示范复制。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "观察：log step 451 中，agent 控制脚本打印现场机器人服务返回的 done=True、reason=success；log step 12 的脚本表明 done 和 reason 直接读取服务 obs.meta。inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、settle_failed=0；sim_startups=1、resumes=0、replays=0，评分对象为这一连续现场 episode。"
+     },
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "推断：任务文本规定服务仅在四根腿坐实锁定于不同螺柱、满足位置轴向公差、全部零件离手静止且无历史仿真崩溃，并通过末指令保持仿真 1 秒后的复验时返回 success。结合 log step 451 的服务结果与 reward.live_success=1，终态至少有2根合格装配腿，故本累计节点 final=true；无本次视频及状态日志，无法定位首次达成或中途失去时刻，intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次未提供视频或状态日志中的接触对；日志有机器人夹爪运动、开合和旋拧指令，但不足以确定本累计装配步骤实际由哪只夹爪接触哪根腿、是否夹紧或与另一臂同时作用于桌板。实际接触标未知，不从典型方案或成功示范复制。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "观察：log step 451 中，agent 控制脚本打印现场机器人服务返回的 done=True、reason=success；log step 12 的脚本表明 done 和 reason 直接读取服务 obs.meta。inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、settle_failed=0；sim_startups=1、resumes=0、replays=0，评分对象为这一连续现场 episode。"
+     },
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "推断：任务文本规定服务仅在四根腿坐实锁定于不同螺柱、满足位置轴向公差、全部零件离手静止且无历史仿真崩溃，并通过末指令保持仿真 1 秒后的复验时返回 success。结合 log step 451 的服务结果与 reward.live_success=1，终态至少有3根合格装配腿，故本累计节点 final=true；无本次视频及状态日志，无法定位首次达成或中途失去时刻，intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次未提供视频或状态日志中的接触对；日志有机器人夹爪运动、开合和旋拧指令，但不足以确定本累计装配步骤实际由哪只夹爪接触哪根腿、是否夹紧或与另一臂同时作用于桌板。实际接触标未知，不从典型方案或成功示范复制。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "观察：log step 451 中，agent 控制脚本打印现场机器人服务返回的 done=True、reason=success；log step 12 的脚本表明 done 和 reason 直接读取服务 obs.meta。inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、settle_failed=0；sim_startups=1、resumes=0、replays=0，评分对象为这一连续现场 episode。"
+     },
+     {
+      "t": null,
+      "log_step": 451,
+      "text_zh": "推断：任务文本规定服务仅在四根腿坐实锁定于不同螺柱、满足位置轴向公差、全部零件离手静止且无历史仿真崩溃，并通过末指令保持仿真 1 秒后的复验时返回 success。结合 log step 451 的服务结果与 reward.live_success=1，终态至少有4根合格装配腿，故本累计节点 final=true；无本次视频及状态日志，无法定位首次达成或中途失去时刻，intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次未提供视频或状态日志中的接触对；日志有机器人夹爪运动、开合和旋拧指令，但不足以确定本累计装配步骤实际由哪只夹爪接触哪根腿、是否夹紧或与另一臂同时作用于桌板。实际接触标未知，不从典型方案或成功示范复制。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": null,
+ "summary_zh": "现场服务在 log step 451 返回 done=True、reason=success，评分器亦报告 live_success=1；据该任务的联合验收规则，四个桌腿累计装配节点终态均达成，零件离手静止并通过末指令保持仿真 1 秒后的复验，故无失败断点。该结果属于单次连续现场 episode（sim_startups=1、resumes=0、replays=0），并非另一次测试或离线回放。输入没有本次视频和状态日志，节点达成时间及中途变化无法核实，所有 intervals 保持 null、实际接触标为未知；六项原生指标未由评分器报告数值，均填 null，oracle 不能补作本次证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次运行无视频、无状态日志（video.kind=none），标注文件按规则将所有 intervals 置 null、四个累计节点 final=true（依据 log step 451 服务返回 success 与 live_success=1、sim_startups=1、resumes=0）、接触未知、无失败断点，均与证据一致；未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--f9475zf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--f9475zf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b3f72b3a302c2f5be6bd4e1f61ac8e777663e4332fbfac12a49de296fab8563",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--lqrviq7.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--lqrviq7.json
new file mode 100644
index 0000000000000000000000000000000000000000..596b53934d805cec121e3eee709dfa97e6a49467
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--lqrviq7.json
@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--lqrviq7",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 444676,
+   "sim_steps": 1778704,
+   "control_steps": 444676,
+   "sim_time_s": 1111.6900000054136,
+   "elapsed_s": 7178.5,
+   "service_time_s": 1349.2,
+   "calls": 5439,
+   "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": 8.545,
+   "peak_processes": 16,
+   "peak_disk_gb": 1.118,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 1,
+   "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": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 434,
+      "text_zh": "观察：本次无录像和状态日志；log step 434 中机器人服务仅返回 done=False、reason=None、settle_failed=0，没有逐腿锁定数、螺柱分配或装配公差报告。reward 的 success=0 是联合成功判定，不能单独判定“至少1根腿拧紧”的真假，因此终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 322,
+      "text_zh": "观察：log step 286、322、374 的 SEATED=True 均由 agent 自己的控制脚本依据末端下降量打印，并非评分器的 welded 或 assignment 报告；log step 437 中 agent 又自述“最终没有腿坐实在螺柱上”。这些记录不能替代本次装配状态的直接证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 130、218、278、322、374 记录 agent 脚本执行夹爪闭合、提举、竖腿、换握和旋转指令；但本次没有图像帧或接触对日志，无法核实哪只夹爪实际夹住桌腿、是否发生双臂交接或只是空夹。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 434,
+      "text_zh": "观察：本次无录像和状态日志；log step 434 中机器人服务仅返回 done=False、reason=None、settle_failed=0，没有逐腿锁定数、螺柱分配或装配公差报告。reward 的 success=0 是联合成功判定，不能单独判定“至少2根腿拧紧”的真假，因此终值未知。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 434,
+      "text_zh": "观察：本次无录像和状态日志；log step 434 中机器人服务仅返回 done=False、reason=None、settle_failed=0，没有逐腿锁定数、螺柱分配或装配公差报告。reward 的 success=0 是联合成功判定，不能单独判定“至少3根腿拧紧”的真假，因此终值未知。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 434,
+      "text_zh": "观察：本次无录像和状态日志；log step 434 中机器人服务仅返回 done=False、reason=None、settle_failed=0，没有逐腿锁定数、螺柱分配或装配公差报告。reward 的 success=0 是联合成功判定，不能单独判定“至少4根腿拧紧”的真假，因此终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": "legs_screwed_1",
+   "t": null,
+   "log_step": 218,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 130 起 agent 已向实时机器人提交取腿与竖腿动作；log step 218 的单腿安装脚本在右臂交接前因 QDOWN_R 未定义而中断，后续 log step 278、284、404、421 又在单腿安装过程中出现脚本或逆解失败。log step 437 中 agent 自述最终没有一根腿坐实并主动结束，故将最早未确认修复的装配步骤定位为第1根腿拧紧；这一定位依据操作日志和自述，非逐腿评分结果，无视频时刻可标。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 229,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的控制实现妨碍了单腿装配的连续执行。log step 176 写入的 Runner 初始化把双爪命令重置为255（张开），log step 229 在重新实例化后执行 hold，服务本体感知返回左爪开度从约0.0489米变为0.0800米，log step 231 随后修改初始化以读取当前开度；此外 log step 218 的 NameError、log step 278 的缺失方法异常、log step 284 的数组维数错误均直接中断安装脚本，后期 log step 404、421 仍因逆解失败而退出。可确认控制代码及求解执行有问题，但不能凭这些记录进一步断言桌腿如何掉落或何时失去装配关系。",
+    "note_zh": "候选细节：控制脚本异常；使用上位项“控制”，因为无本次录像和物体状态记录，无法确定夹持几何、轨迹求解或闭环控制各自对最终物理失败的贡献。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确为 kind=none（回放链接404且无本地视频），inputs/ 中也没有 states.jsonl；日志中图片仅有路径和尺寸，未提供可查看的图像内容。成功 oracle 属于另一条特权运行，不能证明本次接触或进展。服务状态未报告逐腿 welded、assignment、depth_m、lateral_m、axis_deg，故四个节点均保留未知、所有 intervals 和视频时间为 null，不能把 agent 脚本的 SEATED 或深度统计当作节点终值；也无法可靠区分空夹、滑脱、松手后倾倒等物理现象，现象层留空。第1根腿的断点及控制归因有日志依据但仍缺物体状态核验，其他计数节点没有可确认的累计装配操作证据，未额外标接触。reward 虽记录一次 agent 容器 OOM，但 log step 46 的子进程被杀后会话持续到 log step 437 且主动结束；infra_error=0、sim_error=0，不能据此认定整次运行被外因截断。"
+ },
+ "summary_zh": "评分器记录本次实时运行失败（success=0），但没有逐腿装配结果，四个节点终值均未知，不能将其写成已确认的0/4。日志显示 agent 反复执行单腿安装并在 log step 437 自述最终无腿坐实后停止，据此推断断点在第1根腿拧紧；控制脚本中意外张爪和多次异常退出有明确记录。缺少本次视频、状态日志及逐腿服务报告，实际抓握、掉落过程和节点达成时刻均无法核实，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": 7,
+    "summary_zh": "本次无录像、无状态日志（video.json kind=none），四个节点 final 保持 null、contact_actual 仅在第1节点标未知、断点定在第1根腿、现象留空并写 gap_zh，均符合 N9 与无证据不标的规则；控制根因有 log step 229（服务本体感知夹爪开度 0.0489→0.0800）和多次异常退出支撑，措辞已限定为推断。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:17Z",
+  "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-lack-i00-standard--lqrviq7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--lqrviq7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7217ab99096a57f1ad041da9725bd6aaffe2c11022b316b03f00a9047d95d93e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--onize9j.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--onize9j.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce3471d4871772a06d236772c696cf8e03860fb6
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--onize9j.json
@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--onize9j",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 194320,
+   "sim_steps": 777280,
+   "control_steps": 194320,
+   "sim_time_s": 485.80000000770264,
+   "elapsed_s": 10716.8,
+   "service_time_s": 178.0,
+   "calls": 775,
+   "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": 0.441,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.269,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 203,
+      "text_zh": "观察：log step 102 的机器人服务执行了换手指令，agent 脚本随后输出 held after handoff None；log step 199 的脚本输出 ORBIT UNSOLVABLE 并中止后续旋拧。log step 203 中 agent 自述结束时没有腿坐实锁定，但这不是评分器逐腿结果；本次无录像和状态日志，评分字段也未报告合格腿数，故本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 96、102、144、199 记录机器人对桌腿的拾取、换手、对准及旋拧指令；但本次没有录像或接触状态日志，无法核验夹爪是否形成对向夹持、双臂是否同时持腿及后续实际接触方式。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 203,
+      "text_zh": "观察：log step 203 中 agent 自述两根腿落地、另一根旋拧未完成、最后一根未动；这些是 agent 的总结。评分器仅给整体 success=0，未给至少2根腿坐实锁定的服务判定；本次无录像或状态日志，不能据此确定本节点终值。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 203,
+      "text_zh": "观察：inputs/run.json 的 reward 未提供 report.welded、assignment 或合格腿数量；log step 203 的未完成总结是 agent 自述。本次无录像或状态日志，不能核验至少3根腿坐实锁定，本节点终值未知。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward 报告 success=0、live_success=0、graded_by_live=1、finalized=1，但没有逐腿装配判定。推断：整体失败可能涉及装配、离手、静止等联合条件，不能由零分单独推出至少4根腿装配关系为假；本节点终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": "legs_screwed_1",
+   "t": null,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 102 的脚本尝试把待装桌腿从右夹爪交给左夹爪；log step 107 中 agent 指出接收夹爪被旧指令重新打开，log step 129 自述该腿已丢失并改试其他腿。后续 log step 199 的旋拧脚本仍中止，log step 203 自述没有任何腿完成装配，因此暂把首次未修复的失败定位到第1根腿拧紧操作中的换手（log step 102）。缺少本次画面，物理事件与是否曾达到装配数量均不能独立复核，视频时间留空。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 107,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 107 的代码替换明确显示，原换手脚本只在 grip_rows 的副本中闭合接收夹爪，未更新 q 就执行 hold_rows(q, 0.4)，随后又释放送出夹爪；log step 73 显示 grip_rows 先复制 q，不会修改原值，因此接收夹爪会收到旧的张开指令。log step 103 的服务本体感知读数为左夹爪开口0.08米、右夹爪开口0米，agent 在 log step 107、129 自述换手掉腿且未追回；这些证据支持夹爪指令状态维护错误妨碍首腿装配，但不单独证明掉落过程。",
+    "note_zh": "夹爪指令状态维护错误；以通用控制项记录，不把无画面支持的掉落自述升级为失败现象。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地录像），也没有 inputs/states.jsonl 或状态路径；日志中的 [picture] 占位符不是可检查的图像。评分器仅报告整体失败，没有逐腿坐实锁定结果或 DAG 原生指标；agent 的点云、自检和最终总结不能用作节点终值，故四节点 intervals、final 均为null。无法直接确认换手掉落、滑脱、碰撞或最终安装状态，实际接触填未知，失败现象留空；断点及控制归因基于脚本和日志作有限推断。已查看成功参照的 oracle 视频0、8、14、20、29.96秒，末帧可见四腿竖立于桌板角部，但参照不提供本次运行的证据。 关于审查I1：task/task_dag.json:154的criterion_zh同时描述四腿数量与联合终态，但同节点note_zh（:183）明确离手、静止及1秒复验不是逐腿计数门槛；按此说明保留legs_screwed_4.final=null。DECISIONS.md N9的当前处理只允许报告该节点的评分器或服务结果确定无录像节点终值，本次reward仅报告联合失败，未报告四腿装配计数；因此拒绝从整体失败反推本计数节点为false。判据与说明的措辞存在歧义，记录此分歧并将conf从5降至4。"
+ },
+ "summary_zh": "评分器确认本次单一现场运行整体失败（graded_by_live=1、live_success=0、resumes=0）；DAG明确离手、静止和1秒复验不属于逐腿计数门槛，故整体失败不能决定四个装配数量节点的终值，完成数仍未知。根据 log step 102、107 的换手脚本及后续记录，断点暂定位为第1根腿拧紧的操作中，控制脚本没有维持接收夹爪的闭合指令。无本次录像或状态日志，失败现象留空；审查I1所涉criterion_zh与note_zh对联合终态的措辞有歧义，虽按明确的计数说明保留未知值，仍将conf从5降至4。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无录像、无状态日志，标注整体保守且与日志一致（断点在第1根腿换手、控制归因有代码证据）。唯一问题：目标节点 legs_screwed_4 的判据包含联合终态，评分器 success=0（graded_by_live=1，单次现场运行）已足以判其 final=false，不应为 unknown。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无录像、无状态日志，四个计数节点 final=null 符合 N9（reward 只给联合 success=0，未报告逐腿数量；DAG note_zh 明确离手/静止/1秒复验不是计数门槛，故不能由总分推出 legs_screwed_4=false）。断点（换手，log step 102/107）与控制归因有脚本代码证据，现象留空并有 gap_zh，保守且一致。第1轮 I1 的拒绝有理，无新证据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:50Z",
+  "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-lack-i00-standard--onize9j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--onize9j/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--onize9j/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--onize9j/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eb678a65a830fd0c025b707ecda9f1c54e7824db1a0b9d63d1eabed1cd25ab27",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--qpnf4ky.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--qpnf4ky.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb869c3339378179b07fa72e519f575b6d66903
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--qpnf4ky.json
@@ -0,0 +1,259 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--qpnf4ky",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 23886,
+   "sim_steps": 95544,
+   "control_steps": 23886,
+   "sim_time_s": 59.714999999954756,
+   "elapsed_s": 2896.5,
+   "service_time_s": 82.3,
+   "calls": 26,
+   "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": 0.217,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.307,
+   "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": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且无状态日志；评分 reward 仅报告 success=0、live_success=0，未报告合格桌腿数量或逐腿锁定状态。log step 85 的现场服务返回 done=False、reason=None，并未报告“至少1根腿拧紧”的真假；agent 自己的深度测量不能依 N9 用作节点终值，因此保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 75,
+      "text_zh": "观察：log step 49、57、71、75、79、83、85 记录 agent 向同一现场服务提交针对 Leg 1 的取腿、换握、螺柱对准、旋拧及随后检查和修正的关节动作；reward 的 graded_by_live=1、sim_startups=1、resumes=0。推断：本次确实开展了第1根腿的装配工作，但动作执行和夹爪开度不足以证明腿已坐实锁定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 49、57、71、75、85 的脚本安排右夹爪取腿、双手换握及左夹爪旋拧，且有执行反馈；本次无可用图像及接触状态对，无法确认左右夹爪对第1根桌腿实际形成何种接触，故不把计划中的抓握或双臂协作当作已发生。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且无状态日志；评分 reward 仅报告 success=0、live_success=0，未报告合格桌腿数量或逐腿锁定状态。log step 85 的现场服务返回 done=False、reason=None，并未报告“至少2根腿拧紧”的真假；agent 自己的深度测量不能依 N9 用作节点终值，因此保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 86,
+      "text_zh": "观察：完整日志中的现场动作围绕 Leg 1 展开，log step 86 以 Gemini 过滤提示结束，未记录第2根腿装配动作或服务验收。推断：缺少本节点的结果证据；整体 success=0 还包含离手、静止和复验条件，不能据此反推本计数节点为假。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且无状态日志；评分 reward 仅报告 success=0、live_success=0，未报告合格桌腿数量或逐腿锁定状态。log step 85 的现场服务返回 done=False、reason=None，并未报告“至少3根腿拧紧”的真假；agent 自己的深度测量不能依 N9 用作节点终值，因此保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 86,
+      "text_zh": "观察：完整日志中的现场动作围绕 Leg 1 展开，log step 86 以 Gemini 过滤提示结束，未记录第3根腿装配动作或服务验收。推断：缺少本节点的结果证据；整体 success=0 还包含离手、静止和复验条件，不能据此反推本计数节点为假。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且无状态日志；评分 reward 仅报告 success=0、live_success=0，未报告合格桌腿数量或逐腿锁定状态。log step 85 的现场服务返回 done=False、reason=None，并未报告“至少4根腿拧紧”的真假；agent 自己的深度测量不能依 N9 用作节点终值，因此保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 86,
+      "text_zh": "观察：完整日志中的现场动作围绕 Leg 1 展开，log step 86 以 Gemini 过滤提示结束，未记录第4根腿装配动作或服务验收。推断：缺少本节点的结果证据；整体 success=0 还包含离手、静止和复验条件，不能据此反推本计数节点为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": 86,
+   "where": "未知",
+   "evidence_zh": "观察：log step 85 的最后一次现场动作 leg1_corr2 已执行46/46行，服务仍返回 done=False、reason=None、time_left=7942.0s；log step 86 随即出现“This request was blocked by Gemini's filters”，之后没有动作或完成报告。reward 记录 graded_by_live=1、control_steps=23886、success=0。推断：结果尚未固定时遭模型提供方过滤中断；已有现场执行，不能称为首步前未尝试，但缺少视频、状态日志和节点验收，无法确认中断前是否已有未修复的物理失败，故不强指定失败节点或位置。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无视频（inputs/video.json：HF 404 且无本地录像），也无状态日志；run.json 中 look 调用的 out.pics 均为空，只有图像路径和占位文字，无法检查实际接触、物体移动、座深、锁定或末态。评分只给联合成功与执行计数，不给逐腿装配结果；log step 77、84、85 的深度统计由 agent 自行计算，依 N9 不用于节点终值或实体接触现象。log step 85 尚 done=False 且有预算，log step 86 被提供方过滤中断，按 CASES.md FAIL-5 / D37 作为结果固定前的外因截断，建议重测并排除出 agent 失败归因；保留原评分 success=0，不填机器人失败现象或根因。虽然现场动作已执行，现有材料不能证明此前发生了不可修复的实体失败。已查看 oracle 视频 0、8、14、20、29.96 s 的参考帧，其四腿装配仅作成功外观参考，不能作为本次运行的证据；六项原生指标在本次评分字段均未报告。"
+ },
+ "summary_zh": "日志记录 agent 围绕第1根桌腿提交取腿、换握、对准和旋拧动作，但本次无视频、状态日志或逐腿验收字段，四个计数节点的终值均未知。log step 85 的服务仍返回 done=False、尚余7942.0秒预算，log step 86 随即遭 Gemini 过滤中断；这是结果固定前的外因截断，应重测，不归为机器人失败现象或根因。原评分 success=0 予以保留，无法定位已证实的物理失败断点，也不能用 agent 的深度统计或 oracle 的成功画面补作本次结果证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频、无状态日志；run.json 末步 log step 86 为 Gemini 过滤拦截，结果固定前被外因截断，按 FAIL-5 空现象/根因加 gap_zh、节点 unknown、断点 unknown 是合理的。未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:19Z",
+  "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-ikea-lack-i00-standard--qpnf4ky/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--qpnf4ky/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a51c4f65eb558cc7456e0560d4df93cf1d104aa70db7e88f92dd35ccf13bd60f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--x3grunx.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--x3grunx.json
new file mode 100644
index 0000000000000000000000000000000000000000..5406adfb3438d2bb24b8191acd7c40e1beede968
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--x3grunx.json
@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--x3grunx",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "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": 65970,
+   "sim_steps": 263880,
+   "control_steps": 65970,
+   "sim_time_s": 164.92500000069865,
+   "elapsed_s": 2178.1,
+   "service_time_s": 347.3,
+   "calls": 215,
+   "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": 0.66,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.331,
+   "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": {
+   "legs_screwed_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；log step 161 的服务末次 status 为 done=False、reason=None、settle_failed=0，评分记录 success=0，但均未报告当前坐实锁定的腿数。第1根腿拧紧节点的终值无法由这些联合验收字段决定，按 N9 保留未知；不把 agent 的深度计算或装配自述当作节点结果。"
+     },
+     {
+      "t": null,
+      "log_step": 114,
+      "text_zh": "观察：机器人控制调用在 log step 89–100 执行 L1 的接近、闭爪、翻转、换手和移向 LN 螺柱，log step 112 重新对准，log step 114 实际执行首根腿的逐圈旋拧，之后 log step 132、139 执行恢复抓取。日志能定位所尝试的步骤，但没有服务 welded、assignment 或合格装配数量报告，不能确认其曾坐实锁定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "首根腿确有机器人操作指令：先右爪闭合、再左爪接收并旋拧，随后左爪尝试恢复抓取（log step 90、94、114、132、139）；本次无视频和状态接触对，不能从爪宽或 agent 换手自述确定实际对向夹持及双臂同时接触，故作用端与方式均记未知。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；log step 161 的服务末次 status 为 done=False、reason=None、settle_failed=0，评分记录 success=0，但均未报告当前坐实锁定的腿数。第2根腿拧紧节点的终值无法由这些联合验收字段决定，按 N9 保留未知；不把 agent 的深度计算或装配自述当作节点结果。"
+     },
+     {
+      "t": null,
+      "log_step": 166,
+      "text_zh": "观察：完整操作日志的实体运动调用围绕 L1 的安装与恢复；其他腿仅出现在逆解干跑和计划中（如 log step 84、87），未见执行其安装的调用。agent 最终报告停止（log step 166）；没有可判断本节点终值的服务结果。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；log step 161 的服务末次 status 为 done=False、reason=None、settle_failed=0，评分记录 success=0，但均未报告当前坐实锁定的腿数。第3根腿拧紧节点的终值无法由这些联合验收字段决定，按 N9 保留未知；不把 agent 的深度计算或装配自述当作节点结果。"
+     },
+     {
+      "t": null,
+      "log_step": 166,
+      "text_zh": "观察：完整操作日志的实体运动调用围绕 L1 的安装与恢复；其他腿仅出现在逆解干跑和计划中（如 log step 84、87），未见执行其安装的调用。agent 最终报告停止（log step 166）；没有可判断本节点终值的服务结果。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 161,
+      "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；log step 161 的服务末次 status 为 done=False、reason=None、settle_failed=0，评分记录 success=0，但均未报告当前坐实锁定的腿数。第4根腿拧紧节点的终值无法由这些联合验收字段决定，按 N9 保留未知；不把 agent 的深度计算或装配自述当作节点结果。"
+     },
+     {
+      "t": null,
+      "log_step": 166,
+      "text_zh": "观察：完整操作日志的实体运动调用围绕 L1 的安装与恢复；其他腿仅出现在逆解干跑和计划中（如 log step 84、87），未见执行其安装的调用。agent 最终报告停止（log step 166）；没有可判断本节点终值的服务结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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": "legs_screwed_1",
+   "t": null,
+   "log_step": 114,
+   "where": "操作中",
+   "evidence_zh": "推断：本次为评分现场回合（reward.graded_by_live=1、sim_total.reset=0、reward.resumes=0）。机器人在 log step 114 执行 L1 的连续14圈旋拧，log step 115 的服务本体感知显示左爪开度由 log step 99 的0.0489米变为0；此后 log step 132、139 的恢复闭爪均未达到脚本的抓取阈值，直到 log step 166 主动停止，没有后续装配成功报告。因此首个未获修复的操作定位到第1根腿；具体失效时刻无视频可锚定，t=null。"
+  },
+  "unmet": {
+   "legs_screwed_1": null,
+   "legs_screwed_2": null,
+   "legs_screwed_3": null,
+   "legs_screwed_4": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": null,
+    "log_step": 115,
+    "evidence_zh": "推断：log step 94 的服务 gripper_opening 先为左右各0.0489米，右爪放开后左爪仍为0.0489米；log step 99 仍如此。log step 114 的旋拧脚本沿用左爪闭合指令且没有安排释放，log step 115 的服务本体感知却为 grip=[0,0.08]；结合 agent 在 log step 116 自述“leg is gone from the gripper”，支持左爪旋拧期间失去桌腿夹持。这里使用同一现场回合的服务爪宽反馈作推断，并未目视确认桌腿掉落路径或此前是否锁定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": null,
+    "log_step": 114,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 114 的实际执行代码固定循环14圈，每圈继续旋转并下压2毫米；虽然每圈读取深度、打印目标与实测TCP高度，却没有任何依据爪宽、跟踪误差或坐实情况停止或调整的分支。其 nut_bottom() 取高度0.03至0.30米窗口内所有点的最小高度，包含 agent 先前估计约0.0494米的桌板表面，输出在旋拧第1至9圈几乎恒为0.04933米，未被用于纠正动作；直到 log step 115 才读出左爪已全闭。由此推断接触过程缺少有效闭环监测与停转保护，解释了连续驱动中夹持丢失；不把 agent 所称“正确坐实后多拧约4圈”（log step 166）当作已验证的锁定时点。"
+   }
+  ],
+  "gap_zh": "无本次视频（inputs/video.json 明确为 kind=none，虽 reward.video_rendered=1，实际输入未提供该回放），也无状态日志；run.json 中图片仅为占位记录，无法核验实际接触、桌腿运动、锁定或桌板落地。四节点的终值及全部视频时段均未知，评分 success=0 仅否定联合成功，不能推出合格腿数为0；六项原生指标未由评分器报告，均记null。夹持丢失仅由现场服务爪宽变化及连续闭爪指令推断；agent 关于已坐实、过拧圈数、桌板被撬落地及无法恢复的说法和其深度/IK诊断未作为节点真值，也不另加带动本体或够不着现象。成功参考视频已查看参考视频0、8、14、20、29.96 s 的画面，只用于理解装配外观，不能替代本次证据。"
+ },
+ "summary_zh": "评分现场回合 success=0；机器人执行了首根腿 L1 的安装、旋拧与恢复操作，但无服务装配计数报告，四个节点终值均未知。首根腿旋拧后服务记录左爪由约0.049米闭至0，推断失去夹持，执行脚本未按每圈反馈停止或调整，根因标为反馈控制。无本次视频及状态日志，agent 所称桌板落地和已坐实后过拧均未能独立核验。",
+ "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），四个节点按 N9 记 unknown 合理；breakpoint 在 legs_screwed_1，没保持住（log step 115 服务爪宽 grip=[0,0.08]，log step 114 旋拧脚本固定14圈无停转分支）及反馈控制根因均有日志依据且标为推断，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:54Z",
+  "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-lack-i00-standard--x3grunx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--x3grunx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "555bb95cc1dc5cafc73cdb01b0bd0cb0e945b77212bce9a1d16b322d5e1ac4dc",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--2yrjuwy.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--2yrjuwy.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c0730e214bc09bc77ef5b8d801fcc4397bf1c1
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--2yrjuwy.json
@@ -0,0 +1,366 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--2yrjuwy",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 50947,
+   "sim_steps": 203788,
+   "control_steps": 50947,
+   "sim_time_s": 127.36749999989323,
+   "elapsed_s": 2819.4,
+   "service_time_s": 421.2,
+   "calls": 831,
+   "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": 1.039,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.554,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 308,
+      "text_zh": "观察：log step 308 的 agent 脚本向右臂发送抓取半架B、平移并绕竖直轴转180度的指令；log step 312 继续下放并打开夹爪。没有视频、状态日志或服务端半架相对位姿验收字段，脚本打印的“move onto A ok True”和点云质心不作为装配完成证据，节点末值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述两次拼合尝试后两半架仍相互斜靠、没有配合到位；这是 agent 的总结，不能代替本节点的服务端结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 190、201、234、308、312 记录左右夹爪分别闭合、搬运、下放及释放半架的操作指令。无视频或接触对记录，不能确认实际夹持、推压及两臂同时协作的接触情况。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述搁板未在装配位姿；日志记录了搁板点云分析，但未提供服务端搁板相对半架A的验收结果。无视频及状态日志，不能由该自述或整体零分判定本节点真伪。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 119,
+      "text_zh": "观察：log step 119 的脚本为观察螺栓请求近景位姿并计算点云；完整日志未记录服务端确认扳手被持起的结果。无视频及状态日志，不能核实夹爪是否曾夹住扳手并使其离开承托面。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述螺栓未在装配位姿；评分器未报告就座数量、各螺栓位姿误差或本节点结果。无视频及状态日志，无法判断合格螺栓是否至少有1颗，整体 success=0 不能单独确定此数量节点。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述螺栓未在装配位姿；评分器未报告就座数量、各螺栓位姿误差或本节点结果。无视频及状态日志，无法判断合格螺栓是否至少有2颗，整体 success=0 不能单独确定此数量节点。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述螺栓未在装配位姿；评分器未报告就座数量、各螺栓位姿误差或本节点结果。无视频及状态日志，无法判断合格螺栓是否至少有3颗，整体 success=0 不能单独确定此数量节点。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述螺栓未在装配位姿；评分器未报告就座数量、各螺栓位姿误差或本节点结果。无视频及状态日志，无法判断合格螺栓是否至少有4颗，整体 success=0 不能单独确定此数量节点。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 320,
+      "text_zh": "观察：log step 320 的服务状态为 done=False、reason=None，另有机械臂TCP与夹爪开口读数，但没有半架A的世界z轴夹角或框架竖立结果。无视频及状态日志，不能用机械臂停车或整体失败判定框架姿态。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：agent 在 log step 324 自述顶杆未在装配位姿；评分器只报告整体 success=0，没有顶杆相对位姿或叉口承托结果。无视频及状态日志，该自述不能确定本节点末值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": "half_b_assembled",
+   "t": null,
+   "log_step": 308,
+   "where": "操作中",
+   "evidence_zh": "推断：本次由实时单局评分，reward.graded_by_live=1、replays=0、resumes=0；log step 190 至312 的执行脚本反复围绕两半架抓取、转运和拼合，log step 308 再次将半架B送向半架A，log step 312 下放后释放。agent 在 log step 324 自述仍未拼合；log step 320 服务仍为 done=False，随后 agent 结束，评分器 success=0。结合操作目标与未解决的自述，将断点定位到拼合两半架；这不等同于已有证据确定该节点末值为false。无视频，时间留空。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 312,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 219 的 move_part 以可见点云簇的质心估计持物偏移；log step 308 使用该函数一次平移加180度转向后，log step 312 的下放脚本只根据点云最低点调z，未依据两个交叉点的相对位置与姿态误差修正横向及角度，停止下放便直接释放。agent 在 log step 324 也自述质心随悬挂姿态变化、放置精度不足而未拼合。上述会话代码和自述支持装配精调控制未解决这一粗粒度归因；缺少真实零件位姿与接触证据，不细分为抓取设计、逆解或反馈控制，也不据早期已重试的IK失败认定最终不可达。"
+   }
+  ],
+  "gap_zh": "没有可用视频（inputs/video.json：HF视频404且无本地视频），没有状态日志或成功参考视频；日志中的图像仅有文件路径和尺寸，未提供可观看图像。服务与reward只报告整体结果，不报告九个节点的验收值或原生误差指标，故所有intervals及final均为null，实际接触未知。agent 的点云统计、夹爪读数和最终自述仅作会话证据，不能证实拼合时是错位、滑脱还是阻挡，因此现象层留空；控制根因是根据脚本与自述的有限推断。log step 320 服务报告仍余8005.7秒，log step 324 后agent主动停止；不能把停止或其声称时间不足当作根因。"
+ },
+ "summary_zh": "本次为实时单局评分，评分器记录success=0；日志显示agent反复尝试拼合两半架，最后停车并结束，但九个节点均缺少可采信的逐节点结果，确认完成0/9、末值未知9/9。断点定位于拼合两半架，脚本与agent自述支持装配精调控制不足的有限推断；无视频及状态日志，无法确认实际接触、物理失败现象或任何节点的完成时刻。",
+ "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，评分器只给整体 success=0；九个节点均为 unknown、intervals 为 null、gap_zh 说明无视频，符合 N9。断点定位到拼合两半架且明确标为推断，控制根因标为有限推断，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--2yrjuwy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--2yrjuwy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7fdd5298cc932cc31554613b38c512c654291fd0b0b7a6d5b8f04672ad9ff096",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--5b6cjsv.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--5b6cjsv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c570a76ac6a254fb20e2a37859a7c4999101c6fd
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--5b6cjsv.json
@@ -0,0 +1,393 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--5b6cjsv",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 264240,
+   "sim_steps": 1056960,
+   "control_steps": 264240,
+   "sim_time_s": 660.6000000115181,
+   "elapsed_s": 5872.5,
+   "service_time_s": 742.7,
+   "calls": 158,
+   "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": 0.525,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.412,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 46,
+      "text_zh": "观察：log step 46、52 的脚本命令右臂抓搬半架A到装配区，log step 134 执行了用半架B救回半架A的动作序列；log step 142、153 中 agent 自述正式对合未执行。无视频、状态日志或服务的半架相对位姿验收字段，不能确认两个交叉点是否达标，末值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 46、52、134 的脚本分别尝试右夹爪搬运半架A、左夹爪操纵半架B救回半架A；log step 52 服务开度末尾8行中，张开前的5行均为 [-0.0001,-0.0001]。推断：这些闭合段采样支持右爪空夹；无可查看画面或实际接触对，仍不能确认其他时段的接触方式、零件是否随爪移动以及半架之间实际如何接触。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 交付脚本说明把推进搁板列为计划但未执行的阶段，log step 153 未声称搁板装配成功；评分器只报告整体 live_success=0，未报告搁板状态。无视频或状态日志，不能从计划和整体失败判定本节点末值。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 153,
+      "text_zh": "观察：log step 108—121 的脚本进行了金属零件定位与图像裁剪，log step 153 仅总结半架救回与观察动作，没有服务字段确认扳手持起事件。输入无视频或状态日志，不能确认夹爪是否曾夹持并抬离扳手，事件末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 脚本说明将拧螺栓列为未执行计划；inputs/run.json 的 reward 没有螺栓到座数量或位姿字段。无视频、状态日志或分项服务验收，无法判定至少1颗螺栓到座，末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 脚本说明将拧螺栓列为未执行计划；inputs/run.json 的 reward 没有螺栓到座数量或位姿字段。无视频、状态日志或分项服务验收，无法判定至少2颗螺栓到座，末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 脚本说明将拧螺栓列为未执行计划；inputs/run.json 的 reward 没有螺栓到座数量或位姿字段。无视频、状态日志或分项服务验收，无法判定至少3颗螺栓到座，末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 脚本说明将拧螺栓列为未执行计划；inputs/run.json 的 reward 没有螺栓到座数量或位姿字段。无视频、状态日志或分项服务验收，无法判定至少4颗螺栓到座，末值未知。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的 agent 脚本说明将竖起框架列为未执行计划；log step 147 的服务输出只有控制步数、机器人关节等状态，没有半架A相对世界向上的角度。无视频或状态日志，无法确认竖直判据，末值未知。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 153,
+      "text_zh": "观察：log step 124、153 中 agent 自述顶杆已被扫落到地面且不可达，其依据是自身深度反投影和聚类；log step 136—143 是相机观察位姿搜索。没有服务或评分器的顶杆装配位姿字段，也无视频、状态日志；不以 agent 自算位置或自述判定本节点末值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": "half_b_assembled",
+   "t": null,
+   "log_step": 46,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 46、52 中机器人执行的首项零件操作是为拼合两半架把半架A搬到装配区，log step 134 又执行半架救回序列；log step 142、153 中 agent 仍将正式对合列为未执行。结合评分器 live_success=0，最早未修复的操作环节定位为拼合两半架；无视频，不能定位具体失误时刻，也不能独立确认对合的物理结果。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": null,
+    "log_step": 52,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 52 的脚本调用 move_tcp 搬运半架A，在 waypoint 2 闭合夹爪、waypoint 6 张开；服务返回的 res.group(\"gripper_opening\") 末尾8行中，前5行均为 [-0.0001,-0.0001]，随后为 [0.08,0.0415]、[0.08,0.08]、[0.08,0.08]，该次服务反馈 clipped=0。推断：松开前所打印的闭合段采样中，右夹爪已闭到底，未建立搬运半架A所需的夹持，属于空夹；这是单一实时评分回合的服务读数支持的推断，不是 agent 自述。日志只打印末尾8行，不能把这些采样扩大为整段搬运每一行的观测；无视频，未夹住的具体原因无法确认。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 97,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 44、45 定义的 move_tcp 调用 _traj_arm，按 [qL(7),gL,qR(7),gR] 的16维布局直接插值，未调用 traj_rows；log step 46 首次搬运的服务 clipped 字段记录 right/actuator5、6 的逆解关节目标超限并被裁剪。另一路径中，log step 64 的 park.py 将16维 cur、tgt 送入 traj_rows，step 64、65 先因 STEP 索引错误退出，step 66 修复索引后执行；traj_rows 对 q0[:14] 插值再用 row(q[:7],q[7:14],g,g) 重组，使左夹爪通道进入右臂关节段。log step 95 的 ops.go 仍调用此路径，log step 97 目标右臂为 [1,-0.5,0.5,-1.5,0.5,1,0.5]，服务 joint_cmd 回读却为 [2.897,1,-0.5,-0.07,-1.5,0.5,1]。推断：最初搬运存在逆解超限及裁剪，后续恢复另受指令布局错位阻碍；后者出现在 step 64 之后，不能解释 step 46、52 的初次搬运失败。agent 在 log step 153 将错位归为接触阻挡的自述不能解释指令数组自身的移位。",
+    "note_zh": "保留控制大类，区分初期逆解超限与后期恢复指令错位两种机制。log step 52 的 clipped=0，不能将 step 46 的超限裁剪直接认定为该次空夹的原因；无零件接触对或可查看画面，具体抓握失效机制未确认，不进一步细分根因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 实际只有 run.json、video.json、meta.json、MANIFEST.json；video.json 标明 kind=none，视频获取为404且无本地视频，没有状态日志。日志中的图片仅有引用和偏移，未提供可查看的图像；reward 只有整体失败与执行统计，没有9个节点的分项状态及DAG原生误差指标。按无视频规则，全部 intervals 与末值保留 null；agent 的深度聚类、掉杆不可达、碰撞阻挡及末态无接触自述均不足以独立确认物理事实。log step 52 的服务开度支持空夹推断，但只打印了末尾8行，不能确认整段搬运的接触历史，也不能区分未夹住的具体原因或另有滑脱、碰撞、装配错位；断点依据动作脚本推断，未从画面定位。初期超限裁剪与后续错位已分开，二者与空夹之间的具体物理因果尚未直接观察。"
+ },
+ "summary_zh": "本次为单一实时评分片段，评分器记录 live_success=0、resumes=0、infra_error=0；9个节点均无可用分项验收，末值全部未知。断点据搬运及救回动作定位为拼合两半架，log step 52 的服务开度支持右爪空夹；初期逆解超限裁剪与后期指令布局错位分属不同路径，后者妨碍后续恢复，不追溯解释最初搬运。无视频或状态日志，接触现象及部分因果仍为推断，置信度保留6；不能核实 agent 自述的碰撞、掉杆及完整接触历史，13项原生指标均未报告。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频，节点全部 unknown、不判 final 符合 N9，断点 half_b_assembled 可接受。但失败现象层留空有误：log step 52 服务回读的夹爪开度在整段搬运中为 -0.0001（闭合到底、爪内无物），是对被评分回合的服务读数，支持“没建立接触”；另外根因证据把后期才出现的指令错位（traj_rows）说成妨碍了最早的搬运阶段，与日志不符。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，9个节点全 unknown、final 不判，符合 N9；断点 half_b_assembled（操作中）、log step 52 服务开度支持的「没建立接触」，以及把 step 46 逆解超限裁剪与 step 64 之后指令错位分开的「控制」根因，均与 run.json 一致，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": "2026-10-31T01:16:27Z",
+  "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-stegesund-i00-standard--5b6cjsv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--5b6cjsv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--5b6cjsv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--5b6cjsv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f9f5c32633d762694f851c98e5f42388e637d92d7e2d64c087ec24bb1e629c1",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--eou32uv.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--eou32uv.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e87754a2e58f025f30f7d8f3927353d12cdcdb
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--eou32uv.json
@@ -0,0 +1,366 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--eou32uv",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 194091,
+   "sim_steps": 776364,
+   "control_steps": 194091,
+   "sim_time_s": 485.22750000769014,
+   "elapsed_s": 10664.5,
+   "service_time_s": 1588.5,
+   "calls": 482,
+   "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": 0.309,
+   "peak_processes": 11,
+   "peak_disk_gb": 2.288,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 419,
+      "text_zh": "观察：agent 在 log step 419 自述“两处交叉点已就座”，log step 420 的相对位姿拟合来自 agent 自写视觉脚本；log step 494 又自述两半架在搁板插入时偏移。无视频、状态日志或服务逐节点验收字段，不能据这些自述和拟合确认本节点末值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 54、173、338、417 的 agent 命令记录了用左右Panda夹爪抓持、压合或夹压半架的尝试；未提供视频或机器人连杆与半架A/B的接触对，实际是否形成抓握、按压以及双臂同时接触均无法核实。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 508,
+      "text_zh": "观察：log step 481 的 agent 脚本命令左臂推进搁板，log step 485 命令松开并撤手；agent 在 log step 508 自述抬架时搁板滑出，在 log step 561 自述搁板未装好。无视频、状态日志或服务搁板验收字段，不能将这些自述或视觉拟合用作本节点末值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 441、447、463、475、481 的 agent 命令记录了右夹爪取搁板、尝试换到左夹爪、右夹爪固定半架并由左臂推进的操作；无视频或接触对，实际夹爪与搁板、框架的接触方式未知。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 561,
+      "text_zh": "观察：完整日志的动作脚本围绕两半架、搁板和竖架展开，未见针对内六角扳手的拿取命令；评分记录没有扳手持起字段。无视频或状态日志，无法核实扳手初态及持起事件，本节点末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 483,
+      "text_zh": "观察：agent 在 log step 483 自述螺栓尚未安装，log step 561 再次自述螺栓未装配；完整动作日志未见持扳手拧螺栓的命令，评分记录未报告螺栓就座数或逐颗误差。无视频或状态日志，不能确认至少1颗螺栓就座是否成立，本节点末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 483,
+      "text_zh": "观察：agent 在 log step 483 自述螺栓尚未安装，log step 561 再次自述螺栓未装配；完整动作日志未见持扳手拧螺栓的命令，评分记录未报告螺栓就座数或逐颗误差。无视频或状态日志，不能确认至少2颗螺栓就座是否成立，本节点末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 483,
+      "text_zh": "观察：agent 在 log step 483 自述螺栓尚未安装，log step 561 再次自述螺栓未装配；完整动作日志未见持扳手拧螺栓的命令，评分记录未报告螺栓就座数或逐颗误差。无视频或状态日志，不能确认至少3颗螺栓就座是否成立，本节点末值未知。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 483,
+      "text_zh": "观察：agent 在 log step 483 自述螺栓尚未安装，log step 561 再次自述螺栓未装配；完整动作日志未见持扳手拧螺栓的命令，评分记录未报告螺栓就座数或逐颗误差。无视频或状态日志，不能确认至少4颗螺栓就座是否成立，本节点末值未知。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 558,
+      "text_zh": "观察：log step 505、541 的 agent 脚本生成双臂转动框架的命令；log step 557 命令右臂下放并张开夹爪，log step 558 的服务输出只有机械臂 TCP、夹爪开度及 done=False 等信息，没有框架竖直角或本节点验收值。无视频或状态日志，无法确认半架A是否满足1度公差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 494、501、505、541、554、557 的 agent 命令记录了左右夹爪接近框架、闭合、双臂转动以及最后改用右臂下放和松开的尝试；无视频或接触对，不能据夹爪开度或命令确认实际抓握。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 561,
+      "text_zh": "观察：agent 在 log step 561 自述顶杆仍未装配，完整动作日志未见针对顶杆的取放命令；评分记录没有顶杆位姿或验收字段。无视频或状态日志，不能据 agent 自述确定本节点末值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": "shelf_assembled",
+   "t": null,
+   "log_step": 508,
+   "where": "操作中",
+   "evidence_zh": "推断：以装入搁板为断点。agent 在 log step 419 自述两半架已就座后，脚本转入搁板操作（log step 441—485）；agent 在 log step 508 自述“搁板在抬架时滑出并落回桌面”。log step 508—560 的后续命令继续竖架、换握和下放，未见重新插入搁板的命令，log step 561 仍自述搁板未装配，因而将这一被放弃且未修复的步骤作为推定断点。此判断来自命令顺序及明确归属于 agent 的自述，未获视频或服务节点值核实；不提供视频时间。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，无视频、状态日志或成功参考视频。reward 仅报告整体 success=0、live_success=0，没有各节点装配状态或原生误差；按 N9，9个节点的 intervals 与 final 均为 null，agent 的视觉拟合、夹爪读数及完成自述不代替节点结果。推断：搁板断点依据 agent 自述及后续未重做的动作顺序，无法独立排除更早的半架装配偏差仍未修复。实际抓握、搁板滑出方式及框架末态均无法核实，所以失败现象留空；日志中虽有后续竖架逆解失败，但它不能独立解释较早的搁板步骤为何失败，也不能证明抓取设计、感知或规划中的哪一项导致该断点，根因留空。"
+ },
+ "summary_zh": "评分器记录这局连续实时尝试失败（graded_by_live=1、resumes=0、infra_error=0），动作日志涉及拼合两半架、插入搁板及竖起框架，但9个节点的末值均缺少可接受的独立证据。断点推定为装入搁板：agent 在 log step 508 自述抬架时搁板滑出，后续未见重新插入命令，log step 561 仍报告未完成。输入无视频和状态日志，实际接触、失败现象及根因均无法核实，节点与时间保持未知。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，9个节点按N9保持unknown，断点（装入搁板，log step 508 agent自述滑出，之后改为先竖架，未重新插入，561仍未装配）明确标为推断并给出gap_zh，失现象/根因留空合理；log step 引用均存在且与自述一致，无换算时间。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": "2026-10-31T01:08:21Z",
+  "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-ikea-stegesund-i00-standard--eou32uv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--eou32uv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "85af1abf7e6089112f6b06fa1c695adcb2fd59b5775989d088d346f8e6b4b9b8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--ph29tnb.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--ph29tnb.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4edc32998a52e2fd0f06729d83633afcd778bd
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--ph29tnb.json
@@ -0,0 +1,384 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--ph29tnb",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 89268,
+   "sim_steps": 357072,
+   "control_steps": 89268,
+   "sim_time_s": 223.17000000197,
+   "elapsed_s": 3399.5,
+   "service_time_s": 489.7,
+   "calls": 854,
+   "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": 0.695,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.431,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 198,
+      "text_zh": "观察：log step 128–134 与 189–210 的控制脚本围绕两半架的抓取、翻转和摆位；log step 224 中 agent 自述未完成压合。输入没有视频或状态日志，评分器仅给整体 success=0，未报告半架相对位姿，不能据自述确认本节点真值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志中的双臂控制脚本确实针对两半架抓取与调姿，但没有可查看的画面或接触对记录；无法确认哪侧夹爪在何时真实夹持、推压了哪个半架，也不能确认双手是否同时有效接触。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述没有开始搁板装配，已检查的动作脚本围绕半架操作；评分器没有搁板装配结果字段。没有视频或状态日志，无法核实搁板初末态或装配误差，final 保留未知。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述尚未进入使用扳手拧螺栓的阶段；日志没有服务报告扳手实际持起的结果字段。无视频或状态日志，不能核实扳手是否曾离开承托面，事件真值未知。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述四颗螺栓操作均未开始；评分器没有报告就座数量或逐颗装配误差。无视频或状态日志，不能确认至少1颗螺栓在指定轨端合格就座，整体 success=0 也不能单独决定本节点真值。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述四颗螺栓操作均未开始；评分器没有报告就座数量或逐颗装配误差。无视频或状态日志，不能确认至少2颗螺栓在指定轨端合格就座，整体 success=0 也不能单独决定本节点真值。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述四颗螺栓操作均未开始；评分器没有报告就座数量或逐颗装配误差。无视频或状态日志，不能确认至少3颗螺栓在指定轨端合格就座，整体 success=0 也不能单独决定本节点真值。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述四颗螺栓操作均未开始；评分器没有报告就座数量或逐颗装配误差。无视频或状态日志，不能确认至少4颗螺栓在指定轨端合格就座，整体 success=0 也不能单独决定本节点真值。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述未进入竖起完整框架的步骤；半架单独翻转、摆位的脚本不报告半架A局部z轴与世界向上的夹角。无视频、状态日志或对应服务验收字段，不能确认本节点真值。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 中 agent 自述未开始顶杆放置；评分器未报告顶杆相对半架A的位姿结果。无视频或状态日志，无法核实初末态顶杆是否横跨两个叉口及满足公差，final 未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": "half_b_assembled",
+   "t": null,
+   "log_step": 198,
+   "where": "操作中",
+   "evidence_zh": "推断：评分器 graded_by_live=1、replays=0、resumes=0；log step 219 的服务 control_steps=89268、calls=854 与最终评分字段一致，因此日志操作属于同一次受评实时回合。log step 128–134、189–210 的脚本持续抓取、翻转和摆放两半架以准备拼合；log step 198 继续半架翻转，log step 210 的释放后撤运动报 MoveFail，log step 219 将双臂移回初位，log step 221 明确停止物理尝试，log step 224 自述两半架仍未压合。故最早持续处理而未完成的语义步骤定位为拼合两半架；该定位依据操作对象和脚本意图推断，缺少视频，不能给视频时刻。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "t": null,
+    "log_step": 178,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 148、153 的半架抓取脚本均在接近前下发左夹爪命令100，随后再下发0以闭合；log step 178 逐项测试命令100、150、200、255，服务返回的左夹爪开口分别约为−0.00001、0.02235、0.04980、0.08000米。命令100实际对应近乎完全闭合，不能提供接近抓取前的开口。推断：前述抓取脚本的预张开参数不当，归为控制·参数调试。",
+    "note_zh": "log step 224 中 agent 自述误解夹爪命令映射、部分抓取因此失败；“部分抓取因此失败”仅是 agent 的归因，未获视频或物体状态证据验证。该参数不当是否直接造成断点处的失败无法验证；无视频，现象层仍为空。不以关节力矩、计划与实际末端位置差或局部MoveFail作为跟踪失稳的证据。"
+   }
+  ],
+  "gap_zh": "输入 inputs/ 只有 run.json、video.json、meta.json、MANIFEST.json；video.json 明确 kind=none，未提供视频、可查看的日志截图、状态日志或成功参考视频。日志中的图片调用只留下[picture]占位，不能核实 agent 自述的半架滑落、倚靠底座、连杆碰倒或最终躺平；因此现象层留空，实际接触标未知。评分器只有整体失败结果，没有逐节点验收值或DAG原生误差指标，九个节点的 final 及全部时间区间均为null；操作脚本、夹爪开口和agent自行拟合的深度结果不替代节点验收。断点依据脚本上下文推断；夹爪预张开参数不当由命令和服务开口反馈支持，但其是否直接造成断点处的失败无法验证，具体物体运动与接触机制仍缺证据。"
+ },
+ "summary_zh": "评分器报告实时回合失败（success=0）；日志中的操作一直围绕两半架的抓取调姿，agent 在 log step 221 主动停止，并在 log step 224 自述未完成半架压合及后续装配，断点推断为拼合两半架。log step 148、153 的接近前夹爪命令100与 log step 178 的服务开口读数支持控制·参数调试，但该参数是否直接导致断点失败无法验证。无视频、状态日志或逐节点验收字段，九个节点末态均未知，实际接触及具体失败现象不能核实；置信度保持5，主要受断点推断及因果证据缺口限制。",
+ "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、无状态日志，各节点 unknown、现象层留空并写 gap_zh、断点按受评实时回合的脚本意图推断，这些都合理。问题只在根因证据：用关节力矩 ±87 和计划/实际末端偏差当作“跟踪困难”的证据不成立，只有服务的夹爪开口读数（100 时约 0 m）是可采信的观察。",
+    "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，九个节点 unknown、现象层留空并写 gap_zh、断点按受评实时回合脚本意图推断，均合理；根因已收窄到 step 148/153 的接近前命令100与 step 178 服务开口读数（100→约0 m），为可采信观察，且 note 已说明因果缺口。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--ph29tnb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--ph29tnb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--ph29tnb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--ph29tnb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8d099772e0023b950ed734647628568def94cc2f1487bbb8f8049dc72daeedf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--tfxqgqp.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--tfxqgqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..befbddfdfe35de1fa5bf5a9a062eba729a2d09de
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--tfxqgqp.json
@@ -0,0 +1,388 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--tfxqgqp",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 66772,
+   "sim_steps": 267088,
+   "control_steps": 66772,
+   "sim_time_s": 166.9300000007424,
+   "elapsed_s": 10669.9,
+   "service_time_s": 340.2,
+   "calls": 52,
+   "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": 0.375,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.413,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 290,
+      "text_zh": "观察：log step 244、260、289分别启动两半架压合、重新就座及调平后悬停的控制脚本；log step 290中agent自述上半架仍未完全就座并准备继续验证。无视频、无状态日志，服务及评分器未报告本节点结果；agent的深度分析不能确定实际装配达标，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 160、172、243、259、288的控制脚本依次命令左右二指夹爪操作两半架，后期命令右夹爪重抓上半架并压合。无图像、接触对或可靠持物结果，无法确认是否实际夹住、压到哪一零件及是否有同时双臂接触，故填未知。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 126,
+      "text_zh": "观察：log step 96、115的脚本将搁板搬往清场停放位置，log step 126中agent自述搁板已停放；后续记录围绕半架压合，未见装入搁板的执行记录。无视频或本节点服务结果，既不能确认停放效果，也不能以总评分失败推得装配终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 96、115命令右二指夹爪夹取并清场搬移搁板；没有可检查的画面或接触日志确认实际接触。此处仅记录对搁板的准备性操作，不表示已执行向框架装入。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 214,
+      "text_zh": "观察：log step 214是agent自编点云分析输出，列出扳手包围盒，未报告服务判定的持起事件；全日志未见执行持起扳手的脚本。无视频、状态日志或服务持物结果，无法判定该事件。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 214,
+      "text_zh": "观察：log step 214的螺栓包围盒来自agent自编分析；评分器只有整体success=0，未给出螺栓就座数或误差。无视频、状态日志及逐节点服务结果，至少1颗就座的终值未知。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 214,
+      "text_zh": "观察：log step 214的螺栓包围盒来自agent自编分析；评分器只有整体success=0，未给出螺栓就座数或误差。无视频、状态日志及逐节点服务结果，至少2颗就座的终值未知。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 214,
+      "text_zh": "观察：log step 214的螺栓包围盒来自agent自编分析；评分器只有整体success=0，未给出螺栓就座数或误差。无视频、状态日志及逐节点服务结果，至少3颗就座的终值未知。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 214,
+      "text_zh": "观察：log step 214的螺栓包围盒来自agent自编分析；评分器只有整体success=0，未给出螺栓就座数或误差。无视频、状态日志及逐节点服务结果，至少4颗就座的终值未知。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：log step 173中agent自述将两个半架分别侧立，以便交叉槽对合；这不是服务判定框架达到世界竖直方向的结果。无视频、状态日志或半架A世界朝向的评分器字段，竖起框架的终值未知。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 98,
+      "text_zh": "观察：log step 96的清场脚本计划将顶杆搬到桌边，log step 98的服务返回显示相应控制段执行且done=False、reason=None；未报告顶杆在叉口内。无视频、状态日志或顶杆装配位姿的服务结果，本节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 96的脚本命令左二指夹爪夹取并清场搬移顶杆，log step 98显示该控制段已执行；无画面或接触日志确认夹爪与顶杆的实际接触。此处仅记录准备性操作，不表示已向叉口放杆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": 296,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json 的 log step 296 明确记录 Gemini 过滤拦截；log step 289 启动的控制脚本之后，log step 292、293 仅有看图文字占位，log step 295 仅为 agent 自编深度检查输出，未见中断前交付已保存并验证或实时 episode 已结束的服务记录。inputs/video.json 为 kind=none，且无状态日志，不能确定物理失败节点。按 docs/03_trajectory.md Step 3 第5项，此外因中断的断点记为 unknown／首步前。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json为kind=none，inputs/未提供replay.mp4、states.jsonl或成功参考视频；日志中的看图调用只有文字占位，不能检查其图像。评分器虽记录success=0、finalized=1及66772个实时控制步，但没有各节点验收、物体位姿或接触字段；所有节点终值与视频区间均保留null，原生指标也未报告。log step 296明确记录模型提供方Gemini过滤中断；此前没有实时episode已结束或结果已不可逆固定的服务记录。该外因中断应重测，不据目录失败判为agent能力失败。log step 179、261、290的倾倒、错位和夹持倾斜解释均为agent自述，log step 295亦为其自编深度检查，缺少独立物理证据确认这些现象及是否已修复，故现象、根因均留空；按外因中断规则将断点记为unknown／首步前，不将中断前正在尝试的步骤认定为失败节点。"
+ },
+ "summary_zh": "观察：评分器记录实时会话success=0，累计66772个控制步；日志中agent先命令清场搬移顶杆和搁板，随后反复操作两半架，未提供任何节点级验收结果。观察：log step 296记录Gemini过滤中断，未见结果此前已固定的服务证据，按外因中断规则将断点记为unknown／首步前，保留重测需求，不据目录失败判为agent能力失败。观察：无视频和状态日志，9个节点终值全部未知，不能把agent的深度统计当成节点完成证据，也不能确认具体失败现象或根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点全部unknown、两层为空且gap_zh说明外因中断（log step 296 Gemini过滤）是合理的；但断点按外因中断规则应为ref=unknown、where=首步前，现在标成half_b_assembled/操作中是把agent叙述的推断当成断点。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；run在log step 296被Gemini过滤拦截（agent时钟10688 s，时限10800 s），此前无已固定的交付，断点unknown/首步前、两层为空并有gap_zh，符合03规则5；节点全部unknown无可反驳之处。",
+    "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": "2026-10-31T01:14:44Z",
+  "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-ikea-stegesund-i00-standard--tfxqgqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--tfxqgqp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--tfxqgqp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--tfxqgqp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66ac498430f95def4324c4191e3f6ec0fa370c62682cab326e8504862673f2cd",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--txhtzvt.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--txhtzvt.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc429540743556aa93de2c6136ba5989e167adb8
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--txhtzvt.json
@@ -0,0 +1,437 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--txhtzvt",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 37840,
+   "sim_steps": 151360,
+   "control_steps": 37840,
+   "sim_time_s": 94.59999999992303,
+   "elapsed_s": 923.1,
+   "service_time_s": 229.8,
+   "calls": 109,
+   "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": 0.239,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.259,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：log step 138 中机器人控制脚本在半架B抓取指令之后、抬升路径求解处抛出 Cartesian IK failed；log step 139 修改脚本，log step 140 再次启动装配，log step 154 列出半架B抬升与压合阶段的图像文件名。未提供这些图像的像素、视频或状态日志，服务也未报告半架B的装配结果，不能判定该步是否完成或后来恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 138、139、147 记录右夹爪对半架B的抓取、搬运或重新接近尝试；无视频及接触对，不能确认夹爪是否夹住半架B或实际压合方式。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 139 的脚本包含左夹爪接近搁板及闭合指令，log step 140 启动该脚本；log step 154 列出搁板插入阶段的图像文件名。文件名不证明搁板进入安装位置；无视频、状态日志或服务逐节点验收字段，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 139、140 记录脚本向搁板发送左夹爪接近与闭合指令；无视频及接触对，左夹爪与搁板的实际接触未知。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 128 记录右臂执行向扳手上方移动的指令；log step 140 启动装配脚本，log step 154 列出扳手抬升阶段的图像文件名。log step 156 中 agent 自述右臂拿起扳手，但没有可检查的图像、物体持有状态或服务拿起结果，不能据此确认持起。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 128 记录右臂向扳手上方移动，log steps 154、156 分别有扳手阶段文件名和 agent 持起自述；无视频及接触对，右夹爪与扳手实际如何接触未知。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 列出拧螺栓阶段的图像文件名；log step 156 中 agent 自述用右臂持扳手旋转腕关节驱动四颗螺栓。日志未给出服务确认的螺栓就座数量或逐颗位姿，装配脚本的相关中段在记录中被截省；无视频或状态日志，无法判定至少1颗就座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 154、156 有拧螺栓阶段文件名和 agent 用右夹爪持扳手驱动螺栓的自述；无视频及接触对，不能确认扳手与螺栓嵌合传扭，也不能确认实际操作了哪几颗。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 列出拧螺栓阶段的图像文件名；log step 156 中 agent 自述用右臂持扳手旋转腕关节驱动四颗螺栓。日志未给出服务确认的螺栓就座数量或逐颗位姿，装配脚本的相关中段在记录中被截省；无视频或状态日志，无法判定至少2颗就座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 154、156 有拧螺栓阶段文件名和 agent 用右夹爪持扳手驱动螺栓的自述；无视频及接触对，不能确认扳手与螺栓嵌合传扭，也不能确认实际操作了哪几颗。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 列出拧螺栓阶段的图像文件名；log step 156 中 agent 自述用右臂持扳手旋转腕关节驱动四颗螺栓。日志未给出服务确认的螺栓就座数量或逐颗位姿，装配脚本的相关中段在记录中被截省；无视频或状态日志，无法判定至少3颗就座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 154、156 有拧螺栓阶段文件名和 agent 用右夹爪持扳手驱动螺栓的自述；无视频及接触对，不能确认扳手与螺栓嵌合传扭，也不能确认实际操作了哪几颗。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 列出拧螺栓阶段的图像文件名；log step 156 中 agent 自述用右臂持扳手旋转腕关节驱动四颗螺栓。日志未给出服务确认的螺栓就座数量或逐颗位姿，装配脚本的相关中段在记录中被截省；无视频或状态日志，无法判定至少4颗就座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 154、156 有拧螺栓阶段文件名和 agent 用右夹爪持扳手驱动螺栓的自述；无视频及接触对，不能确认扳手与螺栓嵌合传扭，也不能确认实际操作了哪几颗。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 139 的脚本包含左夹爪闭合及转向目标姿态的指令，log step 140 启动该脚本；log step 154 列出框架竖起阶段的图像文件名。无视频、状态日志及服务报告的半架A朝向，无法确认框架实际被持起、转正或最终保持竖直。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 139、140 记录左夹爪闭合并转向框架竖起目标的脚本及执行启动；无视频及接触对，左夹爪与框架的实际接触未知。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log steps 105、113、121 记录顶杆试抓、抬升及放回的指令；log step 139 的装配脚本另包含右夹爪取杆、移向叉口目标并释放的指令，log step 154 列出顶杆放置阶段图像文件名。未提供实际图像、顶杆位姿或服务放置结果，不能判定顶杆两端是否进入叉口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log steps 105、113、121 记录左夹爪试取和放回顶杆，log steps 139、140 记录右夹爪取杆并向叉口放置的脚本及执行启动；无视频及接触对，实际抓持与放置接触未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": 155,
+   "where": "未知",
+   "evidence_zh": "观察：log step 155 中实时机器人服务在保持末行1秒后仍报告 done=False、reason=None、settle_failed=0；inputs/run.json 的 reward 报告 live_success=0、graded_by_live=1、finalized=1，且无基础设施或仿真错误。log step 138 的半架B抬升逆解失败后有修改并重跑（log steps 139、140），后续又有半架B接近求解失败（log step 147）；没有逐节点结果、视频或状态日志，不能确定最早未修复的物理步骤，也不能认定所有关系已达到而仅终态验收失败。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "推断：inputs/run.json 的 reward 终评为 live_success=0、graded_by_live=1、finalized=1，说明该次实时运行最终未成功；这不是 agent 在 log step 155 已知失败的证据。log steps 153、155 的 done=False、reason=None 只记录 episode 尚未终止，不单独作为成功验收结果。log step 155 报告剩余墙钟预算 time_left_s=9888.0，随后 log step 156 的 agent 最终报告以 Work Completed 将半架压合、搁板插入、四颗螺栓驱动、框架竖起及顶杆放置逐项描述为已完成，并停止交互；该自述也发生在 log steps 138、147 的逆解失败之后。log step 139 的脚本读取服务状态后，无成功分支判断便打印 Assembly completed；log steps 143、144 虽请求查看图像，但所提供日志没有保留可检查的像素或逐节点验收结果。结合最终评分失败、完成自述以及预算尚余时停止，推断 agent 将装配程序执行完视作任务完成，未继续核验和修复；这不能确定是哪一项物理关系失败。",
+    "source_zh": "日志 / agent 自述 / 评分器字段"
+   }
+  ],
+  "gap_zh": "已检查 inputs/：仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，无视频、状态日志或成功参考视频。日志中的 look 调用没有附带可查看的图像像素，不能把文件名或 agent 的动作自述当作物体移动、抓握或装配成功的证据；装配脚本中段及后台执行完整结果也未保留。评分器仅报告整体失败，没有九个节点的单项结果、装配误差、接触对或就座计数，因此全部节点终值、实际接触、物理断点及其时刻未知，失败现象留空；物理故障根因无法区分。逆解失败是真实的脚本反馈，但不足以证明后续重跑仍在同一物理节点失败。所有时间锚点和节点区间均为null，不将agent时间或控制步数转换为不存在的视频时间。"
+ },
+ "summary_zh": "实时评分运行失败（reward.live_success=0）；日志显示机器人执行了试取与装配控制指令，但没有服务逐节点结果，九个节点的实际达成情况均未知。物理失败断点无法定位，失败现象留空；结合最终评分失败、log step 155 剩余墙钟预算9888秒及 log step 156 的完成自述后停止，保留“误以为完成”的推断，不把 done=False 当作成功验收失败或 agent 已知失败的证据。无视频或状态日志，日志中的图像文件名不能证明抓持、装配与实际接触。",
+ "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/状态日志，节点全 unknown、断点 unknown、现象留空均合理。唯一问题：根因「误以为完成」的证据把 done=False 读成“未通过成功验收”，该读数不支持这一点。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频/状态日志，节点全 unknown、断点 unknown、现象留空并有 gap_zh；根因“误以为完成”已按上一轮意见改为推断并列出终评失败、逆解失败后的完成自述与剩余预算，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": "2026-10-31T01:14:23Z",
+  "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-ikea-stegesund-i00-standard--txhtzvt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--txhtzvt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--txhtzvt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--txhtzvt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c6213d9accdf6d91b54250cd6e17325b21d827d3d7eaaebf9f283403e1780f52",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--umbayme.json b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--umbayme.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbebe95da8bc3a0165202551aaac75e637560588
--- /dev/null
+++ b/phase2/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--umbayme.json
@@ -0,0 +1,366 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--umbayme",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "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": 177678,
+   "sim_steps": 710712,
+   "control_steps": 177678,
+   "sim_time_s": 444.1950000067945,
+   "elapsed_s": 8928.2,
+   "service_time_s": 1157.6,
+   "calls": 686,
+   "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": 0.319,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.525,
+   "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": {
+   "half_b_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 458,
+      "text_zh": "观察：log step 374、386、396、407、420、428、452–453 记录机器人半架B的夹持、搬移和重新放置指令；agent 在 log step 458 和537自述B已拼合，但依据是其自行处理的点云和结构解释。没有视频、状态日志或服务逐零件装配结果，不能核实两个交叉点及0.6毫米/1度公差，末态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 374–453 的机器人指令涉及半架B的夹持、搬移、压合与重新放置；无视频或接触对日志，无法确认左右夹爪实际接触半架的方式及是否同时作用。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 516,
+      "text_zh": "观察：log step 459–516 记录机器人反复夹持、推拉搁板的脚本；agent 在 log step 472 自述搁板已就位，后在 log step 483 改称仍差约9–10厘米；log step 516 的自制扫描输出包含IK失败及块体范围，log step 537 又自述已经推进到腿端。这些不是服务的装配验收结果；无视频和状态日志，不能判定是否达到0.6毫米/1度公差，末态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 459–516 的机器人指令涉及搁板的夹持及推拉；无视频或接触对日志，不能从夹爪开度或agent自述确定实际抓握、推扫、压擦及双臂配合。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 537 自述未重新找到内六角扳手，日志中的工具定位分析未提供服务的持起或接触判定；整体验收success=0也不报告扳手拿起事件。无视频和状态日志，无法确认扳手是否曾被夹住并持离承托面，事件结果未知。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 520,
+      "text_zh": "观察：log step 520 的agent脚本拟先推斜一颗螺栓以便夹持，但在机器人动作提交前因二维与三维数组相加而抛出ValueError，该log step的sim.submit=0；随后log step 521–530为小零件搜索及可达性检查。agent 在 log step 537 自述未拧入螺栓；评分器只给整体验收失败，没有逐螺栓结果。无视频和状态日志，不能以自述或自制扫描确定合格螺栓数量，末态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 520 的螺栓准备脚本在提交动作前报错，log step 521–530继续搜索候选小零件；无视频或接触对日志，无法确认探索过程中夹爪是否接触了真实螺栓，也不能认定发生手持扳手传扭。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 537 自述四颗螺栓均未拧入；日志没有服务报告的已就座螺栓数量，也没有单独执行第二颗螺栓装配的可靠记录。评分器success=0不决定至少两颗螺栓是否到位；无视频和状态日志，末态未知。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 537 自述四颗螺栓均未拧入；日志没有服务报告的已就座螺栓数量，也没有单独执行第三颗螺栓装配的可靠记录。评分器success=0不决定至少三颗螺栓是否到位；无视频和状态日志，末态未知。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 537 自述四颗螺栓均未拧入；日志没有服务报告的已就座螺栓数量，也没有单独执行第四颗螺栓装配的可靠记录。评分器success=0不决定四颗螺栓是否全部到位；无视频和状态日志，末态未知。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 537 自述因螺栓未安装而未尝试竖起框架；服务在 log step 534 仅返回done=False及剩余预算，没有半架A相对世界竖直方向的角度。没有视频和状态日志，不能从自述或整体失败推出本节点的末态值，末态未知。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 537,
+      "text_zh": "观察：agent 在 log step 527、537 自述顶杆仍在工作面并未尝试放入叉口，相关位置来自其自制点云分析；服务和评分器没有顶杆相对半架A的装配判定。无视频和状态日志，不能核实两端承托及位姿公差，末态未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_b_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_position_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shelf_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_position_error",
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "unit": "deg",
+   "threshold": 1,
+   "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": 520,
+   "where": "未知",
+   "evidence_zh": "观察：日志记录机器人先操作半架B（log step 374–453），再反复推拉搁板（log step 459–516），末段螺栓准备脚本在提交动作前报错（log step 520），之后搜索零件并停车（log step 521–534）；agent在log step 537自述半架和搁板已完成、其余未完成，但没有逐节点服务验收。推断：缺少视频和状态日志，不能确认早先半架或搁板的失败是否真正修复，因而不能可靠地选定第一个未修复步骤，也不能把末段螺栓脚本错误直接当作整条轨迹的断点。"
+  },
+  "unmet": {
+   "half_b_assembled": null,
+   "shelf_assembled": null,
+   "bolts_seated_1": null,
+   "bolts_seated_2": null,
+   "bolts_seated_3": null,
+   "bolts_seated_4": null,
+   "frame_upright": null,
+   "top_rod_placed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次inputs/仅有run.json、video.json、meta.json和MANIFEST.json；video.kind=none，无实际视频、oracle视频或状态日志。评分器报告success=live_success=0、graded_by_live=1、sim_startups=1、resumes=0、infra_error=sim_error=grader_error=0，但没有逐节点结果或DAG原生误差指标；全部节点final和intervals均保留null，不能把未知当作未完成或零进度。实际接触、最早未修复的装配失败及物理现象均无法核实，因此现象与根因留空。agent关于螺栓被搁板扫走、够不着等说法仅是自述，且log step 528的IK检查返回左臂可达，log step 529与531先后改判可达性和候选物身份；这些不足以确认碰撞、不可达、感知或规划根因。log step 520的代码异常可直接确认，但该步未提交动作，且之后仍继续搜索，无法证实它造成最早未修复的失败。log step 534服务仍报告time_left_s=1901.9、done=False，agent在log step 537自行结束；不将停止或预算记作原因。"
+ },
+ "summary_zh": "评分器记录本次单一实时执行最终失败，未报告基础设施或仿真错误；日志记录机器人反复操作半架B与搁板，末段搜索螺栓后停车。agent在log step 537自述半架拼合、搁板已推进而螺栓、竖架及顶杆未完成，但无视频、状态日志或逐节点服务结果，九个节点的达成情况均无法确认。早先操作是否修复不能核实，断点、物理现象和根因均不强行判定，所有视频时间留空。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，评分器仅给整体success=0；文件把所有节点、断点置为unknown，现象与根因留空并写明gap_zh，符合N9，未把agent自述或停止当作原因。未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:21Z",
+  "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-ikea-stegesund-i00-standard--umbayme/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--umbayme/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "96a9267600443deb009f6e29cd42c3d10cf782446e08070e38a2f35313aac423",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--dyspdmc.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--dyspdmc.json
new file mode 100644
index 0000000000000000000000000000000000000000..89fb9501ab18a02625a217490627b7f3cdd775da
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--dyspdmc.json
@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-privileged--dyspdmc",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 0.967,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.277,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 8,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、success=0，未报告评分轨迹中灯座的支撑力或姿态；本次无视频、无状态日志。log step 8 是 agent 自建调试会话的几何检查，不能据此判定评分终态的灯座直立在台，故保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付评分轨迹，机器人对该节点的评分轨迹接触不适用，调试会话接触不计入。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 350,
+      "text_zh": "观察：评分器仅报告 missing_trajectory=1、success=0，没有灯罩连接或卡接通过的评分结果；本次无视频、无状态日志。log step 350 中 agent 的脚本新建 Session 并保存调试快照，不是评分轨迹的交付或复检，不能据此确认灯罩卡接灯座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付评分轨迹，机器人对该节点的评分轨迹接触不适用，调试会话接触不计入。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 351,
+      "text_zh": "观察：评分器报告 missing_trajectory=1，未报告灯泡连接或锁定通过的评分结果；本次无视频、无状态日志。log step 351 中 agent 的脚本恢复调试快照、执行对准并打印螺纹指标，其输出是会话测试，不是已交付轨迹的评分终态，故不据此赋真或假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付评分轨迹，机器人对该节点的评分轨迹接触不适用，调试会话接触不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 351,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1、success=0，且没有本次评分视频或状态日志；log step 350 保存的是调试快照，log step 351 仍在恢复快照并对准灯泡，没有交付轨迹的记录。推断：没有可定位物理断点的评分尝试，按无交付情形记 unknown／首步前；log step 351 仅作会话末尾的导航锚点。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 没有本次 replay.mp4 或 states.jsonl；评分器 missing_trajectory=1，未提供三个节点的评分终态或五项原生指标。成功参考视频 inputs/oracle/replay.mp4 属于另一运行，不能证明本次进度。log step 350–351 是 agent 的调试快照及对准测试；最后一条非空自述（log step 327）仅称正在等待测试完成。观察：run.json 记录 wall_s=10802、time_limit_s=10800；推断：会话在预算边界结束，但预算用尽本身不作为现象或根因。按 DECISIONS.md D23，无交付时会话测试不能成为评分轨迹现象，亦不能仅由交付缺失推断控制、规划或交付操作错误，因此现象与根因均留空；按 N9，三个节点的 intervals 与 final 均保留 null。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1；没有可核实的评分轨迹，灯座直立在台、灯罩卡接灯座和灯泡拧入灯罩三个节点的终态均未知。观察：log step 350–351 仍在保存、恢复调试快照并对准灯泡，运行记录的 agent 会话耗时为 10802 s、预算为 10800 s；推断：会话在预算边界结束而未形成评分交付，断点记 unknown／首步前，现象与根因留空。观察：本次无视频、无状态日志且评分器没有逐节点结果，成功参考视频不能补足这些证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1；节点全为 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23 与 03 的无交付规则，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": "2026-10-31T01:20:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work_rerun1/runs/roboarc-ikea-svallet-i00-privileged--dyspdmc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/roboarc-ikea-svallet-i00-privileged--dyspdmc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3824d6f93b0701c2a9f6e084c096102f88f6d1cd1e89699ee10f5304db1cb516",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--xespd6j.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--xespd6j.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b894d65d235f248519cc7600bc907cb7d384f3
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--xespd6j.json
@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-privileged--xespd6j",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 1.325,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.339,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1597,
+      "text_zh": "观察：inputs/run.json 的 reward 为 success=0、missing_trajectory=1；log step 1597 的输出目录列表为空，inputs/video.json 为 kind=none，未提供本次运行的状态日志。评分器未报告灯座支承力或直立误差，无法确认受评终态；任务规定的初始直立状态不能替代缺失轨迹的观测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，无交付的受评轨迹；不将会话测试中的夹爪接触记为轨迹接触。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1597,
+      "text_zh": "观察：inputs/run.json 的 reward 为 success=0、missing_trajectory=1；log step 1597 的输出目录列表为空，inputs/video.json 为 kind=none，未提供本次运行的状态日志。评分器未报告受评轨迹的灯罩卡接状态；会话中安装灯罩的测试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，无交付的受评轨迹；不将会话测试中的夹爪接触记为轨迹接触。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1597,
+      "text_zh": "观察：inputs/run.json 的 reward 为 success=0、missing_trajectory=1；log step 1597 的输出目录列表为空，inputs/video.json 为 kind=none，未提供本次运行的状态日志。评分器未报告受评轨迹的灯泡锁定状态；log step 1681 的腕部偏移测试及 log step 1684 的几何检查均是会话调试，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，无交付的受评轨迹；不将会话测试中的夹爪接触记为轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1597,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0、grader_error=0；log step 1597 显示交付输出目录为空，log step 1681、1684 仍分别进行腕部偏移测试和灯罩边缘几何检查。推断：没有可定位物理失败步骤的受评轨迹，故断点记 unknown／首步前；这不表示机器人在会话测试中从未运动。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次运行没有交付轨迹（reward.missing_trajectory=1），inputs/video.json 为 kind=none，也没有本次状态日志；评分器没有逐节点结果及五项原生物理指标。日志的末次记录为 log step 1684，say 为空；run.json 的会话墙钟耗时为 10802 s、预算为 10800 s。推断：会话在预算末尾仍处于测试阶段，但这些局部测试不能确定受评节点进度、实际接触或物理失败现象；仅凭交付缺失及耗尽预算也不能指定能力根因，故现象和根因均留空。inputs/oracle/replay.mp4 属于另一成功运行，不能补足本次证据。"
+ },
+ "summary_zh": "评分器报告 success=0、missing_trajectory=1，未交付可评分轨迹，三个节点终值均未知。log step 1597 显示输出目录为空，log step 1681、1684 仍在局部测试；会话墙钟耗时 10802 s，预算 10800 s。无本次视频、状态日志或逐节点评分结果，断点记 unknown／首步前，实际接触记不适用，失败现象与根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1，三节点 unknown/final null、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 03 的无视频与未交付规则（N9、D23）；未把超时或会话测试当作现象/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": "2026-10-31T01:00:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--xespd6j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--xespd6j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "64af983253ef741dd518a4f05fc8a75fd4b46ce054e143a656e221c344a11b51",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--hcmxvke.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--hcmxvke.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c2b7a5dc2a7eff0c79741b5353117ce4292697c
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--hcmxvke.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--hcmxvke",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 211722,
+   "sim_steps": 846888,
+   "control_steps": 211722,
+   "sim_time_s": 529.3050000086522,
+   "elapsed_s": 6446.7,
+   "service_time_s": 501.8,
+   "calls": 441,
+   "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": 0.66,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.44,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 895,
+      "text_zh": "观察：本次无轨迹视频、无状态日志；log step 895 的实时服务状态只有 done=False、reason=None、control_steps=211722 等整局字段，未报告灯座支撑力、姿态误差或该节点判定。不能由整项 success=0 推出灯座终态为假，终值保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 914,
+      "text_zh": "观察：agent 在 log step 914 自述灯座起先直立、末次搬运灯泡时被撞倒；这是 agent 的总结，不是服务的节点结果，无法据此确定灯座曾满足、何时失去或最终是否恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：无本次视频和接触状态日志；agent 在 log step 914 声称机械臂撞倒灯座，无法核实作用连杆、碰触方式或是否有稳座接触。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 276,
+      "text_zh": "观察：log step 126、156、270 记录 agent 启动灯罩装配及重试脚本；log step 276 的服务状态为 done=False，但没有 s1-mount-shade 的 connected、passed 或接口容差字段。无本次视频，不能核实卡接是否实际完成。"
+     },
+     {
+      "t": null,
+      "log_step": 914,
+      "text_zh": "观察：agent 在 log step 914 自述先将灯罩卡牢，后来灯罩脱离并掉落；没有对应的服务节点判定或可查看的本次图像，不能将这些自述用于节点终值，保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 126、156、270 启动灯罩抓取及压装脚本；无本次视频或接触对，无法确认夹爪实际夹持灯罩及双臂是否同时作用。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 465,
+      "text_zh": "观察：log step 326、356、459、883 记录 agent 多次启动灯泡装配脚本；log step 465 是 agent 控制脚本打印的接近、闭爪、抬升及旋拧指令执行进度，不是灯泡已拧入的服务判定。"
+     },
+     {
+      "t": null,
+      "log_step": 895,
+      "text_zh": "观察：log step 895 服务状态仍为 done=False、settle_failed=0，评分器最终 success=0、live_success=0；均未单独报告 s2-thread-E12-bulb 的 connected、passed。无本次视频和状态日志，灯泡连接终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 465 打印夹爪闭合及搬运、旋拧指令，log step 883 再次启动灯泡装配脚本；无本次视频或接触对，无法确认夹爪与灯泡的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 895,
+   "where": "未知",
+   "evidence_zh": "观察：log step 276 的灯罩装配后状态与 log step 895 的末次灯泡操作后状态均仅报告整局 done=False，没有节点结果。agent 在 log step 914 自述灯罩先卡牢、末次搬运灯泡撞倒灯座并使灯罩掉落，但本次无视频和状态日志可核实。推断：能确定 agent 已启动装配操作，却无法判断灯罩卡接是否曾修复，因而不能区分最早未修复的是灯罩装配、灯泡拧入还是灯座直立状态的丢失；断点节点与位置保留未知。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，未提供本次 replay.mp4，也没有 inputs/states.jsonl；日志中的图像查看条目只有占位文本，没有可供本次标注查看的图像。评分器只给整项 success=0，服务状态没有三项节点判定；原生指标也未在 reward 中报告。已查看成功参考视频的粗采样帧，参考画面不能证明本次进度。推断：agent 在 log step 914 自述的碰撞、灯座倾倒和灯罩掉落，以及 log step 875、877 自算的关节插值路径，只能提示候选执行问题，无法核实实际接触事件和最早未修复步骤，故现象与根因留空。log step 909 修改绕行航点后，至 log step 914 未记录再次执行；该修改不计入实时评分轨迹。"
+ },
+ "summary_zh": "日志显示 agent 启动了灯罩装配和多轮灯泡拧入操作，评分器最终判定失败；三个节点都缺少逐项服务结果，终值均为未知。agent 在 log step 914 自述末次搬运灯泡撞倒灯座、灯罩掉落，但本次无视频或状态日志，无法核实进度、实际接触、最早未修复断点及物理原因；末尾脚本绕行修改没有再次执行记录。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频（video.json kind=none）、无状态日志，只有整项 success=0；三节点终值、断点、现象与根因均保持未知并附 gap_zh，符合 03 的证据纪律，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": "2026-10-31T01:02:42Z",
+  "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-svallet-i00-standard--hcmxvke/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--hcmxvke/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "161b1c8f70ce1bd73ee2f1255d48878fda932e499afad8725ef124c8e0043701",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--jvccj6h.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--jvccj6h.json
new file mode 100644
index 0000000000000000000000000000000000000000..effc7db909ce6538c481061473015df2b4d07d1d
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--jvccj6h.json
@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--jvccj6h",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 1489931,
+   "sim_steps": 5959724,
+   "control_steps": 1489931,
+   "sim_time_s": 3724.827500197152,
+   "elapsed_s": 8145.7,
+   "service_time_s": 2180.1,
+   "calls": 3442,
+   "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": 0.457,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.354,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 416,
+      "text_zh": "观察：log step 416 的服务状态仅报告 done=false、reason=null、settle_failed=0 和控制步计数，没有灯座支撑力或姿态验收字段；最终 reward 也只有整项 success=0，不能据此判灯座节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 445,
+      "text_zh": "观察：agent 在 log step 445 自述灯座已落到台外地面，且恢复失败；这是 agent 对其照片和探测结果的解读。未提供本次视频或状态日志，不能独立确认灯座终态，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 332–444 包含左夹爪闭合、提升、搬回台面及后续抓取搜索指令；无本次画面或物体接触日志，不能确认左爪实际碰到灯座的部位、是否夹住或如何施力。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 245,
+      "text_zh": "观察：log step 245 的脚本执行灯罩楔入、提升、搬向柱顶和下压指令，并打印左夹爪 TCP 与开度；这些本体读数不报告灯罩是否随爪移动或卡接成功。"
+     },
+     {
+      "t": null,
+      "log_step": 302,
+      "text_zh": "观察：log step 302 的 mounted_check: high 0 low 0、shade NOT mounted 来自 agent 自写图像检查；同条服务状态只报告 done=false、reason=null，没有 s1-mount-shade 的 connected、passed。无本次视频或状态日志，不能以该自检确定节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 108、211、245、302 记录左夹爪尝试夹取、推倒、楔入和压装灯罩；缺少本次图像及物体接触对，无法区分实际抓握、推压、楔住或空夹，接触标未知。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 203,
+      "text_zh": "观察：log step 203 的脚本尝试用左爪抓灯泡并移向交接位置，在调用缺失的 lib.move_right 时抛出 AttributeError；log step 206、208 又执行闭爪和提升。没有图像可核对灯泡是否离台、被持握或进入灯罩。"
+     },
+     {
+      "t": null,
+      "log_step": 445,
+      "text_zh": "观察：agent 在 log step 445 自述灯泡仍在台面、装配未完成；评分器 reward 未报告 s2-thread-E12-bulb 的 connected、passed。整项失败不能单独决定灯泡节点，故 final 未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 203、206、208 记录左夹爪向灯泡估计位置下降、闭合并提升；没有本次画面或接触对，无法确认夹爪实际是否及如何接触灯泡，亦不能认定双臂交接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shade_on_stand",
+   "t": null,
+   "log_step": 245,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 245 的左臂脚本已进入灯罩搬运压装，agent 随后在 log step 251 自述该次卡接失败，并持续重试至 log step 302；之后转向灯座恢复，log step 433、445 仍自述装配未完成。依这些操作与持续重试记录，将最早未修复的步骤推定为灯罩卡接灯座，而非后来才开始的灯座恢复；无本次视频，无法核实具体物理失败事件及首次发生时刻。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404，且无本地视频），inputs/ 中无状态日志；日志中的图片仅保留占位符和索引，无法查看本次操作画面。评分器只有整项成败，服务状态也未给出三个节点的独立验收字段，故全部 intervals、final 及原生物理指标留空未知，不能从 success=0 推成三个节点均失败。日志足以识别尝试过的步骤，但不能确认实际接触、是否曾卡牢、灯座被碰倒或零件滑落等物理现象，故现象层为空，断点仅为日志推断。无视频无状态，log step 245–251 断点处的失败原因无法从日志判定。log step 280 使用像素目标 (480,555)，求解残差为 252.9，但像素读数的来源坐标系未证实；log step 275 曾将图像放大到 900×900 查看。该大残差目标只是后续一次重试中的瑕疵，不能解释此前断点处的失败，也不足以证明最终失败的根因；log step 284–285 已改用深度点云估计灯罩位置，log step 286 的首次提升滑脱仅为 agent 自述。因此根因层留空。已查看成功参考视频的粗采样和末帧；该视频只说明成功外观，不能替代本次证据。"
+ },
+ "summary_zh": "评分器以单次实时 episode 判整项失败（graded_by_live=1、success=0、sim_startups=1、resumes=0），日志包含灯罩抓取压装、灯泡抓取及后续灯座恢复尝试，但三个节点的终值均无独立验收证据。依据持续重试和 agent 的未完成报告，断点推定在灯罩卡接灯座；log step 280 的定位重试晚于断点，不能据其大残差目标将断点或最终失败归因于感知。缺少本次视频与状态日志，无法确认实际接触、物理失败现象及断点处根因，也不能给出视频时间或节点完成数，conf 维持 4。",
+ "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，三个节点 unknown 与 final=null 合理，未发现时钟或节点值错误。问题在断点与根因的对应：断点定在 log step 245–251 的首次卡接失败，但唯一的根因“感知”取自其后 29 步（log step 280）的另一次尝试，不能解释断点处的失败；且该尝试的目标像素来源未证实，感知结论属过强推断。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志（video.json kind=none），三个节点保持 unknown、final=null，符合证据规则；断点标为推断并说明无法核实，现象与根因留空且有 gap_zh，已采纳上一轮意见，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": "2026-10-31T01:14:01Z",
+  "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-ikea-svallet-i00-standard--jvccj6h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--jvccj6h/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--jvccj6h/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--jvccj6h/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9dc01e9a2dd047280f8d6bd8f23f7b4b9c2d23dfee4b94984e9a34db7cb6d71e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--n75cjij.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--n75cjij.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab7abc256d42a5abb7804c5003b2b7f27d04b2c
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--n75cjij.json
@@ -0,0 +1,236 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--n75cjij",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 235116,
+   "sim_steps": 940464,
+   "control_steps": 235116,
+   "sim_time_s": 587.7900000099288,
+   "elapsed_s": 4974.2,
+   "service_time_s": 917.2,
+   "calls": 1386,
+   "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": 0.295,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.46,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 217,
+      "text_zh": "观察：log step 217 的机器人实时服务 status 只报告 done=false、reason=null、settle_failed=0、resumes=0；run.json 的 reward 报告 live_success=0、graded_by_live=1、finalized=1，均未给出灯座支撑力或姿态验收值。本次无视频、无状态日志，不能由整灯失败推断灯座失去直立支承，终值未知。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 188,
+      "text_zh": "观察：log step 187–188 的 agent 脚本向左夹爪发送闭合、抬升及转为横向的指令，准备在双臂之间操作灯罩；log step 218 中 agent 自述灯罩后来落到桌后地面、尚需压到灯座上。日志未提供 s1-mount-shade 的 connected、passed 或服务逐节点终值；无本次影像，不能用自述或脚本深度拟合结果判定卡接节点，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 42–53、75–93、144–148、180–188 有针对灯罩的夹爪开合、移动及调姿指令；本次无可查看的帧或接触对记录，不能确认夹爪实际夹住、楔住或推压灯罩的方式，也不能确认灯罩是否与灯座发生装配接触。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 206,
+      "text_zh": "观察：log step 201 的 agent 脚本向右臂发送沿估计灯口轴推进的指令，log step 205–206 发送右腕旋转和继续推进指令；log step 218 中 agent 自述螺纹没有咬合。服务及评分器没有报告 s2-thread-E12-bulb 的 connected、passed；脚本打印的末端推进量并非灯泡锁定判据，无视频或状态日志可复核，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 187–188、191、201、205–206 的脚本安排左臂维持灯罩姿态、右臂闭爪后推进并旋拧灯泡。缺少本次帧和接触对，无法确认两爪各自实际持物、灯泡与灯口的接触及灯罩脱手经过，实际接触两维均记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bulb_in_shade",
+   "t": null,
+   "log_step": 205,
+   "where": "操作中",
+   "evidence_zh": "推断：这是实时评分的单次 episode（run.json 的 graded_by_live=1、sim_startups=1、resumes=0、replays=0）。log step 201、205–206 的 agent 脚本实际提交对准灯口的推进和连续旋拧命令；随后 log step 210、213 改为移动腕相机寻找灯罩，log step 218 中 agent 自述旋拧时灯罩脱手、螺纹未咬合并停止。本次未出现后续完成该旋拧步骤的服务结果，最终 live_success=0，故将未修复的工作步骤定位为灯泡拧入灯罩；具体物理失效时刻无影像可定位，t 留空。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": null,
+    "log_step": 218,
+    "source_zh": "agent 自述",
+    "evidence_zh": "推断：log step 218 中 agent 明确自述左夹爪只能楔住灯罩窄端，横向旋拧时右夹爪及旋转把灯罩推出左爪；log step 217 写入的经验记录也把该次失败描述为旋拧期间灯罩落桌。这一具体承载与反力说明支持将灯罩固定接触不足归为抓取和接触设计问题，而非将停止或预算当成原因；log step 187–188、205–206 的指令序列与其所述双臂横向操作方案相符。实际接触和滑脱未经本次影像独立核实，可行替代握法未知。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（回放下载返回 404，未有本地视频），也没有状态日志；run.json 的图片只有占位文字和索引，无法检查本次末态、夹持或掉落。评分器只给出整项失败，服务 status 未报告三个节点的验收字段，因此所有节点 final、intervals 及视频时间均留 null；不能把零分、自述或 agent 自行计算的深度和末端推进量作为节点值。灯罩脱手及螺纹未咬合仅由 agent 自述，故失败现象层留空；根因仅是该具体接触方案自述支持的推断，缺少独立接触证据。五项原生指标均未报告，value 留 null。log step 217 的服务 time_left_s=5849.2，与 log step 218 中 agent 自述剩余约 75 分钟不一致；可确认其停止时仍有预算，不能将其称为预算耗尽。参考成功视频属于另一运行，不能补成本次事实。"
+ },
+ "summary_zh": "本次实时评分失败；日志记录了灯罩抓取调姿、灯泡换手，以及双臂横向推进和旋拧的命令，但没有三个节点的服务验收值，节点终值均未知。断点推断为灯泡拧入灯罩；agent 在 log step 218 自述楔持灯罩的接触在旋拧反力下失效，据此保留控制·抓取和接触设计根因，实际失败现象因缺少直接证据留空。本次无视频、无状态日志，无法给出视频区间或独立确认卡接、锁定与接触。",
+ "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，标注按 N9 将三个节点 final 与 intervals 留 null、gap_zh 说明缺视频，契约和时钟均无问题；断点（灯泡拧入灯罩，旋拧时灯罩脱手）与抓取和接触设计根因均明确标为推断且基于 agent 自述，未把自述当作观察，现象层留空并有 gap_zh。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": "2026-10-31T00:59:53Z",
+  "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-svallet-i00-standard--n75cjij/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--n75cjij/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b9d670eac2baf014a31f6e67570268a7f0eebb37f28d0b54a78831053e6b596",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--p3h4wub.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--p3h4wub.json
new file mode 100644
index 0000000000000000000000000000000000000000..df2d888a45a620dd7c8419b0c064b98f7bf58c31
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--p3h4wub.json
@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--p3h4wub",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 47879,
+   "sim_steps": 191516,
+   "control_steps": 47879,
+   "sim_time_s": 119.6974999999002,
+   "elapsed_s": 6177.8,
+   "service_time_s": 49.0,
+   "calls": 368,
+   "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": 0.345,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.262,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 122,
+      "text_zh": "观察：log step 121–122 的 agent 脚本尝试夹取灯座圆盘、抬高并重新放置；输出是 agent 自行分割的灰色点云统计，不是灯座支撑力或姿态验收。输入无本次视频及状态日志，reward 也未报告 floor_normal_N、orientation_deg，故不能确认灯座终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 121–122 有左夹爪夹取、移动灯座并放回的指令；无本次画面或接触对，不能确认左夹爪实际夹住灯座圆盘或成功放回。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 40,
+      "text_zh": "观察：log step 40 的服务返回 executed_rows=133、done=false；agent 指令包括右夹爪接近灯罩、闭合和抬升。该返回未报告灯罩卡接状态，不能据此认定抓住或装配。"
+     },
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 的实时服务末次状态为 done=false、reason=null；reward.live_success=0，仅判定联合目标未通过，未逐项报告 s1-mount-shade 的 connected、passed。无本次视频或状态日志，灯罩节点终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 40、70、95、117、122 的脚本依次尝试右夹爪抓取、左夹爪抓取与拨动、以灯座辅助回收灯罩；没有本次画面或接触对，无法确认抓握、推扫或工具接触实际发生。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 140,
+      "text_zh": "观察：log step 140 的 agent 自述灯泡落地、灯罩未装好；这只是 agent 报告。log step 135 写入的综合脚本含拧灯泡函数，但 log step 138 仅做语法检查，不能将代码当成执行结果；reward 未报告 s2-thread-E12-bulb 的 connected、passed，无本次视频和状态日志，灯泡节点终态未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shade_on_stand",
+   "t": null,
+   "log_step": 40,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 40 的机器人服务执行了右夹爪接近、闭合、抬升灯罩的 133 行指令；agent 在 log step 42 自述抓取失败，随后 log step 70、84–118 持续尝试抓取与恢复灯罩。agent 自述 log step 87 接近轨迹碰到并拖动灯罩、log step 118 拨动使灯罩东移、log step 133 灯罩悬于桌边且灯泡落地，两者均超出双臂可达范围，遂决定停止；这些物理事件均无本次画面可核实。log step 139 服务仍 done=false，最终 reward.live_success=0。由执行内容与后续恢复记录，将未修复的工作步骤定位为灯罩卡接；不能定位灯罩碰倒或滑落的视频时刻。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "输入 video.json 明确 kind=none（远端视频返回 404，且无本地视频）；本次无状态日志。run.json 中图片仅保留占位文字及偏移，inputs/ 没有相应 steps.bin 或截图，无法检视机器人与零件接触、灯罩倒下或滑落、灯泡落地及末态；oracle 视频属于另一成功运行，不能补作本次证据。服务和 reward 只给联合未成功及机器人本体读数，没有三个节点的验收字段或五项原生指标，因此所有节点 final、intervals 和指标值保留 null，已尝试的灯罩与灯座接触记未知。失败现象与根因均留空：log step 99–111 已针对后期限位裁剪和到达确认问题修改控制代码，现有记录不足以把这些问题归为首次抓取或最终失败的根因。log step 9 的服务规格给出夹爪指轨目标范围 0.002–0.037 m，log step 10 的服务初始开口读数约 0.074 m；但 log step 42 所称锥体宽 90 mm、抓法不适配并碰倒灯罩仍来自 agent 自述，尺寸及因果待核实。log step 70 的 captured=True 是 agent 根据夹爪开口阈值自行判断，log step 75 所称曾抓住灯罩也没有可检视画面，不能据此写成可行替代抓法已验证；采用审查 I1 提出的根因留空方案。断点按指令及恢复过程推断，不能定位视频时刻。"
+ },
+ "summary_zh": "评分器确认本次单次实时 episode 未成功（live_success=0、resumes=0、infra_error=0、sim_error=0）；缺少逐节点验收字段，三个目标的最终状态均无法确认。日志将主要未修复尝试定位到灯罩卡接；agent 自述恢复过程拖动、拨动灯罩，最终灯罩悬于桌边、灯泡落地且均够不着后停止，但后期控制修补记录不足以确定首次抓取及最终失败的根因。无本次视频、可读取的日志截图或状态日志，不能核实这些物理事件、接触设计失配及替代抓法是否可行，现象和根因留空，节点时间区间仍未知。",
+ "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，节点全 null、断点定在灯罩卡接（log step 40–42 首次抓取失败后从未修复）与 gap_zh 的写法符合 N9，不需改。问题在根因：所选“控制”依据 log step 98–111 的限位裁剪/到达确认，这些问题 agent 在 step 99–111 已自行修复，且发生在灯罩已被碰倒之后，既不解释断点处的首次失败，也不解释最终灯罩/灯泡落到够不着的位置。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无本次视频、无状态日志：节点全 null、断点定在灯罩卡接（log step 40–42 首次抓取失败后未修复，标为推断）、现象与根因留空并有 gap_zh，符合 N9 与证据纪律；上一轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--p3h4wub/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--p3h4wub/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--p3h4wub/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--p3h4wub/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef693afd1d5294465126403deaffc680d886549ae59c1b95c5515625a31107f9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--qhqzcpi.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--qhqzcpi.json
new file mode 100644
index 0000000000000000000000000000000000000000..46dd8300f98f62fafcd0eed2936dc6f414a7ef89
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--qhqzcpi.json
@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--qhqzcpi",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 353640,
+   "sim_steps": 1414560,
+   "control_steps": 353640,
+   "sim_time_s": 884.1000000163966,
+   "elapsed_s": 10729.7,
+   "service_time_s": 1119.2,
+   "calls": 430,
+   "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": 0.373,
+   "peak_processes": 9,
+   "peak_disk_gb": 4.183,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 539,
+      "text_zh": "观察：本次无视频、无状态日志；inputs/run.json 的 reward 仅给整项 live_success=0，未报告灯座的 floor_normal_N 或 orientation_deg。log step 486 的脚本执行灯座下放与松手，log step 527 的 agent 又自述组件跌落，log step 537 的脚本继续恢复并放下零件；这些命令及自述不能确定终态是否满足支撑力与直立角度门限，因此 final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 486、524、530、537 的脚本包含夹爪包围灯座立柱、闭合、搬移及放下命令，说明本次尝试操作了灯座；没有本次影像或接触对记录，无法确认夹爪实际接触及是否形成对向夹持。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 92,
+      "text_zh": "观察：log step 62、64、66、82、85、87 的机器人脚本反复对准并下压灯罩，log step 89 执行松手测试；agent 在 log step 92 自述“未锁住”，随后继续恢复与重试。这些内容证明尝试目标，但没有服务的 s1-mount-shade connected、passed 结果，无法据此确认节点值。"
+     },
+     {
+      "t": null,
+      "log_step": 539,
+      "text_zh": "观察：log step 514 的脚本再次下压，log step 516 松手并撤离；agent 在 log step 518 自述灯罩松手后转动、连接不牢，在 log step 524 又以灯座随灯罩抬起推测已保持连接，最后在 log step 539 表示无法确认牢固连接。无本次视频或状态日志，也无接口验收服务字段，灯罩终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 36、101、125、159、519、524 的脚本安排左右二指夹爪对灯罩与灯座进行闭合、交接、稳持和插接；本次没有可查看的影像或接触对记录，不能把这些命令直接标成实际抓握、双臂协作或压擦。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 539,
+      "text_zh": "观察：全部动作脚本中未找到以灯泡为目标的抓取或旋入动作；log step 11 仅有 agent 自写的灯泡点云测量。agent 在 log step 524、527、539 均自述灯泡未安装，但评分器与服务输出未给 s2-thread-E12-bulb 的 connected、passed；无本次视频及状态日志，按 N9 将 final 保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shade_on_stand",
+   "t": null,
+   "log_step": 92,
+   "where": "操作中",
+   "evidence_zh": "推断：本次为无重置、无恢复的单一实时评分 episode（reward graded_by_live=1、sim_startups=1、resumes=0）。log step 62—89 的机器人脚本已经进行灯罩压入与松手测试，agent 在 log step 92 自述未卡牢；之后仍反复拾取、调整和压入同一灯罩（log step 505、512、514、519、521），log step 539 最终仍称无法确认牢固连接，且动作记录未转入灯泡旋入。由持续操作目标及末尾报告，将未解决的断点定位为灯罩卡接操作；无本次影像及分节点服务验收，首次物理失误和是否短暂锁定无法核实，视频时刻为空。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 427,
+    "source_zh": "agent 自述",
+    "evidence_zh": "推断：agent 在 log step 132 自述斜向抓握抬升时滑脱，在 log step 155、208 自述夹指沿锥形灯罩滑移或倾转时失持，在 log step 427 自述换手释放后灯罩滑出；相应机器人脚本持续更换颈部、宽口边缘和窄口边缘夹持及交接方式（log step 125、148、293、419、427、435、462）。这些反复发生的自述困难及后续纠正动作支持抓取、持物和交接的控制困难妨碍灯罩卡接；没有本次影像、接触力或物体姿态真值可区分接触几何、载荷、跟踪及估计误差，故仅标宽泛控制，物理细节待核实。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404，未提供本地视频），inputs/ 中也没有 states.jsonl；日志的图片项仅为二进制偏移，所引用的 agent 帧文件未作为本次可查看图像提供。现有 inputs/oracle/replay.mp4 是另一次成功运行，不能证明本次进度或接触。reward 未报告各连接的 connected、passed、灯座支撑力、姿态误差或任何原生物理指标；服务 META 只有运行状态和机器人本体数据。按 N9，三个节点 final 与全部 intervals 均为 null，实际尝试的灯座及灯罩接触标未知；灯泡没有动作尝试故省略 contact_actual。缺少独立物体与接触证据，不能把 agent 自述的滑脱、卡住或跌落作为本次失败现象，因此 phenomena 留空；根因仅为日志支持的宽泛控制推断，不能核实子类及首次不可恢复失败。所有视频时刻为空，未将 agent 或仿真时间换成视频时间。"
+ },
+ "summary_zh": "评分器报告单一实时 episode 失败（live_success=0），记录 386 次动作提交；日志显示机器人反复尝试灯罩卡接并恢复灯座，agent 最后自述灯泡未安装且灯罩连接未能确认。根据持续操作目标，将断点推断为灯罩卡接；反复抓取与换手困难的自述支持宽泛控制根因，具体接触现象缺少独立证据而留空。本次没有视频、状态日志及分节点服务验收字段，三个节点终值均未知，不能从整项零分推出任何节点为假，也无法给出已完成节点总数。",
+ "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，标注把三个节点 final/intervals 置 null、phenomena 留空、gap_zh 说明缺证据，符合 N9；断点（灯罩卡接）与宽泛根因（控制）有日志支持，仅为推断且已标明，没有发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:02:18Z",
+  "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-ikea-svallet-i00-standard--qhqzcpi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--qhqzcpi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "532f30712fc5bc15e3a3a03eed36228aeddb6503a1b2a426750ee8a23382731e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--r86fzzn.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--r86fzzn.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f63f3507f3f21dd825ed6d725a1265e4252fdbd
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--r86fzzn.json
@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--r86fzzn",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 200678,
+   "sim_steps": 802712,
+   "control_steps": 200678,
+   "sim_time_s": 501.6950000080496,
+   "elapsed_s": 5899.2,
+   "service_time_s": 795.9,
+   "calls": 1220,
+   "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": 0.374,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.183,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 531,
+      "text_zh": "观察：log step 531 的实时服务状态只有 done=False、reason=None、settle_failed=0，未报告灯座支撑力或直立角误差；inputs/run.json 的 reward 也只有整体 success=0。agent 在 log step 534 自述灯柱被碰倒；本次没有视频及状态日志，无法据此核实灯座终态，也不能将整体零分分配给本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：agent 在 log step 534 自述后期机器人碰倒灯座立柱；缺少本次视频及接触对记录，无法确认该碰触是否发生、作用连杆及接触方式。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 365,
+      "text_zh": "观察：log step 365、374 的脚本向实时机器人发送灯罩压装方向的末端下移指令；输出的 shade_z、rim 是 agent 根据相机深度自行计算的估计，并非服务的卡接验收字段。未提供本次视频、状态日志或 s1-mount-shade 的 connected、passed 返回值，不能确认灯罩曾卡牢或其终值。"
+     },
+     {
+      "t": null,
+      "log_step": 534,
+      "text_zh": "观察：agent 在 log step 534 自述灯罩曾被夹起、随后滑脱，且两处锁定连接均未建立；此为 agent 自述，不作为本节点终值。实时服务在 log step 531 只确认整体尚未成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 271、306、351、442 包含左右夹爪分次闭合及搬移指令；缺少本次视频和物体接触对，无法确认夹爪是否形成包夹、仅顶压灯罩或碰到其他表面，也不能确认双臂是否同时协作。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 534,
+      "text_zh": "观察：agent 在 log step 534 自述从未抓取灯泡；检查完整调用记录，log step 434 只写入包含灯泡操作函数的脚本，未见该函数实际执行。没有视频、状态日志或 s2-thread-E12-bulb 的 connected、passed 服务结果，故不能从自述或整体 success=0 判定本节点终值；未发现灯泡拧入的执行尝试，省略 contact_actual。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shade_on_stand",
+   "t": null,
+   "log_step": 271,
+   "where": "操作中",
+   "evidence_zh": "推断：reward 的 graded_by_live=1、sim_startups=1、resumes=0 表明本次评分对应单一实时 episode；log step 271、306、351 的机器人调用反复尝试夹持灯罩，log step 365、374 又执行向柱顶下压的装配动作，此后仍持续重抓灯罩。结合 log step 534 中 agent 自述灯罩连接未完成、灯泡尚未抓取，以及 log step 531 服务 done=False，将最早持续未解决的工作定位为灯罩卡接灯座，位置为操作中；log step 271 是早期闭爪受阻输出的导航锚点，缺少视频，具体失误时刻不能定位。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": null,
+    "log_step": 534,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 271 中 agent 脚本将左夹爪指令从 0.036 降至 0.028，服务本体感知开度仍约 0.0818–0.0812 m，执行器 effort 由 -9.464 到 -24.070；log step 442 再次收紧时开度约 0.0780–0.0772 m，effort 到 -34.82。agent 在 log step 534 自述接触带反复选在锥形灯罩过宽处，且锥面夹持在搬运与翻转时滑脱。推断：反复使用不适配锥面几何和搬运载荷的夹持位置，是灯罩装配停滞的有证据候选根因；传感数值支持闭爪受阻，但不能单独证明接触对象或滑脱过程。",
+    "note_zh": "观察：夹爪实际最大间隙约 60–64 mm、可夹持高度带及滑脱方向来自 agent 自述与其点云分析，缺少本次图像可供独立核实，均待核实；未验证能完成整段搬运和压装的替代抓法。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，choice.why 记录回放地址返回 404 且无本地视频；inputs/ 中有完整 run.json 和另一成功运行的 oracle 视频，但没有本次 replay.mp4 或 states.jsonl，state 路径也未提供。成功参考视频只能说明任务成功形态，不能证明本次节点或接触；本次服务状态未报告三个节点的独立验收字段，五项原生物理指标也未报告，故所有节点 intervals、final 和指标 value 均为 null。agent 的点云统计、夹爪开度及自述不足以确认物体移动、包夹、滑脱或倾倒，因此现象层留空；断点与抓取设计归因仅由实时调用、传感输出及明确归属的 agent 自述推断，具体失败现象、节点首次达成及丢失时刻仍无法核实。"
+ },
+ "summary_zh": "评分器确认本次单一实时 episode 最终未成功（success=0、graded_by_live=1），但没有逐节点结果；三个节点的终值均未知，不能把整体失败写成三个节点均未完成。调用记录将持续未解决的工作指向灯罩卡接灯座，重复闭爪受阻输出与 agent 自述支持抓取和接触设计问题，但滑脱、灯座倾倒及实际接触缺少独立观测。没有本次视频或状态日志，故时间区间与失败现象留空，成功参考视频不作为本次进度证据。",
+ "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 states.jsonl，标注者把所有节点 final / intervals 置 null、现象层留空并在 gap_zh 说明，符合 03 的 N9 规则；断点与抓取设计根因均标为推断并引用了真实 log 数值（id 271、442、531），与 run.json 一致，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:24Z",
+  "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-ikea-svallet-i00-standard--r86fzzn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--r86fzzn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "194423d6d381768a04d9ac7685ec8a3b9976f5ddcddbe0e8dcd85f1131e6410a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--za9uarw.json b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--za9uarw.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92020846f9e9813d33fcbc28beeee93d193687e
--- /dev/null
+++ b/phase2/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--za9uarw.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--za9uarw",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "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": 59340,
+   "sim_steps": 237360,
+   "control_steps": 59340,
+   "sim_time_s": 148.35000000033685,
+   "elapsed_s": 10760.5,
+   "service_time_s": 155.8,
+   "calls": 298,
+   "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": 0.534,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.815,
+   "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": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：log step 415、417、423 记录 agent 脚本命令左夹爪夹持灯座立柱、抬起扶正并随后张爪撤离，服务返回已执行；未打印灯座 floor_normal_N、orientation_deg 或对应验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 425,
+      "text_zh": "观察：log step 425 的灯罩及灯口坐标来自 agent 自己的点云统计，并非评分器的灯座姿态或支撑结果；本次无视频、无状态日志，故灯座节点终值未知，不能照搬 DAG 所述初态或成功参考运行。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 415、417、423 包含左夹爪对灯座立柱的夹持、扶正和松开指令；缺少本次视频及接触对记录，无法确认实际作用端接触、是否形成抓握或施力方式。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 128,
+      "text_zh": "观察：log step 128、131 的 agent 脚本提交灯罩下压动作，log step 133 提交松爪撤离，服务均返回已执行；这些响应没有 s1-mount-shade 的 connected、passed 或接口容差结果。"
+     },
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：agent 自述“灯罩已卡入灯座并干净释放”（log step 139）；这不是服务端连接判决。本次没有视频或状态日志可核对卡接，故节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 128、131 包含两臂配合下压灯罩的指令；缺少本次视频及接触对记录，无法确认右夹爪是否包夹灯罩、左夹爪是否压到灯罩及实际接触方式。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 326,
+      "text_zh": "观察：log step 261、304、326 的 agent 脚本提交灯泡旋拧动作，服务报告已执行但 done=False；未报告 s2-thread-E12-bulb 的 connected、passed 或接口容差结果，done=False 不能独立否定该节点。"
+     },
+     {
+      "t": null,
+      "log_step": 443,
+      "text_zh": "观察：log step 443 的脚本执行灯泡交接及移至灯口下方的准备动作，服务返回 executed_rows=100、done=False、reason=None、time_left_s=53.5；reward.live_success=0 仅报告整项失败。本次无视频、无状态日志，不能由夹爪开口、TCP 或 agent 的灯泡点云统计确定拧入节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 323、326、443 包含左夹爪固定灯罩、右夹爪旋拧灯泡及双爪交接的指令；缺少本次视频及接触对记录，不能把预期夹持或交接直接记作实际抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stand_orientation_error",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_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_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bulb_in_shade",
+   "t": null,
+   "log_step": 326,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 128–133 之后，agent 在 log step 261、304、326 反复提交灯泡旋拧动作，log step 330 之后改做灯泡恢复及灯座扶正，最后 log step 443 又执行灯泡交接并移至灯口下方；服务最后仍报告 done=False，评分器 reward.live_success=0。按持续操作对象，将未完成尝试定位于“灯泡拧入灯罩”；没有本次视频或逐节点判决，无法定位具体物理失效时刻，亦不能证实此前灯罩已锁定。"
+  },
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": null,
+   "bulb_in_shade": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（HF 视频返回 404，且无本地视频），inputs/ 无 states.jsonl；只有实时会话日志，reward.graded_by_live=1、sim_startups=1、resumes=0、infra_error=0。未提供三个节点各自的终态验收、连接标志、灯座支撑力和姿态值，故全部 intervals=null、final=null，实际接触均未知；整体 success=0 不说明具体哪个节点为假。log step 332 的灯泡落在灯座上的估计、log step 397 的立柱倾角及其他点云/运动学诊断均为 agent 自算结果，不能充当实物接触、滑落或节点真值证据。日志虽有腕关节限位裁剪和位置跟踪偏差，但后续继续调整，缺少证据把某项偏差确定为最终失败根因，因此现象与根因留空。断点按灯泡操作序列推断，仍不能排除更早灯罩未卡牢或灯座未恢复达标。成功参考视频已查看参考视频 0、6、12、18、24、26、27、28、29、29.60 s，仅用于理解完成外观，不是本次运行证据；无本次视频时不建立任何视频时间。"
+ },
+ "summary_zh": "评分器判定本次单次实时 episode 失败；日志记录了灯罩压接、灯泡多次旋拧、恢复灯座及再次准备装入灯泡，但缺少逐节点验收，三个节点终值全部未知。根据持续的灯泡操作，将断点推断为“灯泡拧入灯罩”的操作中；无本次视频和状态日志，无法确认具体接触现象或失败根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志（video.kind=none），评分器仅给出整体 success=0；标注文件按 N9 将三个节点 final 置 null、接触未知、现象与根因留空并写明 gap_zh，断点作为推断标注，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": "2026-10-31T01:00:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--za9uarw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--za9uarw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dc9e6fbc9d95dcc5ff1c2ebaacfea15273bc0633fb7e99dd8ce8b602b1ef7381",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--7ymkcjq.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--7ymkcjq.json
new file mode 100644
index 0000000000000000000000000000000000000000..050dd18fb99fe2e700f3cfe8aee0b3f1ff4b10e7
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--7ymkcjq.json
@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--7ymkcjq",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 266021,
+   "sim_steps": 1064084,
+   "control_steps": 266021,
+   "sim_time_s": 665.0525000116153,
+   "elapsed_s": 4105.6,
+   "service_time_s": 1020.0,
+   "calls": 597,
+   "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": 5.652,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.41,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 132–150 记录了机器人针对两个侧架的接近、闭爪、搬运、下放和松爪命令；log step 139、141 的前侧架测量来自 agent 自编的深度处理程序，不是场景原生就位判据。"
+     },
+     {
+      "t": null,
+      "log_step": 292,
+      "text_zh": "观察：log step 292 的服务终态只报告 done=False、reason=None、settle_failed=0，没有 frame_1 的横向误差、朝向或 passed；本次无视频、无状态日志，不能以 agent 的摆架自述或深度估计确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人针对本步的操作命令，但本次无视频及状态接触对；无法核实夹爪是否实际夹住、推碰或托住目标，故实际接触未知。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44、46、48 记录机器人对后侧架的闭爪、搬运、释放命令，log step 149–150 又记录侧架下放与释放；这些动作记录没有原生 frame_2 就位结果。"
+     },
+     {
+      "t": null,
+      "log_step": 290,
+      "text_zh": "观察：log step 288–290 记录机器人再次扶起、下放侧架的命令；log step 290 的 rear 位置是 agent 自编测量输出，log step 292 的服务状态没有逐侧架判据。本次无视频及状态日志，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人针对本步的操作命令，但本次无视频及状态接触对；无法核实夹爪是否实际夹住、推碰或托住目标，故实际接触未知。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 227,
+      "text_zh": "观察：log step 176–227 记录机器人单臂及双臂接近层板、闭爪、搬运、下放和松爪命令；log step 227 的层板高度与法向来自 agent 自编感知程序，没有原生 gap_m 或 bench_supported 结果。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：agent 在 log step 293 自述层板曾搭上两个侧架，后来被右臂低位运动扫倒；本次无可观看的运行图像或状态日志，不能将其自述作为节点曾达成、失去或终值的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人针对本步的操作命令，但本次无视频及状态接触对；无法核实夹爪是否实际夹住、推碰或托住目标，故实际接触未知。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 241,
+      "text_zh": "观察：log step 241–275 记录机器人反复执行取钉、闭爪和抬升命令；log step 275 服务返回闭爪及抬升后的开口约 0.00728 米，但该读数不报告物体是否被夹持，更不报告螺钉就座。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：agent 在 log step 293 自述从未尝试插入或旋拧螺钉；reward 仅有整局 success=0、live_success=0，服务终态没有合格螺钉数、圈数或就座误差。本次无视频及状态日志，不能据此直接判该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人针对本步的操作命令，但本次无视频及状态接触对；无法核实夹爪是否实际夹住、推碰或托住目标，故实际接触未知。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 292,
+      "text_zh": "观察：log step 292 的服务终态没有合格螺钉数或第二个接收座的验收结果；完整日志只有取钉准备动作，没有第二颗螺钉旋入的执行记录。整局 success=0 不能决定该计数节点，本次又无视频和状态日志，终值未知。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 292,
+      "text_zh": "观察：log step 292 的服务终态没有合格螺钉数或第三个接收座的验收结果；完整日志没有第三颗螺钉旋入的执行记录。整局 success=0 不能决定该计数节点，本次无视频和状态日志，终值未知。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 292,
+      "text_zh": "观察：log step 292 的服务终态没有合格螺钉数或第四个接收座的验收结果；完整日志没有第四颗螺钉旋入的执行记录。整局 success=0 也可能由侧架、支承或终态条件造成，不能单凭总分判该节点为假；本次无视频和状态日志，终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_scene_part_speed",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_hold",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screws_seated_1",
+   "t": null,
+   "log_step": 241,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 241 起机器人进入首颗螺钉的取钉准备阶段，至 log step 275 仍在反复取钉；log step 277 将所操作的螺钉移回托盘，随后 log step 288–291 转回修复侧架并停下。agent 在 log step 293 自述从未插入或旋拧任何螺钉，log step 292 服务仍为 done=False；因此将首个未完成的拧钉步骤作为日志推断的断点。没有视频，不能给视频时刻，也不能独立确认更早的侧架或层板关系是否已修复。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "t": null,
+    "log_step": 255,
+    "source_zh": "日志",
+    "evidence_zh": "推断：首颗螺钉准备中的部分取钉失败与错误的夹爪预张开参数有关。log step 254–255 的脚本用控制值 70 接近螺钉，log step 255 服务返回右夹爪开口约 -0.000013 米，即接近全闭；log step 261、272 又以 100、96 为预张开值。log step 274 的实际标定显示控制值 120 才仅开约 0.00588 米、150 开约 0.02235 米；log step 275 改用 170 后服务报告开口约 0.03333 米。这证实此前用于取钉的预张开参数不当；agent 在 log step 281、293 也明确将其列为取钉受阻的原因。该证据只解释反复取钉中的控制问题，不证明最终抓取成功或装配倒塌的具体接触过程。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none，且没有运行视频、状态日志或逐节点原生验收报告；日志的图片条目只有引用和元数据，未提供可检查的运行图像。inputs/oracle/replay.mp4 是另一成功运行，不能证明本次节点或接触。七个节点终值及所有视频区间均未知，原生指标均未报告；夹爪开口、agent 自编深度统计及最终自述不能代替节点判据或物理失败画面，因此现象层留空。断点仅按日志中的动作阶段推断，无法核实前序关系是否真正达成或修复；错误预张开参数已由服务读数证实，但层板被扫倒、接触对象及未能恢复的具体过程仅有 agent 自述，未据此增加碰撞现象或根因。"
+ },
+ "summary_zh": "评分器确认本次实时单回合失败；日志记录了摆放两个侧架、搬运层板和反复取钉，但没有逐节点原生结果，七个节点终值均未知。按动作记录将断点推断为首颗螺钉步骤，服务开口读数证实部分取钉命令采用了错误的预张开参数；agent 自述后来碰倒装配并在尚余预算时停止。此次没有运行视频和状态日志，无法核实其装配进展、实际接触、倒塌过程或视频时刻，故失败现象留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无运行视频、无状态日志，七个节点终值均为 unknown 是准入证据所能支持的；断点按日志推断为首颗螺钉步骤（取钉准备期间装配被扫倒），参数调试根因有服务开口读数（log step 255/274/275）支持，现象层因扫倒仅有 agent 自述而留空并附 gap_zh，均可接受。",
+    "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": "2026-10-31T01:10:50Z",
+  "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-variera-i00-standard--7ymkcjq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--7ymkcjq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0f1e87eccd4b5936773e21c99015bf314f6062190a4a31fe52a4466b68a759f7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--89jtouf.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--89jtouf.json
new file mode 100644
index 0000000000000000000000000000000000000000..52636d41ffda9f8e4d02b337df0feef3f748cb14
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--89jtouf.json
@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--89jtouf",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 686780,
+   "sim_steps": 2747120,
+   "control_steps": 686780,
+   "sim_time_s": 1716.949999908529,
+   "elapsed_s": 8704.3,
+   "service_time_s": 3143.1,
+   "calls": 1305,
+   "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": 0.574,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.348,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 577,
+      "text_zh": "观察：agent 在 log step 577 启动右臂侧架1摆放脚本，之前也多次尝试侧架1搬移；日志没有服务对侧架1横向、朝向及速度的节点验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1082,
+      "text_zh": "观察：log step 1082 的侧架坐标范围由 agent 自己的深度筛选脚本计算；没有本次视频或状态日志，不能据此判定侧架1终态，保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 577 记录右臂摆放侧架1的命令；无本次图像、视频或接触状态日志，不能确认右夹爪是否夹住侧架1及实际接触方式。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 602,
+      "text_zh": "观察：agent 在 log step 602 启动左臂侧架2摆放脚本；日志没有服务对侧架2横向、朝向及速度的节点验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1075,
+      "text_zh": "观察：log step 1075 的侧架2点数与高度来自 agent 自己的深度筛选，未给出原生 frames.frame_2 判定；本次没有视频或状态日志，终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 602 记录左臂摆放侧架2的命令；无本次图像、视频或接触状态日志，不能确认左夹爪是否夹住侧架2及实际接触方式。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1026,
+      "text_zh": "观察：agent 在 log step 1026 启动双臂层板搬运下放脚本，又在 log step 1093 启动将层板搬回黑色支座的脚本；这些命令没有附带服务对层板双侧落座及 bench_supported 的验收结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1103,
+      "text_zh": "观察：agent 在 log step 1103 自述层板曾跨在两侧架上；输入没有本次录像或状态日志可核对，且此自述不决定节点值，终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1025–1026 记录双臂从层板两侧内收、搬运及下放的命令；无本次图像、视频或接触状态日志，不能确认两夹爪与层板实际发生的接触，不能把双臂挤压命令记作已抓握。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1067,
+      "text_zh": "观察：agent 在 log step 1067 启动右臂将托盘中的螺钉移向前右孔并转腕的脚本；log step 1070 仅返回脚本打印的“BR completed”，没有服务的螺钉实测转数、螺距下降、就座误差或 passed 结果。"
+     },
+     {
+      "t": null,
+      "log_step": 1102,
+      "text_zh": "观察：log step 1102 服务返回 done=False、reason=None，只报告整回合状态；评分记录 live_success=0 也未报告合格螺钉数量，无本次视频或状态日志，不能确定是否至少1颗合格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 1066–1067 记录右夹爪取螺钉并向前右孔旋拧的命令；无本次图像、视频或接触状态日志，不能确认右夹爪、螺钉与接收座之间的实际接触。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1099,
+      "text_zh": "观察：log step 1099 写入包含四孔旋拧循环的生成脚本，log step 1100–1101 只检查文件和编译；日志中实际启动的旋拧脚本针对前右孔（log step 1067），没有服务报告至少2颗螺钉在不同接收座合格。无本次视频或状态日志，不能从脚本内容或整体失败反推该计数节点终值。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1099,
+      "text_zh": "观察：log step 1099 写入包含四孔旋拧循环的生成脚本，log step 1100–1101 只检查文件和编译；日志中实际启动的旋拧脚本针对前右孔（log step 1067），没有服务报告至少3颗螺钉在不同接收座合格。无本次视频或状态日志，不能从脚本内容或整体失败反推该计数节点终值。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1099,
+      "text_zh": "观察：log step 1099 写入包含四孔旋拧循环的生成脚本，log step 1100–1101 只检查文件和编译；日志中实际启动的旋拧脚本针对前右孔（log step 1067），没有服务报告至少4颗螺钉在不同接收座合格。无本次视频或状态日志，不能从脚本内容或整体失败反推该计数节点终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_scene_part_speed",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_hold",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1102,
+   "where": "未知",
+   "evidence_zh": "观察：log step 1067 启动前右孔旋拧脚本，log step 1093 又启动层板搬回支座脚本；log step 1102 服务返回 done=False、reason=None，control_steps=686780，评分记录 success=0、graded_by_live=1、resumes=0。推断：本次评分对应单次实时回合，但没有视频、状态日志或逐节点服务验收，不能确定侧架、层板或首颗螺钉中最早未修复的失败步骤；log step 1102 仅作末次服务状态的日志锚点。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 标明 kind=none（HF 录像404，且无本地录像），输入也没有本次状态日志；成功示范 inputs/oracle/replay.mp4 属于另一回合，不能证明本次动作或接触。日志未提供 frames、bench_supported、screws.passed 等逐节点服务结果；log step 1075、1082 的点云检查及 log step 1103 的完成描述都是 agent 自己的分析，不能据此填写节点终值。推断：七个节点均未知，所有视频时刻及区间均为空；无法判别最早未修复的步骤，也无法区分空夹、滑脱、碰倒、放后不稳等物理现象，故现象和根因均留空。日志中的早期逆解或限位问题是否已修复、是否导致最终失败也无法核实；不把停止或剩余预算作为根因。"
+ },
+ "summary_zh": "评分记录显示单次实时回合最终失败（live_success=0、graded_by_live=1、resumes=0）；日志记录两侧架摆放、层板下放和前右孔螺钉旋拧的脚本调用，随后又启动层板搬回支座脚本（log step 1093）。本次无视频、无状态日志，也无逐节点原生验收字段，七个节点终值全部未知，已确认完成数为0不代表实际完成数为0；断点、物理现象与根因无法可靠确定。末次服务状态仍为 done=False，agent 随后仅检查并编译生成脚本后给出进度报告（log step 1100–1103），该报告不能替代实体装配结果。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频（kind=none）、无状态日志；评分只给 success=0 的总结果，没有逐节点字段。七个节点 final=null、区间为空、断点 ref=unknown、现象和根因留空并附 gap_zh，符合 N9 与 03 的无视频规则。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": "2026-10-31T01:13:55Z",
+  "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-variera-i00-standard--89jtouf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--89jtouf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22867478be42a61f56d6edc13f0e533872846365bc316ee78402c0be46e64e3d",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--btn6rxu.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--btn6rxu.json
new file mode 100644
index 0000000000000000000000000000000000000000..be59ac943315ce443cd88333a8f56a716e44a041
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--btn6rxu.json
@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--btn6rxu",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 1387191,
+   "sim_steps": 5548764,
+   "control_steps": 1387191,
+   "sim_time_s": 3467.9775001448247,
+   "elapsed_s": 10800.0,
+   "service_time_s": 4445.3,
+   "calls": 7120,
+   "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": 0.657,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.503,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 363,
+      "text_zh": "观察：log step 359、363、365 记录 agent 的脚本分别尝试用左、右夹爪搬移两侧架；log step 364、366 的“已放好”是 agent 的判断，log step 387、421 的站立检测和抓取检测也来自自写脚本。没有本次录像、状态日志或服务逐侧架验收字段，不能核实本节点的横向、朝向与速度条件，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 363、365 的脚本执行了侧架夹取、搬移和释放命令，之后仍有侧架恢复尝试；无本次画面或接触对日志，不能核实夹爪与本侧架实际建立了哪类接触。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 363,
+      "text_zh": "观察：log step 359、363、365 记录 agent 的脚本分别尝试用左、右夹爪搬移两侧架；log step 364、366 的“已放好”是 agent 的判断，log step 387、421 的站立检测和抓取检测也来自自写脚本。没有本次录像、状态日志或服务逐侧架验收字段，不能核实本节点的横向、朝向与速度条件，终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 363、365 的脚本执行了侧架夹取、搬移和释放命令，之后仍有侧架恢复尝试；无本次画面或接触对日志，不能核实夹爪与本侧架实际建立了哪类接触。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 342,
+      "text_zh": "观察：log step 146、250、297、342、347 记录机器人层板搬运尝试，log step 342 的双臂抬板调用因 IndexError 中断；log step 349 执行退让和释放，之后执行记录转向侧架摆放与恢复。无本次录像、状态日志及层板落座的服务结果，不能把 agent 自写点云统计或自述当作层板落座的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 250、297、342、347 的脚本指令要求两臂靠近层板边缘、闭爪和抬升；无本次录像及接触对日志，实际是抓握、勾住、碰推还是未接触无法核实。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 418,
+      "text_zh": "观察：inputs/run.json 的 reward 只报告整体 success=0，没有合格螺钉数量、不同接收座数量或逐钉 passed 字段。log step 418 将四钉旋拧函数写入 gen.py，但后续 log step 421、423 执行的是侧架恢复脚本，没有执行该旋拧函数的记录；没有本次录像或状态日志，不能确定至少1颗螺钉就座的终值。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 418,
+      "text_zh": "观察：inputs/run.json 的 reward 只报告整体 success=0，没有合格螺钉数量、不同接收座数量或逐钉 passed 字段。log step 418 将四钉旋拧函数写入 gen.py，但后续 log step 421、423 执行的是侧架恢复脚本，没有执行该旋拧函数的记录；没有本次录像或状态日志，不能确定至少2颗螺钉就座的终值。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 418,
+      "text_zh": "观察：inputs/run.json 的 reward 只报告整体 success=0，没有合格螺钉数量、不同接收座数量或逐钉 passed 字段。log step 418 将四钉旋拧函数写入 gen.py，但后续 log step 421、423 执行的是侧架恢复脚本，没有执行该旋拧函数的记录；没有本次录像或状态日志，不能确定至少3颗螺钉就座的终值。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 418,
+      "text_zh": "观察：inputs/run.json 的 reward 只报告整体 success=0，没有合格螺钉数量、不同接收座数量或逐钉 passed 字段。log step 418 将四钉旋拧函数写入 gen.py，但后续 log step 421、423 执行的是侧架恢复脚本，没有执行该旋拧函数的记录；没有本次录像或状态日志，不能确定至少4颗螺钉就座的终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "value": null,
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_axis_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_scene_part_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_hold",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_contact_depth",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shelf_on_frames",
+   "t": null,
+   "log_step": 347,
+   "where": "操作中",
+   "evidence_zh": "推断：保留 shelf_on_frames，按 docs/03_trajectory.md:234-238 取最早失败且后来未完成的步骤，而非末尾重试的步骤。观察：log step 250、297、347 的机器人层板抓取与抬升调用执行到结束；log step 347 自写脚本打印左、右爪 opening=0.0787、0.0859 且均 stalled=True，log step 349 agent 自述左爪假停滞、抬升勾住板边而未夹牢，并执行双臂退让、下放和开爪。log step 354 将重新抓板、旋转与落座列为后续计划，log step 359—423 的执行转为侧架摆放及北侧架恢复，未见返回层板搬运或落座的执行及服务确认。task/task_dag.json:139 明说这些 state 节点的边不禁止并行调整；不能仅凭 after 将先抓层板认定为越序而排除该步。后期北侧架恢复也未见完成，但它是后续失败，不能据其耗时替换更早搁置的层板步骤。此断点依赖日志动作顺序和 agent 自述推断，不是已观测物体终态；以 log step 347 锚定后一次未异常中断的层板尝试，无视频时间。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "note_zh": "因果为推断：层板抓取及后续侧架恢复的控制与抓取判定未可靠奏效；证据不足以区分接触设计、轨迹或反馈控制，停在“控制”。log step 146、342 的控制脚本异常是中途插曲，不再作为最终失败的充分解释；不把 agent 自述的传感偏差认定为感知根因。",
+    "evidence_zh": "观察：log step 150、151 修补 log step 146 的 IK 命令索引与种子构造；log step 342 的 IndexError 中止该次双臂抬板，但 log step 250、297、347 的抓板抬升调用均执行到结束。log step 347 自写脚本在左爪 opening=0.0787、右爪 opening=0.0859 时打印 stalled=True；log step 349 agent 自述是假停滞，左爪未夹牢而勾住板边，随后脚本下放、开爪并退让。后期北侧架恢复中，log step 392、394、399、408、417、421 反复打印 opening/op 约0.0097、stalled=False，log step 421 重试后自写脚本打印“NO GRASP after retries”；log step 418 agent 也承认先前的抓取保护条件签名检查错误。推断：这些记录支持抓取执行和反馈判定不可靠，层板搬运被搁置且侧架恢复继续受阻；具体勾边、空抓及其物理因果仍缺少本次画面或接触日志验证，不能将两次早期异常等同于最终失败原因。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 为 kind=none，inputs/ 无本次 replay.mp4 和 states.jsonl；只有另一成功运行的 oracle 视频，不能替代本次轨迹证据。reward 虽有 video_rendered=1，但本目录未提供该录像，且只报告整体失败而没有逐节点验收或九项原生指标，故七个节点终值和全部视频区间均为 null。agent 的点云、站立检测、夹爪停滞判断以及“已放好”“倒下”“空夹”等自述不能验证物体关系或实际接触；因此现象层留空、三个已尝试的物理节点接触填未知。断点依 docs/03_trajectory.md Step 3.1 保留最早被搁置的层板步骤；I1 所指的北侧架后期恢复受阻也有日志支持，但不能仅凭 after 边或后续耗时替换断点。无录像，无法决定性排除层板尝试及侧架恢复的其他物理解释，北侧架与 frame_1/frame_2 的映射也未获服务字段确认；根因因果仅为推断，conf 从5降至4。末次 log step 423 没有输出，无法验证其最终恢复效果；最后的 agent 自述在 log step 422，不能将其所称传感偏差当作已证实的感知根因。"
+ },
+ "summary_zh": "评分器判定本次单一实时回合失败；日志记录了多次层板搬运、两侧架定位及北侧架恢复尝试，但没有逐节点服务验收，七个节点终值均未知。按最早失败且未修复的步骤规则，推断断点仍为后来搁置的层板落座；控制根因改由层板抓取假停滞的日志及 agent 勾边自述、后期侧架多次近空闭合且重试未获抓取的记录支持，两次早期脚本异常仅为中途插曲。缺少本次录像及状态日志，物理因果与断点仍不能决定性核实，故置信度降至4，接触、现象和节点时间继续保留未知。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "本次无录像、无状态日志、无逐节点服务字段，七个节点 final 均为 unknown 是正确的。但断点定在 shelf_on_frames 依据不足：DAG 中该节点 after 两个侧架，日志后半段（step 359-423，约占剩余时间一半以上）一直卡在侧架（北侧架倒下后再也没立起来），而层板只是被搁置；根因也只引用已在 step 150 修好或不决定结果的脚本异常。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无录像、无状态日志、无逐节点服务字段，七个节点 final 均为 unknown、区间 null、接触未知、现象层留空并写 gap_zh，均符合 03 的无录像规则（N9）。断点取最早搁置的层板步骤，并明确标为日志推断；上一轮已有证据地处理过该争议，我没有新证据推翻。根因“控制”标为推断、只引用已核对的日志步骤，未把 agent 自述当作观测。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:16:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--btn6rxu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--btn6rxu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--btn6rxu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--btn6rxu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "86fec5c24232f9f9e02e84caf5a46ed05f95efce82c1a63eae4ac209953bcd75",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--ffvuuwh.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--ffvuuwh.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07a775fe0b1f1f4c2ccc6f5336f8533c4611515
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--ffvuuwh.json
@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--ffvuuwh",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 334622,
+   "sim_steps": 1338488,
+   "control_steps": 334622,
+   "sim_time_s": 836.5550000153588,
+   "elapsed_s": 10694.5,
+   "service_time_s": 4936.2,
+   "calls": 683,
+   "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": 0.732,
+   "peak_processes": 13,
+   "peak_disk_gb": 2.94,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 23,
+      "text_zh": "观察：log step 17、19、21、24、26记录agent脚本向左夹爪发送闭合、抬升、移位、下放和张开命令；log step 23中agent自述侧架已被抓起，后续log step 100—127又调整了装配位置。这些命令和自述不能证明侧架1最终满足横向、朝向及速度判据。"
+     },
+     {
+      "t": null,
+      "log_step": 532,
+      "text_zh": "观察：log step 532的实时服务FINAL_STATUS只有整体done=False、reason=None等状态，inputs/run.json的reward只报告整体success=0，没有frames.frame_1节点结果；本运行无可用录像及状态日志，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本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：log step 29—35记录agent脚本向右夹爪发送抓取、移放和释放命令，log step 42、66中agent自述侧架被碰倒，之后继续恢复；log step 340又自述侧架已放回工作台。没有画面或原生frames.frame_2报告，无法验证恢复及最终就位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 170,
+      "text_zh": "观察：log step 96—102记录双夹爪闭合、层板搬移及改用左臂持板的命令，log step 166—170记录下放和释放；log step 253中agent自述撤手带动层板，随后继续恢复；log step 348自述左手支承层板。这些不是原生gap_m或bench_supported验收结果，且无本运行录像，不能确定最终落座。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 389,
+      "text_zh": "观察：log step 222—248记录agent脚本对第一颗螺钉发送插入及旋拧命令；log step 389打印的within_tolerances=true来自agent自己运行verify_seat.py的深度拟合，未报告原生实测相对圈数及passed。无本运行录像或节点级服务结果，不能据此判定至少一颗最终合格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 412,
+      "text_zh": "观察：log step 384—411记录agent脚本对第二颗螺钉发送插入、旋拧和释放命令；log step 412的gap_m=-0.00001266、lateral_m=0.00016136及within_tolerances=true是agent自己的视觉测量，log step 413、534的两颗前钉完成也是agent自述，均不替代原生验收。缺少本运行录像及节点级服务结果，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本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 518,
+      "text_zh": "观察：log step 443—448记录第三颗螺钉的旋拧及换手命令，log step 488、500、511启动后排双臂旋拧，log step 495、518打印跟踪保护停止；log step 534中agent自述后排螺钉未就座。服务只报告整体未成功，没有合格接收座计数；无录像，不能把agent自述或其剩余圈数估算直接作为本节点false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 532,
+      "text_zh": "观察：log step 479—487记录第四颗螺钉的插入与初始旋拧命令，log step 518后agent脚本卸载右臂并最终释放双手；log step 532的服务FINAL_STATUS没有各螺钉passed或合格接收座计数，reward.success=0也未指出是哪项不合格。无录像或状态日志，至少四颗就座的终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了机器人对本步骤的操作命令，但本运行没有可用录像或物体接触日志；夹爪开度、末端位姿及agent自述不能确定夹爪与目标零件的实际接触方式。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "value": null,
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_axis_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_scene_part_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_hold",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_contact_depth",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screws_seated_3",
+   "t": null,
+   "log_step": 495,
+   "where": "操作中",
+   "evidence_zh": "推断：本运行是单个实时评分回合（reward.graded_by_live=1、sim_startups=1、resumes=0），log step 488—495的agent脚本同时旋拧后排两颗螺钉时首次因跟踪偏差触发保护；log step 498—500重新对中后，log step 518再次停止，log step 520—532转为卸载和撤手，log step 534中agent仍自述后排两钉未就座。按日志的操作顺序及其前排两钉完成的自述，将最先未完成的后排旋拧归到第3颗计数步骤；这是断点定位推断，不构成前两颗节点达标的证据。没有视频时刻可填。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": null,
+    "log_step": 518,
+    "evidence_zh": "推断：后排旋拧中右臂受到异常阻力。log step 356的服务字段定义说明joint_effort是执行器实测力，臂关节单位为N·m，可作为推抵时上升的电流类读数；log step 495右臂第3关节为-3.849818 N·m，log step 499重新对中后降至-0.057282 N·m，继续旋拧至log step 518又升到-10.438945 N·m，同时agent脚本根据服务实测末端位姿算出的右侧跟踪误差为2.195毫米（左侧0.118毫米），触发保护。log step 521右夹爪张开后该关节降至-0.024755 N·m。负载随旋拧上升、卸载下降支持接触阻力异常，但不能确定具体卡在哪个接触面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "t": null,
+    "log_step": 518,
+    "evidence_zh": "推断：agent的后排旋拧控制未能消除负载与跟踪偏差，具体子类不确定。log step 450所示dual控制器按估计轴线生成固定0.5毫米/圈的关节位置轨迹；log step 495保护停止后，log step 498—500重新估计右钉轴线、对中并继续旋拧，但log step 518服务仍记录右臂关节力矩明显上升并再次停止，随后log step 520—532卸载撤手。证据支持精细接触控制失败，但无法区分抓取几何、接收座对中与反馈控制各自的贡献；不把预算结束作为根因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json说明本运行HF录像返回404且无本地录像；inputs/中也没有本运行状态日志，run.json的图片项仅为二进制位置引用，未随输入提供可查看的本运行图片。原生服务及reward没有逐侧架passed、层板支承或合格螺钉计数，因此按N9七节点的intervals、final均为null，实际接触为未知，不能将agent的深度拟合或最终自述当成节点值；断点第3颗的计数定位依赖日志操作顺序，无法排除更早关系未完全修复。已查看成功参照inputs/oracle/replay.mp4的参照视频0、4、8、12、16、20、24、28秒及29.88秒画面，只用于理解装配外观，不是本运行的证据；关节负载支持阻力异常，具体接触面及控制子类仍缺证据。"
+ },
+ "summary_zh": "观察：本运行的单个实时评分回合最终success=0，七个节点均缺少可用于判定终值的录像、状态日志或节点级服务结果，完成数量未知。推断：按后排旋拧命令、重复触发的跟踪保护及agent最终自述，将断点定位于第3颗钉拧紧的操作中；实测关节负载随旋拧上升、释放后下降，支持接触力异常及控制层面的失败。观察：agent所称前排两钉已就座及侧架、层板已恢复未经独立验收，全部节点终值和接触方式均保留未知。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本运行无录像、无状态日志，七个节点按N9保持unknown合理；断点定在第3颗螺钉、接触力异常现象和控制根因均明确标为推断且证据来自服务实测的关节力矩，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": "2026-10-31T01:13:05Z",
+  "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-ikea-variera-i00-standard--ffvuuwh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--ffvuuwh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a47b28cbcd2adba638c4b6373337f82340949e0eee3ee1f2f541f952d10cf93",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--heziv2b.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--heziv2b.json
new file mode 100644
index 0000000000000000000000000000000000000000..f59ab6c46ea6aa6afd684d20aa52cc26e7a162ec
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--heziv2b.json
@@ -0,0 +1,322 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--heziv2b",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 39907,
+   "sim_steps": 159628,
+   "control_steps": 39907,
+   "sim_time_s": 99.76749999991833,
+   "elapsed_s": 10784.1,
+   "service_time_s": 134.4,
+   "calls": 142,
+   "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": 1.058,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.396,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 70,
+      "text_zh": "观察：log step 70 的脚本向机器人服务提交前侧侧架的双臂夹取、搬运和释放动作，log step 74 又提交位置微调。log step 73、74 的孔位坐标是 agent 自行处理深度图得到的检查，服务未报告 frame_1 的就位判定；本次无视频及状态日志，不能据此确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了左、右机械臂夹爪针对前侧侧架1的操作命令，但无本次视频或接触状态日志，不能确定实际接触的作用端、接触方式及是否夹住；不以命令中的闭爪代替抓握事实。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 66,
+      "text_zh": "观察：log step 66 的脚本向机器人服务提交后侧侧架的双臂夹取、搬运和释放动作；log step 69 给出的孔位坐标来自 agent 自行处理深度图，并非原生 frames.frame_2 验收结果。本次无视频及状态日志，无法确定侧架的朝向、横向位置和终态速度是否合格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了左、右机械臂夹爪针对后侧侧架2的操作命令，但无本次视频或接触状态日志，不能确定实际接触的作用端、接触方式及是否夹住；不以命令中的闭爪代替抓握事实。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 77,
+      "text_zh": "观察：log step 77 的脚本尝试双臂夹取层板并下放至侧架，log step 156 引用该次执行的完成输出；其后 log step 143、178、248、266、273、293、316、349 持续安排层板回收、托起、换手或搬回支座。脚本输出“placed”不是服务验收；没有 gap_m、bench_supported 的结果字段，且无本次视频或状态日志，故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了左、右机械臂夹爪针对层板的操作命令，但无本次视频或接触状态日志，不能确定实际接触的作用端、接触方式及是否夹住；不以命令中的闭爪代替抓握事实。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 349,
+      "text_zh": "观察：完整日志截至 log step 349 仍在尝试托起层板，未记录螺钉旋拧操作；评分器 reward 只报告 success=0、live_success=0，未报告合格接收座数量或 screws.*.passed。无本次视频及状态日志，不能仅从总失败或缺少操作记录确定“至少1颗钉拧紧”的终值。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 349,
+      "text_zh": "观察：完整日志截至 log step 349 仍在尝试托起层板，未记录螺钉旋拧操作；评分器 reward 只报告 success=0、live_success=0，未报告合格接收座数量或 screws.*.passed。无本次视频及状态日志，不能仅从总失败或缺少操作记录确定“至少2颗钉拧紧”的终值。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 349,
+      "text_zh": "观察：完整日志截至 log step 349 仍在尝试托起层板，未记录螺钉旋拧操作；评分器 reward 只报告 success=0、live_success=0，未报告合格接收座数量或 screws.*.passed。无本次视频及状态日志，不能仅从总失败或缺少操作记录确定“至少3颗钉拧紧”的终值。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 349,
+      "text_zh": "观察：完整日志截至 log step 349 仍在尝试托起层板，未记录螺钉旋拧操作；评分器 reward 只报告 success=0、live_success=0，未报告合格接收座数量或 screws.*.passed。无本次视频及状态日志，不能仅从总失败或缺少操作记录确定“至少4颗钉拧紧”的终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_scene_part_speed",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_hold",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shelf_on_frames",
+   "t": null,
+   "log_step": 77,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 66、70 先提交两个侧架搬放，log step 77 开始将层板下放至侧架；log step 80 的 agent 孔位检查得到空结果，随后 log step 143、178、248、293、316、349 反复执行层板回收和重新支承，直到日志结束仍未进入拧钉，评分器 live_success=0。因此将断点定位于层板落座这一持续恢复的步骤；没有本次视频，无法确认最初失败瞬间，亦不能排除该次下放同时破坏侧架就位。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 276,
+    "evidence_zh": "推断：层板恢复搬运中，log step 276 直接打印机器人服务 get_obs 的关节读数：右臂第6关节实际为0.8680 rad、命令为1.6138 rad；log step 298 的左臂第5关节实际为-1.1052 rad、命令为-1.9406 rad。log step 178 的恢复脚本也因双臂预抓取末端偏差而中止，后续仍须重新托起层板（log step 349）。这些实际姿态与命令不一致的记录支持恢复操作存在控制问题；不足以确定是接触几何、阻挡还是反馈跟踪的具体原因，故仅标控制。",
+    "source_zh": "日志"
+   }
+  ],
+  "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；reward 虽含 video_rendered=1，本目录实际没有本次录像可供核对。已查看成功参考录像的粗采样画面，但它仅说明装配外观，不能证明本次进度。服务及评分器未给出逐侧架、层板或螺钉的验收结果，九项原生指标也均未报告；七个节点终值和全部视频时间保持未知，不能把 agent 的深度拟合、夹爪开度检查或“placed”自述作为节点结果。接触均无法核实，失败现象层留空；断点及控制归因来自日志推断，最初接触失效的机制和是否先损失侧架状态不能确定。日志在 log step 349 的调用后无返回，run.wall_s=10803、time_limit_s=10800，且 infra_error=0、sim_error=0；不把预算结束本身作为现象或根因。"
+ },
+ "summary_zh": "本次单一实时回合的评分器结果为失败（live_success=0、resumes=0）；日志记录两个侧架搬放后尝试层板落座，随后持续恢复层板，未见进入螺钉旋拧。断点据操作顺序推断为层板落座，恢复阶段的服务关节读数显示明显命令跟踪偏差，支持控制层面问题。无本次视频、状态日志或逐节点验收结果，七个节点终值均未知（已确认完成0/7不等于七步均未完成），实际接触和具体物理现象无法判定。",
+ "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，标注者把七个节点终值与时间全部置 unknown、接触置未知、现象留空并写了 gap_zh，符合 N9 与证据纪律；断点（层板落座）和根因「控制」为日志推断，且已标注为推断。服务 get_obs 读数（log step 276 右臂关节6实际 0.868 / 命令 1.6138 rad，step 298 左臂关节5实际 -1.105 / 命令 -1.941 rad，且腕关节力矩饱和在 ±12）支持停在「控制」，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": "2026-10-31T01:12:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--heziv2b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--heziv2b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4f40b4cd5ed8ed1fedcd4489f2d3a9bba74b47d42bbea8b38585f7273c487c6b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--pmj6up7.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--pmj6up7.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b92347500182e62737c1ebd65e5f8e028215a6a
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--pmj6up7.json
@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--pmj6up7",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 127706,
+   "sim_steps": 510824,
+   "control_steps": 127706,
+   "sim_time_s": 319.26500000406753,
+   "elapsed_s": 3508.8,
+   "service_time_s": 523.2,
+   "calls": 446,
+   "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": 0.43,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.216,
+   "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_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：log step 213、267、282、301、373记录agent脚本对其称为侧架1的目标发出接近、闭爪、抬升及移放命令；log step 373返回F1_move、F1_lower、F1_release各段已执行。日志只有机器人本体读数和命令执行反馈，没有frames.frame_1横向、朝向或合格结果；本次没有录像及状态日志，不能据此确认侧架实际随爪搬运或最终就位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：上述日志记录了该步的动作尝试，但没有可检查的本次画面或物体接触对；无法核实夹爪是否真正夹住或推动目标，作用端及接触方式均保留未知。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 378,
+      "text_zh": "观察：log step 347、378记录agent脚本对其称为侧架2的目标发出闭爪、抬升、平移、下放和松爪命令，log step 378返回F2_move、F2_lower、F2_release各段已执行。服务没有报告frames.frame_2的横向、朝向或合格结果；没有本次录像及状态日志，不能把夹爪开度和移放命令当作侧架2已就位的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：上述日志记录了该步的动作尝试，但没有可检查的本次画面或物体接触对；无法核实夹爪是否真正夹住或推动目标，作用端及接触方式均保留未知。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 382,
+      "text_zh": "观察：log step 382中agent脚本双臂接近层板并闭爪，打印夹爪开度shelf grip [-0. -0.]，随后直接执行parkR、parkL，未进入脚本要求双爪开度均大于0.002米的搬运分支；log step 394、425、428、431、453、458又执行了旨在推移层板的命令。服务未报告frame的gap_m或bench_supported；没有本次录像及状态日志，无法确定层板是否被两侧架共同承托。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：上述日志记录了该步的动作尝试，但没有可检查的本次画面或物体接触对；无法核实夹爪是否真正夹住或推动目标，作用端及接触方式均保留未知。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 350,
+      "text_zh": "观察：log step 350写入的stage_screws函数包含抓钉、插入和旋转计划，但完整动作调用记录没有执行该函数或其旋拧动作；log step 443中agent自述尚未旋拧螺钉，log step 467仅检查脚本语法和函数名。评分器及服务未报告合格螺钉数或各接收座结果；没有本次录像及状态日志，不能确定至少1颗螺钉合格的终值，也不能仅由整体success=0判为假。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 350,
+      "text_zh": "观察：log step 350写入的stage_screws函数包含抓钉、插入和旋转计划，但完整动作调用记录没有执行该函数或其旋拧动作；log step 443中agent自述尚未旋拧螺钉，log step 467仅检查脚本语法和函数名。评分器及服务未报告合格螺钉数或各接收座结果；没有本次录像及状态日志，不能确定至少2颗螺钉合格的终值，也不能仅由整体success=0判为假。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 350,
+      "text_zh": "观察：log step 350写入的stage_screws函数包含抓钉、插入和旋转计划，但完整动作调用记录没有执行该函数或其旋拧动作；log step 443中agent自述尚未旋拧螺钉，log step 467仅检查脚本语法和函数名。评分器及服务未报告合格螺钉数或各接收座结果；没有本次录像及状态日志，不能确定至少3颗螺钉合格的终值，也不能仅由整体success=0判为假。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 350,
+      "text_zh": "观察：log step 350写入的stage_screws函数包含抓钉、插入和旋转计划，但完整动作调用记录没有执行该函数或其旋拧动作；log step 443中agent自述尚未旋拧螺钉，log step 467仅检查脚本语法和函数名。评分器及服务未报告合格螺钉数或各接收座结果；没有本次录像及状态日志，不能确定至少4颗螺钉合格的终值，也不能仅由整体success=0判为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_scene_part_speed",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_hold",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 464,
+   "where": "未知",
+   "evidence_zh": "观察：本次为一次连续实时回合，评分记录graded_by_live=1、sim_startups=1、resumes=0、live_success=0；log step 464的最终服务状态为control_steps=127706、done=false、reason=null、settle_failed=0，agent随后在log step 468结束报告。日志可确认侧架与层板均有动作尝试，但没有任一节点的服务端验收字段，也没有本次录像或状态日志；因此无法辨明最早失败且未修复的是哪一侧架就位还是层板落座，断点步骤及其发生阶段均保留未知。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次inputs/video.json明确为kind=none，inputs/中无本次replay.mp4或states.jsonl；日志的图片条目只有文件名及尺寸，out.pics为空，无法看到本次物体运动、接触与终态。服务状态与评分记录只给整体失败，没有frames、bench_supported或screws节点报告，七个节点终值及所有视频时间均不能确定；前三个有动作尝试的节点以未知接触记录，四个螺钉节点没有执行旋拧的记录，故不填实际接触。log step 462可读到最后一次层板校正的IK位置残差约0.024米并抛出脚本异常，log step 468中agent自述定位和装配精度不足；这些信息不足以确定最早未修复步骤的物理失败现象及根因，故两层留空，不把停止或其自述当作原因。inputs/oracle/replay.mp4为另一成功回合，已检查参考拼图，仅用于理解装配外观，不能补足本次证据。"
+ },
+ "summary_zh": "评分器记录本次连续实时回合失败；日志确认两侧架及层板均有操作尝试，但未报告任何节点验收结果，七个节点终值全部未知，不能将整体零分解释为七步都未完成。旋拧程序只写入脚本、未见执行，最后的层板校正出现IK报错后机器人被命令停回初始臂姿，最终服务仍为done=false（log step 462、464）。由于没有本次录像、状态日志或逐节点服务报告，无法唯一定位首个未修复断点，现象与根因均留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无录像(video.kind=none)、无状态日志;标签按N9将七个节点全部置unknown、断点unknown、现象与根因留空并写明gap_zh,符合规则。日志引用(step 382的shelf grip [-0. -0.]、step 462的IK报错、step 464 done=false)均核对属实。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--pmj6up7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--pmj6up7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1de5843e9cd829174381e9b46d90d9a097c008d6296f818c8296b307c1f376c6",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--z8p7znj.json b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--z8p7znj.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a01f908dec4b758b9b28c238641d3fabba183ad
--- /dev/null
+++ b/phase2/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--z8p7znj.json
@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--z8p7znj",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "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": 36785,
+   "sim_steps": 147140,
+   "control_steps": 36785,
+   "sim_time_s": 91.96249999992543,
+   "elapsed_s": 8616.4,
+   "service_time_s": 65.9,
+   "calls": 189,
+   "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": 9.873,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.282,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 1,
+   "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": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_1_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 54,
+      "text_zh": "观察：log step 54的实时服务返回已执行frameA grasp+lift，done=false、reason=null；log step 64、67又记录frameA grasp+lift和correct0，log step 159—161仍在重试A侧架抓取。A是agent在log step 24、39中定义的开局前侧侧架，按DAG对应侧架1。"
+     },
+     {
+      "t": null,
+      "log_step": 162,
+      "text_zh": "观察：log step 162最后回撤及watch后，服务status为done=false、reason=null、settle_failed=0；评分器reward.live_success=0，但没有frames.frame_1横向、朝向或通过值。无本次录像和状态日志，agent脚本的A placed: False并非评分服务的逐节点结果，final保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 54、64、135、159—161记录左臂针对A侧架的抓取、校正、推移和恢复命令；本次没有录像或接触状态日志，无法确定左夹爪是否夹住侧架、仅推碰侧架或夹到其他物体，实际接触未知。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 77,
+      "text_zh": "观察：agent在log step 77自述两个侧架已倒下，log step 168再次如此总结；这些不是服务对frame_2的验收结果。完整日志没有侧架2横向、朝向或passed字段，也未记录独立完成B侧架摆放的服务结果；无本次录像与状态日志，final未知。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 162,
+      "text_zh": "观察：log step 162的agent停止说明与log step 168最终报告均称层板落座阶段尚未完成；日志中的实际执行标签集中在frameA抓取、恢复及回撤。评分器只给整局live_success=0，没有层板落座或bench_supported结果，无录像及状态日志，不能据agent叙述给final赋真假。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 168,
+      "text_zh": "观察：log step 168中agent自述四颗螺钉旋拧阶段尚未实现；完整日志没有评分服务的合格螺钉数量、不同接收座数量、turns或passed结果。整局live_success=0不能决定“至少1颗合格”的真假；无本次录像与状态日志，final未知。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 168,
+      "text_zh": "观察：log step 168中agent自述四颗螺钉旋拧阶段尚未实现；完整日志没有评分服务的合格螺钉数量、不同接收座数量、turns或passed结果。整局live_success=0不能决定“至少2颗合格”的真假；无本次录像与状态日志，final未知。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 168,
+      "text_zh": "观察：log step 168中agent自述四颗螺钉旋拧阶段尚未实现；完整日志没有评分服务的合格螺钉数量、不同接收座数量、turns或passed结果。整局live_success=0不能决定“至少3颗合格”的真假；无本次录像与状态日志，final未知。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 168,
+      "text_zh": "观察：log step 168中agent自述四颗螺钉旋拧阶段尚未实现；完整日志没有评分服务的合格螺钉数量、不同接收座数量、turns或passed结果。整局live_success=0不能决定“至少4颗合格”的真假；无本次录像与状态日志，final未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_screw_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_scene_part_speed",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_hold",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_contact_depth",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_1_positioned",
+   "t": null,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 54、64及67的服务执行记录表明机器人已开始A侧架的抓取和位置校正；log step 94、126、150、155、159—161的脚本继续针对A侧架重试，log step 162随后主动停止，log step 168称后续层板与螺钉阶段尚未实现。因此将未解决的工作步骤定位为侧架1就位，导航锚点用log step 64；缺少逐节点服务判据和本次画面，不能确定首次物理失误时刻，视频时间为null。"
+  },
+  "unmet": {
+   "frame_1_positioned": null,
+   "frame_2_positioned": null,
+   "shelf_on_frames": null,
+   "screws_seated_1": null,
+   "screws_seated_2": null,
+   "screws_seated_3": null,
+   "screws_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 64,
+    "source_zh": "日志",
+    "note_zh": "候选细化：控制脚本异常；现有证据能确定夹爪命令状态管理错误，但不足以归入具体轨迹、反馈或接触设计子类。",
+    "evidence_zh": "推断：log step 39的place脚本在抓取前读取q，grasp+lift后进入correct0前没有刷新q，校正调用rows_rate_limited(q, ...)时也未传grips。log step 38中的生成器从q_start[7]、q_start[15]初始化夹爪命令并逐行覆盖，因而校正会沿用抓取前的张开命令，无法维持刚才的闭合命令；log step 64记录抓取后左夹爪开口0.0178866米，log step 67确认执行了correct0，log step 66随后读取两夹爪开口均为0.08米。此控制代码错误直接妨碍侧架操作中的闭合保持；不据此断言侧架确曾被持住、滑落或碰倒。"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json为kind=none（HF录像404、无本地录像），inputs/也没有states.jsonl；所有节点intervals和视频时间均为null。完整日志与reward只决定整局失败，没有任何逐节点服务验收字段，七个final均未知；agent自己的深度统计、GRASP FAILED、A placed: False和最终自述不作为节点值。缺少画面、接触对或足以辨别接触过程的服务监测，不能区分空夹、滑落、碰倒、互锁等物理现象，故phenomena留空，实际接触填未知；控制根因仅限可核对的代码与服务本体读数。侧架2仅有agent所称的连带倒下及恢复计划，未确认独立操作；层板和螺钉未见执行记录，均不补写典型接触。已查看成功参考录像的粗采样及参考视频29.88 s终帧，仅用于理解装配外观，不作为本次达成证据。log step 52的子进程退出137后，log step 54—162继续执行实时回合，reward.infra_error=0、resumes=0；不能将其当作整局被外因切断。"
+ },
+ "summary_zh": "评分器记录本次单一实时回合失败（live_success=0、graded_by_live=1）；日志可定位机器人反复处理前侧侧架A，但缺少逐节点服务结果，七个节点终值均未知，不能把零总分解释为七步全未达成。断点推定为侧架1就位的操作中，日志代码显示校正阶段沿用抓取前夹爪命令，破坏闭合保持；agent在log step 162主动停止时，服务仍报告剩余约2282秒。无本次录像和状态日志，实际接触、具体物理失败现象及所有视频时间均无法确认。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无录像、无状态日志；标注把七个节点终值与视频时间都保持为未知，实际接触填未知，phenomena留空并说明原因，这些都有依据，没有把agent叙述当作节点结果。控制类根因（校正阶段沿用抓取前张开的夹爪命令）与log step 39代码、log step 64/66的服务读数一致，且标为推断。未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:12:55Z",
+  "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-variera-i00-standard--z8p7znj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--z8p7znj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0094c6bdd41407a42c41ea50f2ac733f683550a4ce747bd75e2928415e54d03a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--3mxaiqh.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--3mxaiqh.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f58be3a5e0c27319a230a615d6db94b130c982
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--3mxaiqh.json
@@ -0,0 +1,513 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--3mxaiqh",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 7745,
+   "sim_steps": 30980,
+   "control_steps": 7745,
+   "sim_time_s": 19.362499999991453,
+   "elapsed_s": 569.6,
+   "service_time_s": 33.1,
+   "calls": 34,
+   "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": 0.252,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.266,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第1只脚扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 125,
+      "text_zh": "观察：log step 125 所写脚本的 run() 在“Commencing Stage 1: 4 Feet snap connections”后只调用 settle(0.5)，随后回原位并等待，没有取脚、对孔或扣入的调用；log step 126 启动该脚本。此代码用于定位未启动的首步，不作为节点最终真假或实际接触的观测。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第2只脚扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第3只脚扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第4只脚扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第1底柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第2底柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第3底柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第4底柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第二层托盘扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第1中柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第2中柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第3中柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第4中柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第三层托盘扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第1顶柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第2顶柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第3顶柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第4顶柱扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“顶托盘扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第1只顶帽扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第2只顶帽扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第3只顶帽扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人在线服务状态为 done=False、reason=None、control_steps=7745、resumes=0；评分器 reward.live_success=0，仅报告整局失败，没有报告“第4只顶帽扣好”的连接、几何门限或最终真假。本次无视频及状态日志，不能由整局失败或 agent 的脚本说明判定本节点，故最终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": "feet_seated_1",
+   "t": null,
+   "log_step": 125,
+   "where": "首步前",
+   "evidence_zh": "推断：本次评分器 graded_by_live=1、sim_startups=1、resumes=0，评的是日志中的单次在线局。log step 78、81、119—122 记录的提交为保持、接口零命令测试、小幅运动测试及回原位；log step 125 的 run() 在装脚阶段只有 settle(0.5)，随后直接回原位，log step 126 启动此脚本，log step 131 服务仍 done=False，之后 agent 在 log step 132 结束汇报。结合这些执行记录，将未启动的第1只脚装配作为断点；无本次视频，不能定位视频时刻。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 125,
+    "evidence_zh": "推断：log step 125 中 agent 的装配主流程仅定位场景、回原位、等待，再回原位；标为装脚的阶段只有等待，没有发出抓脚或插入底托盘的控制命令。此前 log step 106、108 只求逆解，log step 119—122 仅测试运动并回原位，未提交装脚轨迹；log step 126 启动上述主流程后，log step 131 服务仍未成功结束。因此首个装脚步骤没有实质启动，不把普通运动测试当作装配尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none（远端视频状态404且无本地视频），inputs/ 无本次 replay.mp4 或 states.jsonl，亦无 state/state_progress.json；只有另一成功运行的 oracle 视频可作任务参照，不能证明本局进度。评分器和 log step 131 的服务状态均未提供逐连接结果，故全部23节点的 intervals、final 为 null，不能把已确认节点数0理解为已证明完成数0；无节点实质操作记录，因此不从典型方案补写 contact_actual，测试运动中的偶然接触也无法核实。log step 125 的脚本文本中段已有截断，且 log step 126 的后台执行没有最终输出；可确认首步主流程没有装脚调用，但不能据此确认规划、感知、抓握设计或控制求解中哪项能力导致未实现装配，根因层留空。log step 106、119 的逆解失败属于测试，log step 108 后已有可行逆解，不足以认定装配不可达；log step 131 服务尚余10239.8秒，不能归因为超时。"
+ },
+ "summary_zh": "观察：本次在线评分失败，log step 131 的服务状态仍为 done=False；没有逐连接结果，本次视频与状态日志均不可用，因此23个装配节点的最终值全部未知，不能确认完成任何节点。推断：日志中的物理提交主要是保持、运动测试和回原位，最终脚本在装脚阶段仅等待后回原位，断点为第1只脚装配前，现象为“没尝试”。观察：后台脚本缺少最终执行输出；未启动装配的能力根因证据不足，根因留空，成功参考视频不作为本局完成证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频/状态日志，23个节点全部unknown符合N9（评分器仅给整局失败，无逐连接字段）；断点首步前+没尝试有log step 122/125/126/131支持，根因留空并有gap_zh，未发现需要改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--3mxaiqh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--3mxaiqh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "42d55877380d47de6350462f2a055cac2bbfa33b61bdf37b3668abd7bd88027f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--ar2cbto.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--ar2cbto.json
new file mode 100644
index 0000000000000000000000000000000000000000..03dc46642664cfe66b08ba0e27b5f4ef0ae375fe
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--ar2cbto.json
@@ -0,0 +1,521 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--ar2cbto",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 30481,
+   "sim_steps": 121924,
+   "control_steps": 30481,
+   "sim_time_s": 76.20249999993976,
+   "elapsed_s": 679.9,
+   "service_time_s": 88.5,
+   "calls": 68,
+   "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": 0.202,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.335,
+   "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": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第1只脚扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     },
+     {
+      "t": null,
+      "log_step": 35,
+      "text_zh": "观察：log step 35 的脚本向左夹爪提交下探零件盒、闭合、抬升及移向台前的命令，服务确认执行3362行；log step 38 又提交台面松爪与观察动作。没有本次图像或连接报告，夹爪开度不能证明抓住了脚或完成装配。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：log step 35、38、44至50的取件与腕部相机辨认动作属于首只脚装配前的探索；无本次视频或接触对日志，无法确认左夹爪是否夹住脚、顶帽或其他零件，也无法核实机械臂与托盘的意外接触。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第2只脚扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第3只脚扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第4只脚扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第1底柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第2底柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第3底柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第4底柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第二层托盘扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第1中柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第2中柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第3中柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第4中柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第三层托盘扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第1顶柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第2顶柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第3顶柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第4顶柱扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘顶托盘扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第1只顶帽扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第2只顶帽扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第3只顶帽扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：本次无视频、无状态日志；log step 67 的机器人在线服务末次状态仅报告 done=False、reason=None、settle_failed=0，run.json 的 reward 仅给出整体 live_success=0，均未报告‘第4只顶帽扣好’的连接状态、几何或通过数量，故本节点终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": "feet_seated_1",
+   "t": null,
+   "log_step": 49,
+   "where": "探索",
+   "evidence_zh": "推断：任务要求先扣脚；log step 35、38提交零件盒取件和台面放下命令，log step 44 的 agent 自述仍需辨认“脚还是顶帽”，log step 44至50继续提交腕部相机观察姿态，未见扣接命令。log step 70 的 agent 自述机械臂在这些观察动作中扫动托盘、使其中一块落地，随后放弃；结合末次服务仍未成功（log step 67），将未修复断点归于首只脚装配的探索阶段。log step 49仅定位相关腕部重定向动作，不能确认碰撞具体发生在哪次提交；无视频时间可填。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 42,
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "推断：log step 19 的脚本用关节线性插值生成命令；log step 42 为绕过笛卡尔路径逆解失败新增 goto，仅求目标位姿的逆解并插值到目标关节，没有路径碰撞检查，服务确认执行2793行；log step 44、46、48至50沿用该方法移动腕部相机。log step 51 服务本体读数出现右臂关节命令与实测偏差及多轴绝对值约87的 joint_effort，但不能据此确定碰撞对象。agent 在 log step 68、70 明确将托盘落地归因于低位关节运动扫过零件；代码与自述共同支持运动控制问题，具体碰撞过程及控制子类未经影像核实，故停在“控制”。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明示 kind=none（回放404且无本地视频），没有状态日志，run.json 的图片记录只有索引而无可查看的本次图像文件。23个装配节点均缺少服务或评分器逐项连接结果，全部 final=null、intervals=null；整体失败不能推出各节点为假。首只脚断点是依据源顺序与已提交探索命令的推断，所取小件到底是脚还是顶帽、托盘身份、扫落时刻和接触方式均无法核实。失败现象留空，因为托盘被碰落及落地后不可达仅见 agent 自述，关节 effort 不能独立确定碰撞或接触力异常；控制归因也保留上述局限。inputs/oracle/replay.mp4 属于另一成功运行，不能补作本次轨迹证据。"
+ },
+ "summary_zh": "观察：评分器记录单次在线评测失败（live_success=0、graded_by_live=1、sim_startups=1、resumes=0），日志含19次动作提交；缺少逐项连接结果，23个节点终值均未知，不能确认任何装配已完成。推断：机器人在首只脚装配前的取件与辨认探索阶段受阻，未检查碰撞的关节插值运动与 agent 自述的扫落托盘支持控制问题；因无本次视频和状态日志，实际碰撞、接触方式及节点进度无法核实，现象层留空。",
+ "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.json kind=none，HF 404），标注者将23个节点全部置 unknown，断点放在 feet_seated_1（探索），现象留空并写明 gap_zh，根因停在“控制”，均有 run.json 日志支持，且推断/观察标记正确、未转换 agent 时间。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": "2026-10-31T01:12:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--ar2cbto/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--ar2cbto/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e0e96c3808e34c6f1c2aad0d0658de25c1af85b35f16c852dd032cdd3ae81aa0",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--bjevf7p.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--bjevf7p.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ab34cf8575675928a9641e25a604d8c4339d2d
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--bjevf7p.json
@@ -0,0 +1,588 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--bjevf7p",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 291655,
+   "sim_steps": 1166620,
+   "control_steps": 291655,
+   "sim_time_s": 729.1375000130141,
+   "elapsed_s": 10476.5,
+   "service_time_s": 808.4,
+   "calls": 2042,
+   "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": 0.237,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.335,
+   "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": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第1只脚扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 34,
+      "text_zh": "观察：机器人服务返回左臂托盘操作 executed=953；这仅证实关节命令执行，未报告脚与底托盘的连接状态，agent 随后自述托盘已抓稳（log step 36）。"
+     },
+     {
+      "t": null,
+      "log_step": 168,
+      "text_zh": "观察：agent 的脚和顶帽提取脚本打印 manual extract done, staged 0；这是脚本自己的暂存检查，不是评分器的装脚结果。"
+     },
+     {
+      "t": null,
+      "log_step": 213,
+      "text_zh": "观察：agent 自述放弃脚与顶帽，改尝试立柱和托盘；没有服务逐连接终态报告，故本节点仍为未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：log step 34、56、103、168 的命令涉及为首次装脚搬动底托盘和提取脚；无本次画面或接触对，无法核实左右夹爪是否夹住托盘、脚，或实际采用了何种接触。重复提取未证实首次装配完成，归在首个装脚目标。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第2只脚扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第3只脚扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第4只脚扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第1底柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 219,
+      "text_zh": "观察：agent 的底层立柱脚本打印 inserted 0，并记录 IK fail；log step 222 仅有重启该脚本的调用，没有返回的执行或连接结果。脚本计数不能代替服务的节点终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 219 的脚本尝试底层立柱取放，log step 222 再次启动；无随后反馈及本次画面，无法确认夹爪与立柱、托盘实际接触。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第2底柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第3底柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第4底柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第二层托盘扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第1中柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第2中柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第3中柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第4中柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第三层托盘扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第1顶柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第2顶柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第3顶柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第4顶柱扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：顶托盘扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第1只顶帽扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 170,
+      "text_zh": "观察：agent 的顶帽提取脚本多次打印 cap attempt failed，最后打印 staged 0；这反映其提取检查，未报告顶帽扣入顶托盘，不能据此填写节点终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 168—170 的脚本执行多次顶帽提取动作；无本次画面或接触对，无法核实夹爪与顶帽是否形成夹持、按压或勾取。提取准备归在首个顶帽装配目标，未把它当成已扣好。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第2只顶帽扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第3只顶帽扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：第4只顶帽扣好：本次 video.kind=none，无状态日志；reward 仅报告整体 live_success=0，未报告本节点的 connected、passed 或终态几何，不能由整体失败判定该节点为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": "feet_seated_1",
+   "t": null,
+   "log_step": 56,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 56 的首次小零件抓取执行478/478行后，机器人服务本体读数 gripR opening=-0.0000199453；log step 103 的 agent 明确计划取脚并插入底托盘孔。log step 168 的提取脚本读取夹爪开度，多次打印 opening -0.0，最终自报 manual extract done, staged 0；log step 169—170 的后续提取检查仍为 staged 0。log step 213 的 agent 自述跳过脚与顶帽，转向立柱和托盘。推断：第1只脚扣好在取件阶段持续受阻，后续未有完成该装配的证据，故保留 feet_seated_1 为最早未修复断点。log step 174 起的非法逆解目标错误是更晚的提取阻断，不能解释此前的空抓；本次无视频，无法定位物理失误瞬间，也不能由脚本暂存计数替代节点未知的评分终态。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": null,
+    "log_step": 56,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 56 的机器人抓取命令执行478/478行，随后从服务本体读取 gripR opening=-0.0000199453，夹爪接近闭到底；该读取链在 log step 26 的 grip_now 中取自服务 proprio.now[29]，并非 agent 对画面的描述。log step 168 的手动提取脚本在闭合并抬起后调用 grip_open（log step 124 定义为 c.grip_now），所见输出多次为 opening -0.0，脚本暂存计数 staged 0；其中可见带标签的重复尝试为顶帽，不把这些读数全称为脚。推断：这些尝试未建立取件所需的有效夹持，属于没建立接触；读数不能证明整个运动中从未瞬时碰到零件，也不能区分抬起前是否有过短暂接触或滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": null,
+    "log_step": 168,
+    "note_zh": "推断：取件接触方案未能形成可靠夹持，导致首次装脚所需的取件准备持续受阻。掌部卡料盒壁、指尖触底等具体几何机制仅有 agent 自述，仍待核实；没有证据排除其他可行抓法。",
+    "evidence_zh": "观察：log step 56 的服务读数为夹爪开度约0；log step 168 的脚本明确按接近、下降、闭合、抬起执行，随后读取服务夹爪开度，所见输出重复为 opening -0.0，脚本检查 staged 0。log step 97 的 agent 自述“hand body jams in the narrow bin”，log step 103 自述零件过深、掌部卡住，log step 168 自述指尖触底，log step 169 自述指形使垂直抓取不可行；这些是 agent 对接触几何的诊断，不是已观察到的碰撞。推断：结合实际空夹读数与反复改换接触方案，抓取和接触设计是受支持的候选根因；具体卡壁或触底未经画面及接触力验证。观察：log step 174、176 后续提取报 targets[right_tcp] must be 7 finite numbers，log step 199 的 descend 实现把 q_now() 关节数组写入姿态参数，log step 209—211 再次因此退出。推断：该代码错误是晚期附带阻断，不作为此前取件失败的根因；log step 213 的放弃理由也不作为根因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本次没有可用视频（inputs/video.json 记录 HF 404 且无本地视频），也没有 inputs/states.jsonl；run.json 的图片仅保留占位文字和索引，无法检查实际画面。评分器未给23项连接、几何或全局验收的逐项结果，所有节点终态与视频区间均保留 null；整体失败不代表23项全未完成。单次在线 episode 的服务夹爪开度支持部分尝试未形成有效夹持；但缺少下降与抬起过程的接触对、力和画面，无法区分其间瞬时触碰、滑脱、卡壁或碰撞，也不能验证 agent 自述的触底机制。实际接触类型仍为未知，不能由失败抓取命令填写已发生抓握。断点依据操作日志推断；抓取和接触设计为候选根因，替代方案可行性未知。log step 222 重启立柱脚本后没有输出，不能采用此前脚本 inserted 0 作为最终评分状态。已检查的 oracle 视频只展示另一成功运行的装配外观，不能补足本次证据。"
+ },
+ "summary_zh": "评分器记录单次在线 episode 失败（live_success=0、resumes=0、infra_error=0）；日志显示机器人执行托盘操作并反复提取小零件，但23个装配节点均无可核实终态，不能把未知计作已完成或未完成。推断最早未修复断点为第1只脚扣好：log step 56 的服务夹爪开度约0，后续重复取件仍出现空夹读数及 staged 0，支持没建立有效夹持，候选根因为抓取和接触设计。log step 174 之后的 descend 参数错误仅是晚期附带阻断，不能解释先前取件失败；log step 213 的 agent 随后自述跳过脚与顶帽。本次无视频及状态日志，具体卡壁、触底机制和替代抓法未经验证，故置信度保持5；完成数量与视频失败时刻仍未知。",
+ "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、无状态日志，节点全为 unknown 与断点 feet_seated_1 的选择合理。但根因被错配：把第 174 步之后才出现的 ValueError（agent 自写 descend 的参数错误）当作首个装脚/取件失败的原因，而日志显示取脚/取帽在第 56–169 步已因料盒中小零件抓不到而反复失败（staged 0、夹爪闭合到约 0 即空抓），与该 ValueError 无关；现象层为空也漏了有服务读数支持的‘没建立接触’。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，23个节点全部 unknown、断点 feet_seated_1（操作中）、现象“没建立接触”（服务夹爪开度≈0）与根因“抓取和接触设计”（alt_feasible 未知，agent 自述标为推断）均有 log 支持；第1轮提出的问题已落实，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": "2026-10-31T01:15:44Z",
+  "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-ikea-vesken-i00-standard--bjevf7p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--bjevf7p/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--bjevf7p/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--bjevf7p/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e3cc0c8ad175e6bded614b43c8e76630f187d6978a0a056120b78adf8986e72f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--jswyfev.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--jswyfev.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc55f969530d5e2d9235f2b7e49a784c0b597e2
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--jswyfev.json
@@ -0,0 +1,528 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--jswyfev",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 447564,
+   "sim_steps": 1790256,
+   "control_steps": 447564,
+   "sim_time_s": 1118.9100000042579,
+   "elapsed_s": 10629.4,
+   "service_time_s": 1699.6,
+   "calls": 722,
+   "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": 0.466,
+   "peak_processes": 9,
+   "peak_disk_gb": 3.355,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 410,
+      "text_zh": "观察：log step 410 中 agent 自述首次脚插入后“仍不能确认保持”，随后转向下一只脚；这些记录不含本节点的服务端连接验收结果。inputs/video.json 标记本次 video.kind=none，且无本次状态日志；不能据 agent 的外观判断或自编检查确定至少1只脚的保留焊接及几何门限，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：脚装配相关命令及叙述见 log step 410；机器人被命令用二指夹爪操作脚和底托盘，但本次无视频、接触对或持物状态记录，不能确认实际作用端接触与夹持方式。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 475,
+      "text_zh": "观察：log step 475 中 agent 自述第二只脚松手后站在后侧孔内；这些记录不含本节点的服务端连接验收结果。inputs/video.json 标记本次 video.kind=none，且无本次状态日志；不能据 agent 的外观判断或自编检查确定至少2只脚的保留焊接及几何门限，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：脚装配相关命令及叙述见 log step 475；机器人被命令用二指夹爪操作脚和底托盘，但本次无视频、接触对或持物状态记录，不能确认实际作用端接触与夹持方式。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 525,
+      "text_zh": "观察：log step 525 中 agent 自述三只脚松手后仍竖立；这些记录不含本节点的服务端连接验收结果。inputs/video.json 标记本次 video.kind=none，且无本次状态日志；不能据 agent 的外观判断或自编检查确定至少3只脚的保留焊接及几何门限，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：脚装配相关命令及叙述见 log step 525；机器人被命令用二指夹爪操作脚和底托盘，但本次无视频、接触对或持物状态记录，不能确认实际作用端接触与夹持方式。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 629,
+      "text_zh": "观察：log step 628 的脚回收脚本在 log step 629 的下降过程中停止，未执行其后的闭爪及抬起命令；这些记录不含本节点的服务端连接验收结果。inputs/video.json 标记本次 video.kind=none，且无本次状态日志；不能据 agent 的外观判断或自编检查确定至少4只脚的保留焊接及几何门限，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：脚装配相关命令及叙述见 log step 629；机器人被命令用二指夹爪操作脚和底托盘，但本次无视频、接触对或持物状态记录，不能确认实际作用端接触与夹持方式。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第1底柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第2底柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第3底柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第4底柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第二层托盘扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第1中柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第2中柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第3中柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第4中柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第三层托盘扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第1顶柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第2顶柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第3顶柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第4顶柱扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“顶托盘扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第1只顶帽扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第2只顶帽扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第3只顶帽扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 642,
+      "text_zh": "观察：log step 642 的机器人在线服务 status 仅报告 done=false、reason=null、settle_failed=0 等全局状态，未报告“第4只顶帽扣好”的连接或几何结果；reward 也没有该节点字段。本次无视频和状态日志，不能由整体 success=0 或 agent 的任务总结判定本节点，final 保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": 410,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 103–116 的脚本尝试首次脚插入及松手；log step 410 中 agent 自述“仍不能确认保持”后转向下一只脚；log step 523–629 的脚本继续执行最后一只脚的对孔、换手及回收，log step 640–643 则撤臂并结束，reward.live_success=0。推断：受阻工作属于脚与底托盘装配阶段；但没有逐项连接验收，不能确定早先脚扣合问题是否修复、也不能在 feet_seated_1 至 feet_seated_4 中唯一定位最早未修复节点，故 ref=unknown。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 明确 video.kind=none（HF 404 且无本地视频），inputs/ 没有本次 states.jsonl；run.json 中图像只有图片索引信息，无法检查实际帧。在线服务及 reward 没有逐项 operations、connected、passed 或连接几何报告，故依 N9 全部节点 final 与 intervals 为 null；整体失败不表示每个节点均未达到。日志能确定脚装配工作已开始，但 agent 在 log step 410 未确认首只脚保持，log step 525 自述三只脚竖立也不能证明扣合，无法唯一选出第一个未修复的计数节点。log step 548、608、629 等自编控制器报告位姿误差，且有逆解失败，但没有物体运动与接触证据，无法判明未修复断点上是未接触、夹持丢失、受阻还是卡扣未锁，也不足以确定相关根因，现象和根因均留空。inputs/oracle/replay.mp4 属于另一条成功运行，不能替代本次证据。"
+ },
+ "summary_zh": "在线评分记录显示本次单局未重置、未恢复，最终 success=0；脚装配脚本持续尝试至回收并撤臂结束，agent 自述三只脚竖立及整架未完成（log step 525、643），均不等于卡扣验收结果。由于本次无视频、状态日志或逐项服务结果，23个节点全部未知，断点只能定位到脚与底托盘装配阶段而不能唯一指定计数节点，实际接触、失败现象和根因也保留证据缺口。",
+ "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 video.kind=none，无状态日志，也没有逐节点的服务端验收字段；标注文件把23个节点、断点 ref、现象和根因全部保留为 unknown / 空并写了 gap_zh，与证据相符。验证器通过，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:00Z",
+  "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-ikea-vesken-i00-standard--jswyfev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--jswyfev/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a6f42f0e510d1a757d2acbd9b8b51e1fc92188e60661bb4fa26a025753278975",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--kkekxsv.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--kkekxsv.json
new file mode 100644
index 0000000000000000000000000000000000000000..869f74bfe94279baf4d0c3ff17f374bb2d37c7b9
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--kkekxsv.json
@@ -0,0 +1,546 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--kkekxsv",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 1119959,
+   "sim_steps": 4479836,
+   "control_steps": 1119959,
+   "sim_time_s": 2799.897500008719,
+   "elapsed_s": 7952.4,
+   "service_time_s": 2969.3,
+   "calls": 2045,
+   "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": 8.806,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.561,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 4,
+   "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": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 554,
+      "text_zh": "观察：log step 550、554、560、571 中，agent 的在线脚本为脚的装配准备执行候选零件接近和闭爪；log step 554 输出 pin grip eff=-0.0、opening=0.0086，log step 571 多次闭爪的 effort 约为0。输入无本次视频或状态日志，服务未报告脚的 connected/passed 或当前连接几何；agent 在 log step 575 自述“0 of 23”，不能据此判定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "日志记录左右机械臂为寻找、分散和抓取脚候选件执行动作；log step 554、560、571 的服务读数支持这些尝试未建立夹持接触。无本次画面及接触对，无法确认候选件身份或整个步骤中夹爪实际触到脚、盒壁或托盘的情况。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第2只脚扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第3只脚扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第4只脚扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第1底柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第2底柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第3底柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第4底柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第二层托盘扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第1中柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第2中柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第3中柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第4中柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第三层托盘扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第1顶柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第2顶柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第3顶柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第4顶柱扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“顶托盘扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第1只顶帽扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第2只顶帽扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第3只顶帽扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 575,
+      "text_zh": "观察：inputs/run.json 的 reward 仅报告整体 success=0、live_success=0，未报告“第4只顶帽扣好”的 connected/passed 或几何验收结果；log step 575 的“0 of 23”为 agent 自述。无本次视频和状态日志，无法独立判定该节点终值；日志中后续装配流水线写入文件（log step 568），没有其执行结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": "feet_seated_1",
+   "t": null,
+   "log_step": 560,
+   "where": "操作中",
+   "evidence_zh": "推断：在线服务为单一 episode（reward graded_by_live=1、sim_startups=1、resumes=0）；agent 的脚本在 log step 550、554、560 反复尝试抓取脚候选件，log step 560 接近误差0.0850 m后仍闭爪，各次夹爪 effort 约为0；log step 571 继续候选件抓取，随后 log step 572 停放双臂。最早持续受阻的任务步骤可定位为第1只脚装配，未见其后连接验收记录；无视频，不能定位视频时刻。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": null,
+    "log_step": 554,
+    "evidence_zh": "观察：inputs/run.json 的 reward 报告 graded_by_live=1、sim_startups=1、resumes=0，sim_total.reset=0；这些动作属于唯一的在线评分局。log step 558 的 effort_left 直接读取服务 joint_effort[7] 和 gripper_opening[0]。log step 554 左夹爪下降后命令位置误差 dn dev=0.0031 m，闭爪后 effort=-0.0、opening=0.0086 m；log step 560 五级闭爪的 effort 均为-0.0，opening 从0.0498 m缩至0.0278 m，log step 571 同样为约零 effort。推断：这些候选件抓取中未建立所需的夹持接触；这不证明整个装配过程中从未触碰其他物体，也不确认候选件确为脚。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 560,
+    "evidence_zh": "推断：log step 461 的抓取函数原本在下降误差>0.008 m时中止，但 log step 560、571 的后续脚本在实际下降误差分别为0.0850 m、0.2458 m时仍继续逐级闭爪，返回的夹爪 effort 均约为0。结合 log step 550 的下降偏差及 log step 554 的零 effort，接近与抓取控制持续未建立可继续插装的操作条件；证据支持控制层面受阻，但不足以细分为接触布局、逆解或反馈失稳。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "未提供本次视频（inputs/video.json: kind=none，记录远端404且无本地视频）和状态日志；inputs/oracle/replay.mp4 是另一条成功运行，不能证明本次状态。23个节点均缺少服务端逐项连接及当前几何验收字段，全部 final=null、intervals=null；agent 自述0/23不能替代验收。log step 554、560、571 的服务 effort 与 opening 读数支持这些候选件抓取未建立夹持接触；但候选件身份、整个步骤中的实际接触对象、是否曾夹住后滑落、是否被盒壁或托盘阻挡均无法核实，contact_actual 保持未知，不能确定具体控制子因。命令跟踪误差可由在线本体状态核实，但不足以单独解释 log step 554 已接近命令位置时仍未夹住，故现象改为没建立接触，不另重复标位姿不准。log step 574 服务仍报告 done=False、time_left_s=2924.9，随后 agent 在 log step 575 主动结束；reward 另有 over_oom=1、resource_oom_kills=4，但日志在相关进程被杀后继续运行至主动停止，未据此推定外因中断或具体物理根因。"
+ },
+ "summary_zh": "本次在线运行整体失败；23个装配节点均没有可核实的逐项验收结果，终值全部未知，agent 在 log step 575 自述完成0/23。可定位的断点是第1只脚装配：log step 554、560、571 的服务读数支持候选件抓取未建立夹持接触，其中 log step 554 已接近命令位置，后两次则在较大命令跟踪误差下仍继续闭爪，根因保留控制；随后 agent 在服务仍有约2925秒余量时主动结束（log step 574、575）。本次无视频及状态日志，候选件身份、整个步骤中的实际接触对象、连接数量和具体阻挡原因无法核实，置信度保持5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频、全部节点 unknown、断点 feet_seated_1 与 控制 根因基本站得住；但唯一的现象“位姿不准”与证据不匹配：log step 554 夹爪已到位（dn dev=0.0031 m）却闭爪 effort≈0，step 560、571 也是多级闭爪零 effort，这是“没建立接触”，而 gap_zh 却说不标接触现象，与服务读数（N5 的在线读数）不符。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，23 个节点全部 unknown 合理（success=0 不能给出逐节点终值，agent 的“0/23”仅是自述）；断点 feet_seated_1、现象“没建立接触”（log step 554/560/571 的服务 effort/opening 读数）和根因停在“控制”均有 run.json 支持，时钟均用 log step、未折算视频时间，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": "2026-10-31T01:16:34Z",
+  "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-vesken-i00-standard--kkekxsv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--kkekxsv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--kkekxsv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--kkekxsv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a331a535869721a9b4a490465600d7e8ce8d57319161ee12552a1224dd3f00e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xrcmjp9.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xrcmjp9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba01432e7401938b36fba06f7b6f85227c4b89c3
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xrcmjp9.json
@@ -0,0 +1,512 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--xrcmjp9",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 15205,
+   "sim_steps": 60820,
+   "control_steps": 15205,
+   "sim_time_s": 38.012499999974494,
+   "elapsed_s": 5167.4,
+   "service_time_s": 71.6,
+   "calls": 50,
+   "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": 0.344,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.44,
+   "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": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第1只脚扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 167,
+      "text_zh": "观察：agent 脚本在 log step 162、167、170 依次提交首只脚的接近、推入及松爪撤回命令，服务分别报告执行5、6、5行，均返回 done=false、reason=null。log step 172 将自算深度点云称为“Welded Foot #1”，log step 190 又将脚识别在台面；这些均是 agent 自行处理的观测，不是服务装配判定，依 N9 不据此赋予节点真值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 150、162、167、170 的命令意图是右夹爪保持底托盘、左夹爪操作首只脚；本次没有视频、状态接触对或服务接触判定，无法确认两侧夹爪实际夹住了什么及是否形成装配接触。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第2只脚扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第3只脚扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第4只脚扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第1底柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第2底柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第3底柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第4底柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第二层托盘扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第1中柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第2中柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第3中柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第4中柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第三层托盘扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第1顶柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第2顶柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第3顶柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第4顶柱扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“顶托盘扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第1只顶帽扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第2只顶帽扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第3只顶帽扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 187,
+      "text_zh": "观察：本次视频 kind=none，未提供状态日志；末次运动调用（log step 187）服务返回 done=false、reason=null，没有逐连接装配结果。评分器仅报告整体 success=0、live_success=0，未报告“第4只顶帽扣好”对应的连接数、焊接或几何验收字段，不能判定该节点终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": 202,
+   "where": "未知",
+   "evidence_zh": "观察：本次在线运行已有50次服务调用、15205个控制步，未重置或恢复；log step 167、170 执行首只脚相关命令后，log step 184、187 转为扫描零件盒，服务仍返回 done=false、reason=null。log step 202 的最终消息明确为 Gemini 提供方过滤器阻断，没有正常完成报告；无本次视频、状态日志或逐节点服务结果，无法确认中断前哪一装配节点已发生未修复的物理失败。"
+  },
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 记载 HF 视频404且无本地视频，本次亦无状态日志；inputs/oracle/replay.mp4 是另一次成功运行，不能补作本次接触或进度证据。日志中的图像查看输出无图像内容，agent 自算点云及“焊接”命名不能替代逐节点服务结果；因此全部23个节点终值及全部视频时间均未知，首只脚实际接触也未知。log step 187 服务仍为 done=false，log step 202 随后报告提供方过滤器阻断，现有记录不显示此前已固定最终结果。推断：该中断属于外部因素，应重试，不能将目录中的 success=0直接归为机器人失败；没有可独立确认的中断前物理失败，故不标没尝试，也不猜测物理现象或根因。"
+ },
+ "summary_zh": "观察：日志只显示机器人执行过首只脚相关的抓取、托盘调整、接近、推入和松爪命令；无本次视频、状态日志或逐连接服务判定，23个装配节点终值全部未知，评分器只报告整体未成功。观察：末次运动调用（log step 187）服务仍返回 done=false，最终消息（log step 202）为 Gemini 提供方过滤器阻断；推断：本次由外部因素中断，应重试，证据不足以定位物理失败节点、现象或根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频、无状态日志，23个节点均为unknown、breakpoint ref=unknown、现象与根因为空并附gap_zh，符合外部因素（Gemini提供方过滤器阻断，log step 202）中断且无已保存交付的处理规则；未发现时钟转换或无证据的现象。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xrcmjp9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xrcmjp9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3319a91cbc5864752b6bcc4bdda74232f8459dea017834a4803001dac1618d39",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xsbbque.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xsbbque.json
new file mode 100644
index 0000000000000000000000000000000000000000..4496ab931634d883528c62b1de141e0b6fa302e4
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xsbbque.json
@@ -0,0 +1,661 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--xsbbque",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "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": 312515,
+   "sim_steps": 1250060,
+   "control_steps": 312515,
+   "sim_time_s": 781.2875000141524,
+   "elapsed_s": 3928.8,
+   "service_time_s": 1327.1,
+   "calls": 2793,
+   "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": 0.488,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.14,
+   "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": 23,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第1只脚扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的脚本虽注释列出先装脚的顺序，main 实际直接调用 assemble_column；log step 231、235 仅记录小零件相机调查及 agent 自算点云，未给出装脚的服务判定。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第2只脚扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的脚本虽注释列出先装脚的顺序，main 实际直接调用 assemble_column；log step 231、235 仅记录小零件相机调查及 agent 自算点云，未给出装脚的服务判定。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第3只脚扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的脚本虽注释列出先装脚的顺序，main 实际直接调用 assemble_column；log step 231、235 仅记录小零件相机调查及 agent 自算点云，未给出装脚的服务判定。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第4只脚扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的脚本虽注释列出先装脚的顺序，main 实际直接调用 assemble_column；log step 231、235 仅记录小零件相机调查及 agent 自算点云，未给出装脚的服务判定。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第1底柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 255,
+      "text_zh": "观察：agent 的脚本在 log step 251、254 指令左臂移向底托盘角孔并下压；log step 255 输出服务的末端位姿、夹爪开度与关节力矩。上述反馈没有逐连接验收结果，不能证明立柱扣合；log step 420 的“no snap connection was made”是 agent 自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 242、251、254 记录左夹爪夹取立柱、搬向底托盘及下压的命令；本次没有图像或接触对，无法核实夹爪实际夹住哪个零件及柱端与托盘的实际接触方式。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第2底柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 420,
+      "text_zh": "观察：log step 420 中 agent 自述反复插柱未扣合；此为 agent 总结，评分结果未给出本层通过数量，不能据其将计数节点设为 false。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第3底柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 420,
+      "text_zh": "观察：log step 420 中 agent 自述反复插柱未扣合；此为 agent 总结，评分结果未给出本层通过数量，不能据其将计数节点设为 false。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第4底柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 420,
+      "text_zh": "观察：log step 420 中 agent 自述反复插柱未扣合；此为 agent 总结，评分结果未给出本层通过数量，不能据其将计数节点设为 false。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第二层托盘扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第1中柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第2中柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第3中柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第4中柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第三层托盘扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第1顶柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第2顶柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第3顶柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第4顶柱扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“顶托盘扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第1只顶帽扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第2只顶帽扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第3只顶帽扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 417,
+      "text_zh": "观察：本次 inputs/video.json 标明无视频，且无状态日志；评分字段仅报告整体 success=0、live_success=0，未报告“第4只顶帽扣好”的连接状态或数量，不能据此判定该节点终值。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 的装配脚本仅包含底层立柱循环，后续日志仍是抓柱、压入、相机调查和归位；未见本步装配命令或服务逐节点结果。没有视频，未见本步命令也不替代终态观测。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "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": "feet_seated_1",
+   "t": null,
+   "log_step": 293,
+   "where": "首步前",
+   "evidence_zh": "推断：inputs/run.json 的 task_text 及 log step 11 明示23个连接逐项依赖，必须先装四只脚；task/task_dag.json 的前置链为 feet_seated_1→feet_seated_2→feet_seated_3→feet_seated_4→bottom_columns_seated_1。本次为单一在线评分局（reward.graded_by_live=1、sim_startups=1、resumes=0）。检索全日志并核对动作记录，未见夹取脚并装入底托盘下侧的命令；log step 231、235 仅调查小零件，log step 129 起抓柱，log step 251、254 搬柱和下压，log step 293 的 main 仍直接循环 assemble_column，装脚只列在顺序注释中，后续未补做。因此首个必需装脚步骤从未启动，断点定位 feet_seated_1；缺少前置的底柱尝试不能替代装脚。本次无视频，t=null；该行为判断不替代逐连接终值观测。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 293,
+    "evidence_zh": "推断：核对 inputs/run.json 全部步骤的动作记录，未见装脚命令；log step 231、235 的小零件调查没有装配动作，log step 129、242、251、254 实际下达的是抓柱、搬柱和压柱命令，log step 293 的 main 只调用 assemble_column，后续仍为插柱、调查及归位。结合 task_text 明示先装四脚，首个必需步骤 feet_seated_1 未启动，按 docs/03_trajectory.md Step 3.1–3.2 标为首步前、没尝试；不是根据整体零分推断未尝试。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 293,
+    "t": null,
+    "source_zh": "日志",
+    "evidence_zh": "推断：inputs/run.json 的任务文本及 log step 11 的服务任务说明明确规定每个连接依赖前一连接，顺序先四只脚、再底柱。log step 129、157、237、242、254 等执行的是抓柱和压柱；log step 293 的 main 仅循环 assemble_column，装脚只出现在顺序注释中，后续也未补入装脚步骤。该计划遗漏装脚前置就持续试装底柱，不能满足规定的保留连接顺序。"
+   }
+  ],
+  "gap_zh": "本次没有可用视频（inputs/video.json: kind=none，说明 HF 404 且无本地视频），也没有状态日志；日志中看图调用只保留路径和图像元数据，没有可检查的图像内容。reward 虽含 video_rendered=1，却未提供可用录像，也未提供 operations_passed、逐连接 connected 或几何量，因此全部23个节点 final 与 intervals 均为 null，不能将整体零分或 agent 自算检查解释为0/23已证实未达。观察：log step 254 的脚本按递减高度命令下压并打印 Robot.get_obs 服务提供的末端位姿与关节力矩；log step 255 中高度命令从0.140 m降到0.055 m，实际高度从0.1443 m变为0.1319 m，部分关节力矩达到87 N·m。推断：这些是底柱尝试的背景反馈，无法单凭它们区分正常接触响应、零件受阻或控制故障，也不能证明独立于装脚遗漏的控制根因；首底柱实际接触方式及扣合状态仍未知。agent 在 log step 416、420 所称销直径、2–3 mm对孔精度、滑移和柱库存不足导致不可完成均未独立核实。成功参考视频只解释达成外观，不能填补本次轨迹证据。",
+  "unmet": {
+   "feet_seated_1": null,
+   "feet_seated_2": null,
+   "feet_seated_3": null,
+   "feet_seated_4": null,
+   "bottom_columns_seated_1": null,
+   "bottom_columns_seated_2": null,
+   "bottom_columns_seated_3": null,
+   "bottom_columns_seated_4": null,
+   "second_tray_seated": null,
+   "middle_columns_seated_1": null,
+   "middle_columns_seated_2": null,
+   "middle_columns_seated_3": null,
+   "middle_columns_seated_4": null,
+   "third_tray_seated": null,
+   "upper_columns_seated_1": null,
+   "upper_columns_seated_2": null,
+   "upper_columns_seated_3": null,
+   "upper_columns_seated_4": null,
+   "top_tray_seated": null,
+   "caps_seated_1": null,
+   "caps_seated_2": null,
+   "caps_seated_3": null,
+   "caps_seated_4": null
+  }
+ },
+ "summary_zh": "本次在线评分失败，日志显示 agent 跳过先装四脚的前置步骤，反复抓柱、压柱后归位停止；断点为 feet_seated_1（首步前），现象为没尝试，根因为有脚本顺序证据的认知·推理/规划。23个节点均缺少服务逐连接结果，终值全部未知；底柱下压读数保留为背景，不足以独立归因控制故障。置信度维持6：步骤遗漏与规划问题由日志支持，但没有本次视频或状态日志，无法核实扣合数量和实际接触。",
+ "conf": 6,
+ "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；全部节点 unknown 符合 N9，log 引用（step 254/255/293/420）核对属实。问题在断点与因果：agent 从未尝试装脚（任务文本：23 个连接按序依赖，脚在先），断点应落在从未开工的第一步 feet_seated_1（首步前/没尝试），而不是脚未装就去压柱的 bottom_columns_seated_1；“控制”根因没有证据支撑（压入时末端停住、力矩升高是接触的正常读数，且脚本是有意的探测下压）。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，23个节点全为unknown符合N9；断点feet_seated_1/首步前/没尝试及根因推理/规划均有日志支持：全日志搜索“脚/foot/feet”仅在任务文本、托盘轮廓和gen.py注释中出现，agent从未尝试装脚，直接做底柱插入，且明确标为推断。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": "2026-10-31T01:18:23Z",
+  "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-ikea-vesken-i00-standard--xsbbque/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xsbbque/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xsbbque/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xsbbque/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7eda165d400b97a97139dd5167a9e0c1b0312b4c16b2899aebf644240ac55f20",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--bujx2z4.json b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--bujx2z4.json
new file mode 100644
index 0000000000000000000000000000000000000000..981cb46b1f0c66535871bdee1a8746c3e5a7df9c
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--bujx2z4.json
@@ -0,0 +1,184 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-09-i01-privileged--bujx2z4",
+ "taskKey": "roboarc/interlocked_claws_09",
+ "dag_sha256": "36965d32a00a273d06470628acd546edc7376e2acc9833cb956e3ba70e6df2dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 12,
+   "agent_resets": 0,
+   "agent_sim_steps": 903,
+   "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": {
+   "key_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 159,
+      "text_zh": "观察：inputs/video.json 的 kind 为 none，无本次视频或状态日志；评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告钥匙入区或静止判据。log step 159 的交付目录列表仅有脚本 gen.py 和会话日志，log step 160 中 agent 也自述未生成 trajectory.npz；不能将会话中的几何扫描和恢复测试计为本节点达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪与任务件接触不计作轨迹接触。"
+     }
+    ]
+   },
+   "lock_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 159,
+      "text_zh": "观察：本次无受评视频或状态日志，评分器 reward 仅报告 missing_trajectory=1 等整体结果，未报告青锁区域关系；log step 159 的交付目录列表没有轨迹文件。DAG 所述初态以及日志中的会话测试不能确定未交付轨迹的最终青锁位置，本节点保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付受评轨迹；会话测试中的夹爪与任务件接触不计作轨迹接触。"
+     }
+    ]
+   }
+  },
+  "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": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 159,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward 为 success=0、missing_trajectory=1、infra_error=0、grader_error=0，录制及重放次数均为0。log step 158 中 agent 的生成脚本在相对路径扫描后主动 ABORT；log step 159 的最终交付目录只有 gen.py 和会话日志，log step 160 中 agent 明确自述未生成 trajectory.npz 并结束工作。没有可定位到 DAG 某步的受评轨迹。"
+  },
+  "unmet": {
+   "key_in_goal": null,
+   "lock_on_system_side": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次未交付轨迹，inputs/video.json 确认为无视频，也无状态日志；评分器没有逐节点终态或原生速度、保持时长字段。log step 155、158 的恢复误差与路径扫描中止属于会话调试，不能作为受评物理失败现象；log step 160 的停止理由仅为 agent 自述。依 D23 对 agent 侧未交付的当前规则，现象和根因均留空，不能仅由交付缺失推断控制或规划根因。inputs/oracle/replay.mp4 是另一成功运行的参考，不能补足本次节点、接触和时刻证据。"
+ },
+ "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），两个目标节点的终值均未知，不能从整体失败得分推断未完成。log step 158 中生成脚本主动中止，log step 159 仅交付脚本及会话日志，log step 160 中 agent 自述未生成轨迹后结束；断点记 unknown／首步前，现象与根因依未交付规则留空。本次无视频或状态日志，会话测试及其他成功运行的参考视频均不能替代受评轨迹证据。",
+ "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，评分器报告 missing_trajectory=1；两节点 final 留 null、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 N9 与 D23(a)，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--bujx2z4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--bujx2z4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "13d7e47c0b76b7fc085d68cc802eaa73a30b4f1c8adc169f06b49d231b6a5f3e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--e9qvsf2.json b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--e9qvsf2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced8115c4d26b32953e4c20709025657d26dbaa3
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--e9qvsf2.json
@@ -0,0 +1,184 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-09-i01-privileged--e9qvsf2",
+ "taskKey": "roboarc/interlocked_claws_09",
+ "dag_sha256": "36965d32a00a273d06470628acd546edc7376e2acc9833cb956e3ba70e6df2dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 362,
+   "agent_resets": 249,
+   "agent_sim_steps": 74772,
+   "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": {
+   "key_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1496,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 1496 的目录列表仅列出会话日志，没有提交轨迹。没有本次受评视频或状态日志，评分器未报告钥匙入区的节点结果，无法判断终值；调试会话中的抽离与搬运测试不计入受评进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0，没有交付受评轨迹；会话测试中的夹爪接触不作为本次实际接触。"
+     }
+    ]
+   },
+   "lock_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1504,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，未给出青锁留系统侧的节点结果；log step 1504 的 safe=True/False 是 agent 调试脚本打印的独立测试结果。没有交付轨迹、本次视频或状态日志，不能将这些测试或 DAG 的初态说明作为本次受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0，没有交付受评轨迹；会话测试中的夹爪接触不作为本次实际接触。"
+     }
+    ]
+   }
+  },
+  "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": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1527,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1、agent_records=0、agent_replays=0，infra_error=0、grader_error=0；log step 1496 的输出目录只有会话日志，log step 1527 最后自述仍在等待关节限位输出。运行 wall_s=10802 秒，已到 time_limit_s=10800 秒附近；没有受评轨迹可定位某一物理步骤的失败，首步前指交付的受评尝试尚未启动。"
+  },
+  "unmet": {
+   "key_in_goal": null,
+   "lock_on_system_side": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 为 kind=none，无状态日志，评分器明确 missing_trajectory=1；成功参考视频 inputs/oracle/replay.mp4 属于另一运行，不能证明本次节点或接触。日志包含大量重置后的会话测试，log step 1504 的青锁越界和 log step 1514 的末端跟踪差异均不属于已交付受评轨迹。推断：按 DECISIONS.md D23 和 N9，两个节点终值未知、时间区间为 null，接触不适用；没有受评物理失败现象，也没有足以解释该受评断点的根因证据，故两层留空，不从缺交付或预算耗尽反推能力原因。"
+ },
+ "summary_zh": "评分器判失败并报告 missing_trajectory=1，录制与重放次数均为0；两个目标节点的受评终值均未知，不能计入会话测试进度。log step 1496 的输出目录仅有会话日志，log step 1527 仍在等待关节限位输出，运行结束时接近10800秒工作预算，断点标为 unknown／首步前。没有本次视频、状态日志或交付轨迹，按D23留空现象与根因，成功参考视频不作为本次证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0，节点终值 unknown、断点 unknown/首步前、两层留空并附 gap_zh，符合 03 第5条与 D23；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": "2026-10-31T00:58:56Z",
+  "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-interlocked-claws-09-i01-privileged--e9qvsf2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--e9qvsf2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b61b46f5fac028f78338847697c679447131db33cbd726a750d22b115fad830d",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--syrkgxr.json b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--syrkgxr.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0aac8f2569d06b50f7eaed3c63412963773dde8
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--syrkgxr.json
@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-09-i01-privileged--syrkgxr",
+ "taskKey": "roboarc/interlocked_claws_09",
+ "dag_sha256": "36965d32a00a273d06470628acd546edc7376e2acc9833cb956e3ba70e6df2dd",
+ "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": 18,
+   "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": 0.72,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.054,
+   "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": {
+   "key_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 84,
+      "text_zh": "观察：inputs/video.json 的 kind=none，无本次评分视频或状态日志；inputs/run.json 的 reward.missing_trajectory=1、agent_records=0、agent_replays=0，且没有报告钥匙分离入区的评分器节点字段。log step 84 仅为 agent 的会话内 PID 控制测试输出，不能据此判定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；没有交付评分轨迹，会话内夹爪操作不记作本次评分轨迹接触。"
+     }
+    ]
+   },
+   "lock_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未提供本次评分轨迹，亦无评分视频、状态日志或报告青锁留系统侧的评分器节点字段。DAG 说明该关系初态成立，但缺少本次评分回合终态证据，不能将初态要求或会话测试当作最终满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；没有交付评分轨迹，会话内夹爪操作不记作本次评分轨迹接触。"
+     }
+    ]
+   }
+  },
+  "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": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 85,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 85 为模型提供方提示“ This request was blocked by Gemini's filters ”，此后日志结束；评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0。log step 81–84 仍为 agent 的 PID 控制会话测试，未交付并验证评分轨迹，故无法定位到一个评分物理步骤。"
+  },
+  "unmet": {
+   "key_in_goal": null,
+   "lock_on_system_side": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有交付轨迹，没有评分视频或状态日志；模型提供方在 log step 85 报告过滤器拦截，发生于交付保存并验证之前。依外部中断规则，保留目录原有 success=0，但不将该记录归为机器人失败；应重试并从失败归因分析中排除，现象与根因均留空。评分字段没有逐节点终值，两个节点均未知、所有视频时间与区间均为 null；会话测试不能替代评分回合，另一个运行的 oracle 视频也不能证明本次进度。"
+ },
+ "summary_zh": "本次未交付可评分轨迹，评分器报告 missing_trajectory=1，钥匙分离入区与青锁留系统侧两个节点的终值均未知。日志在 log step 81–84 的 PID 控制测试之后，于 log step 85 出现 Gemini 过滤器拦截提示；按外部中断处理，断点为 unknown／首步前，现象与根因留空，建议重试并排除出机器人失败分析。缺少本次评分视频、状态日志及逐节点评分字段，不能用会话测试或成功参考运行补出进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注符合外部因素规则：模型提供方过滤器在 log step 85 拦截，此前无任何交付轨迹（missing_trajectory=1、agent_records=0、agent_replays=0），无视频与状态日志；节点全部 unknown，断点 unknown/首步前，现象与根因为空且有 gap_zh，未标没尝试。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:58:19Z",
+  "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-interlocked-claws-09-i01-privileged--syrkgxr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--syrkgxr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "31f92424a65dc9506a977a1d9724c6a6a5737449b4ce6ff5df80b361bb9c6894",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--epcmfav.json b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--epcmfav.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccc9a0e076ee17d6856b8a516df653ef31a64e75
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--epcmfav.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-11-i01-privileged--epcmfav",
+ "taskKey": "roboarc/interlocked_claws_11",
+ "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423",
+ "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": 10,
+   "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": {
+   "pieces_separated": {
+    "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、success=0；inputs/video.json 的 kind=none，且未提供状态日志。评分器没有报告分离节点的物理终态，不能仅由零分将该节点判为 false。"
+     },
+     {
+      "t": null,
+      "log_step": 792,
+      "text_zh": "观察：log step 792 的输出目录列表仅包含 rcb_session_log.jsonl，没有受评分轨迹；log step 846 仍是对几何模型执行离线 BFS 和分离候选检查，log step 847 的最后发言是等待该搜索结束。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：log step 31 是独立 reset 后的五个控制步保持测试，服务回报左手持 AB 板、右手持 C 环且 success=False；log step 32 又 reset 后测试逆解。这些是未录制的会话测试，不是已交付的受评分轨迹，不能据此设定本节点的终态或实际接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，agent_records=0、agent_replays=0；没有交付轨迹，故轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 847,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 792 未列出轨迹文件，log step 846—847 仍在离线搜索并等待结果。没有受评分轨迹可定位物理失败步骤或视频时刻，断点记 unknown／首步前。"
+  },
+  "unmet": {
+   "pieces_separated": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有视频、状态日志或已交付轨迹；评分器仅报告交付缺失，没有分离间隙、两件速度或节点终态。run.json 的 wall_s=10803、time_limit_s=10800，日志最后在等待离线 BFS（log step 846—847），未见终结会话的提供商拒绝或基础设施崩溃记录。推断：会话达到工作时限而没有交付，依 DECISIONS.md D23，现象和根因均留空；离线几何碰撞检查、分离候选值和独立保持测试不能充当受评分尝试的物理失败证据，亦不足以证明具体规划或控制根因。成功参考视频属于另一运行，不能补足本运行的终态。"
+ },
+ "summary_zh": "评分器报告没有交付轨迹（missing_trajectory=1，录制及重放均为 0），唯一节点“分离互锁件”的终态未知，没有可确认的受评分节点进度。日志中的独立保持及逆解测试后，agent 持续进行离线几何搜索，最后在 log step 847 等待 BFS 结果；断点记 unknown／首步前。无本运行视频和状态日志，按 D23 留空现象及根因，三项原生指标也均未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本运行无视频、无状态日志、无交付轨迹（missing_trajectory=1）。节点 final 记 null（N9）、断点 unknown／首步前、现象与根因留空并写 gap_zh（D23 (a)），均与证据一致；未发现时钟换算或把会话测试当作受评分事实的问题。validate 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:05:37Z",
+  "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-interlocked-claws-11-i01-privileged--epcmfav/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-privileged--epcmfav/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "235f6e9183142228ef519a2d0873ee2e01d30a1b2dc18a3d0ea305b17f2134b3",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--esbazev.json b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--esbazev.json
new file mode 100644
index 0000000000000000000000000000000000000000..a653bf2b19d41644badde12ad3b6f37f21c4a2f2
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--esbazev.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-11-i01-privileged--esbazev",
+ "taskKey": "roboarc/interlocked_claws_11",
+ "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423",
+ "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": 0.414,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.058,
+   "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": {
+   "pieces_separated": {
+    "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_sessions=0、agent_records=0、agent_replays=0；未报告分离、静止或确认时长的节点结果。inputs/video.json 为 kind=none，且本次没有状态日志，因此不能由 success=0 判定分离节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：log step 79 中 agent 的自建 MuJoCo 脚本输出保存 planned_actions.npy，并报告自身模拟的末态速度；log step 120 又生成前馈动作数组并启动自建模拟。这些是会话内测试，没有交付或评分重放记录，不能作为本次节点完成值。"
+     },
+     {
+      "t": null,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的最后回复为“This request was blocked by Gemini's filters”，随后日志结束；未出现经评分服务确认的分离结果。"
+     }
+    ],
+    "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。log step 130 的左右夹爪与零件接触对来自 agent 自建模拟，不作为受评分尝试的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 133,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 133 出现 Gemini 提供方过滤器阻断提示，运行随即结束；评分器记录 missing_trajectory=1、agent_sessions=0、agent_records=0、agent_replays=0。受评分轨迹未交付，无法定位物理步骤的失败时刻；按外部中断且无交付处理。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频、无状态日志，评分器仅报告缺少轨迹，没有分离间隙、线速度或角速度结果。log step 133 是提供方过滤器中断；在此之前只有 agent 的几何规划和自建 MuJoCo 测试（例如 log step 79、120、130），没有交付验证。按 CASES.md FAIL-5，外因中断且无交付不归为机器人失败，现象与根因均留空；节点终值未知。inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进展。",
+  "unmet": {
+   "pieces_separated": null
+  }
+ },
+ "summary_zh": "评分器记录缺少交付轨迹，唯一节点“分离互锁件”的完成情况未知。agent 在会话内规划并测试双臂动作，但 log step 133 被 Gemini 提供方过滤器中断，按外因中断处理，不标机器人失败现象或根因。本次无视频、无状态日志或节点级服务结果，不能把自建模拟的接触和末态计入受评分进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0、submit=0；log step 133 为 Gemini 过滤器中断，未交付，按外因处理（ref unknown、首步前、现象与根因为空并有 gap_zh），节点 unknown、contact_actual 不适用均合规。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-privileged--esbazev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-privileged--esbazev/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6d6f26d3ef676c84afcc5efd69f7a8a37d6d5b5cee7342edd59e13aa83f3d439",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--gnnoyvs.json b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--gnnoyvs.json
new file mode 100644
index 0000000000000000000000000000000000000000..529545387b9cd391073be2c9598bc4311c9ad58a
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--gnnoyvs.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-11-i01-privileged--gnnoyvs",
+ "taskKey": "roboarc/interlocked_claws_11",
+ "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "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": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "pieces_separated": {
+    "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_sim_steps=0、agent_records=0、agent_replays=0；success=0 的直接依据是缺少交付轨迹，未报告分离间隙、速度或目标确认结果。inputs/video.json 为 kind=none，且没有状态日志，故不能把该节点的物理终值判为 false，按 N9 保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：agent 在 log step 45 将执行脚本改为等待离线路径文件，读取路径成功后才调用 record_start 和运动原语；log step 49 的模拟器服务状态为 sim_steps=0、success=False，是会话初态，不是交付轨迹的终态。"
+     },
+     {
+      "t": null,
+      "log_step": 109,
+      "text_zh": "观察：log step 87、93 的 agent 离线连通性检查均报告起点未连接到出口，log step 105 的拼接脚本断言失败；末条 log step 109 仍只读取局部几何扫描结果，没有录制、保存或重放成功记录。这些离线计算不能证明机器人发生过卡阻或完成过拆分。"
+     }
+    ],
+    "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；没有可标注的受评分轨迹，不能将会话脚本或任务典型双臂抓握方案记为实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "t": null,
+   "log_step": 109,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器在 inputs/run.json 中报告 missing_trajectory=1、agent_records=0、agent_sim_steps=0；log step 45 的脚本在路径文件出现前等待，log step 87、93 的离线搜索没有找到连通出口，末条 log step 109 仍在检查几何扫描。推断：本任务唯一的“分离互锁件”步骤尚无受评分动作交付，断点位于首步前；没有视频时钟，t 保持 null。"
+  },
+  "unmet": {
+   "pieces_separated": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有视频、状态日志或交付轨迹，评分器只给出缺交付结果，没有该节点的物理终态或三项原生指标。log step 45 的首次启动存在导入错误，随后 log step 47—49 已成功启动模拟器；log step 50 的进程终止由 agent 自己的 pkill 引起，log step 83—84 又启动了会话，末条 log step 109 仍在离线计算；没有最终完成汇报。推断：日志支持路径生成尚未完成，不能证明受评分机器人卡阻、失握、碰撞，也不能据局部搜索失败断言所有合法路线不可行；未交付的具体能力根因证据不足。按 D23，agent 侧未交付时现象与根因均留空；按 N9，节点 final 与所有视频时间保持 null。已查看成功参考视频的 0.0 s 与 47.53 s 帧，仅用于理解互锁与分离的外观，不能作为本次进度或接触的证据。"
+ },
+ "summary_zh": "评分器因缺少交付轨迹判失败（missing_trajectory=1），没有任何已确认达成的节点；“分离互锁件”的物理终值未知，断点记为该步骤的首步前。日志显示 agent 持续进行离线几何搜索，执行脚本等待路径文件，末条 log step 109 仍在读取扫描结果，评分器记录的仿真步进和录制计数均为 0。由于没有本次视频、状态日志或轨迹，按 D23/N9 不补写物理失败现象、根因或时间区间。",
+ "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；节点 unknown、断点首步前、现象与根因留空并写 gap_zh，符合 D23/N9。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": "2026-10-31T01:02:57Z",
+  "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-interlocked-claws-11-i01-privileged--gnnoyvs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-privileged--gnnoyvs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b036dda4db27a05593aa11bd86a1c55d40e80325566aeb226f9c0ced9a6eaea5",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--h9zjmq8.json b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--h9zjmq8.json
new file mode 100644
index 0000000000000000000000000000000000000000..acf7792efd207d19a37417563d10c1f21e8bd8fd
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--h9zjmq8.json
@@ -0,0 +1,181 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-privileged--h9zjmq8",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 69,
+   "agent_resets": 42,
+   "agent_sim_steps": 8939,
+   "agent_records": 0,
+   "agent_replays": 11,
+   "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": {
+   "pieces_separated": {
+    "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、agent_records=0、infra_error=0、grader_error=0；inputs/video.json 的 kind=none，且未提供状态日志。评分未报告“完全拆开两件”的节点终值，交付缺失不能证明该物理条件为假，故终值与区间均保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 379,
+      "text_zh": "观察：agent 读取的一次会话测试输出报告 replay success=False、sim_steps=397，随后打印“ERROR: Task did not succeed during replay!”；log step 228 的生成脚本在该分支退出，保存调用位于成功分支之后。这是会话测试，不能作为本次受评节点的终值。"
+     },
+     {
+      "t": null,
+      "log_step": 1140,
+      "text_zh": "观察：log step 970 的输出目录列表只有生成脚本、会话日志和缓存；log step 989 再次写入先检查回放成功再保存的生成脚本。log step 1140 的最后发言是 agent 自述已启动重叠检查并等待结束，没有成功交付的最终报告。"
+     }
+    ],
+    "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，没有交付受评轨迹；会话内的夹爪操作与几何测试不计作该节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1140,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1；log step 1140 的会话末尾仍是 agent 自述启动重叠诊断后等待，没有交付完成记录。推断：不存在可定位物理失败步骤的受评轨迹，断点置 unknown、位置记首步前；不把会话测试中的失败当作受评操作断点。"
+  },
+  "unmet": {
+   "pieces_separated": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有视频或状态日志，评分器报告未交付轨迹，未给出节点终值及四项原生指标。log step 379 仅是失败的会话测试，log step 991 是 agent 声称已启动生成与保存流程，log step 1140 仍在等待诊断；均不能建立受评轨迹中的分离进度或物理失败现象。运行 wall_s=10803、time_limit_s=10800，记录支持会话在预算末尾仍未交付，但预算结束本身不是现象或根因。依 DECISIONS.md D23，两层留空，不由交付缺失推断控制、规划或交付操作出错；独立成功示例的 oracle 视频也不能补成本次证据。"
+ },
+ "summary_zh": "评分器以未交付轨迹判失败（missing_trajectory=1、agent_records=0）；唯一节点“完全拆开两件”的受评终值未知，不能确认任何节点已完成。日志包含多次会话测试，生成脚本将保存置于回放成功之后，而最后仍在进行几何诊断；无受评轨迹可定位物理断点，记 unknown／首步前。缺少本次视频、状态日志及节点级评分，接触记不适用，依无交付规则将现象和根因留空，四项原生指标均未知。",
+ "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；文件按 D23(a) 与 N9 将节点终值置 unknown、断点 unknown/首步前、两层留空并写 gap_zh，引用的 log step（228/379/970/989/991/1140）均存在且内容与证据一致，未把会话测试当作受评事实，也未把预算耗尽当作现象。未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:04:55Z",
+  "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-interlocked-claws-12-i01-privileged--h9zjmq8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--h9zjmq8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9933505a370c82f57de63347a712106d7cb5fe2e72c4c883dffa8fa58c55d850",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--qtmmqmw.json b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--qtmmqmw.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1cbb11b51786e84c7865729929f2f0c5a03869d
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--qtmmqmw.json
@@ -0,0 +1,176 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-privileged--qtmmqmw",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 26,
+   "agent_resets": 25,
+   "agent_sim_steps": 10418,
+   "agent_records": 4,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "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": {
+   "pieces_separated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器 reward 报告 success=0、missing_trajectory=1、infra_error=0、grader_error=0、agent_records=4、agent_replays=0；inputs/video.json 标明无本次运行视频，且未提供状态日志。评分器没有报告“完全拆开两件”的物理终值，不能由缺交付或零分断言节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 182,
+      "text_zh": "观察：agent 的调试脚本输出“WELD LOST”和“no success; partial (4663, 14)”；log step 204 又重启 exec10，log step 205 仅等待并读取调试日志，输出为空。这些属于多次重置的会话尝试，不能作为未交付轨迹的节点进展。"
+     }
+    ],
+    "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；不将会话调试中的双夹爪操作当成本次受评轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 205,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_replays=0；log step 204 为重启调试脚本，log step 205 为等待并监控该脚本，之后没有保存交付结果或最终汇报。没有可定位物理失败步骤的受评轨迹，故断点未知，位置按无交付记为首步前。"
+  },
+  "unmet": {
+   "pieces_separated": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次运行没有视频、状态日志或交付轨迹；成功参考视频属于另一运行，不能填补本次的物理进展与接触证据。评分器仅给出缺交付，未报告本节点终值或原生间隙、速度、确认时长；会话含26次会话及25次重置，调试输出不能替代交付轨迹。推断：wall_s=10803 与 time_limit_s=10800 以及 log step 205 仍等待调试脚本的记录相符，支持预算结束时未交付；未见提供方拒绝、网络或基础设施中断证据。按 DECISIONS.md D23，无交付时现象及根因均留空，不把调试中的卡滞、逆解失败或 agent 自述脚本缺陷归给不存在的受评物理尝试，也不由缺交付反推交付操作出错。"
+ },
+ "summary_zh": "评分器报告缺少交付轨迹（missing_trajectory=1），没有可确认达到的节点，“完全拆开两件”的终值保留未知。日志显示 agent 多次调试并在 log step 204 重启脚本，log step 205 仍在等待监控；记录的总耗时达到预算，但没有交付回放，断点按无交付标为 unknown／首步前。缺少本次视频及状态日志，无法认定物理失败现象或根因，按无交付规则留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1，agent_replays=0）。标注按 D23(a)：节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，引用的 log step 182/204/205 与时间数字均与 run.json 一致；未把会话读数当作受评轨迹事实，未换算时钟。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:05:57Z",
+  "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-interlocked-claws-12-i01-privileged--qtmmqmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--qtmmqmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c23231049a0b016c9df1f92a8248820ad4c93a7a191db313d3bec4a816ed92c7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--tmxtzpy.json b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--tmxtzpy.json
new file mode 100644
index 0000000000000000000000000000000000000000..817f5d4437e40d408cc6191be1ad3a197163d5b4
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--tmxtzpy.json
@@ -0,0 +1,176 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-privileged--tmxtzpy",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 20,
+   "agent_resets": 21,
+   "agent_sim_steps": 4968,
+   "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": {
+   "pieces_separated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward 报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；没有报告 pieces_separated 的节点终值或原生指标。本次 inputs/video.json 为 kind=none，且没有状态日志，不能把缺交付的零分解释为物理分离条件为假。"
+     },
+     {
+      "t": null,
+      "log_step": 144,
+      "text_zh": "观察：log step 144 读取的是 agent 的 gen13 会话测试日志，其中有 ABORT (stall,160,201)、FINAL success=false、progress=0.0、rows (602,14) 和 NOT SUCCESSFUL；log step 142 仅将生成脚本复制到输出位置并启动测试。这些不是已交付轨迹的回放结果，不能据此赋予节点终值或视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的左右夹爪与零件接触不属于本次评分轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 144,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0。log step 117 的脚本仅在服务状态 success 为真时调用轨迹保存；log step 140、142 的修改沿用该脚本，log step 144 最后输出 NOT SUCCESSFUL，运行记录至此结束且没有最终 say。推断：没有进入可评分的交付轨迹，无法定位其中的物理失败步骤；首步前描述交付尝试，而非此前的会话测试。"
+  },
+  "unmet": {
+   "pieces_separated": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有视频、状态日志或交付轨迹；评分器只有缺交付判定，没有节点终值及四项原生指标。log step 144 的会话测试返回停滞和未成功，但不能替代评分轨迹的运动、接触或断点证据；成功 oracle 属于另一运行。推断：依 DECISIONS.md D23，agent 侧未交付的运行保留空现象和空根因，不将会话停滞、预算结束或缺交付本身归为能力原因；依 N9，节点终值及时间均留空。"
+ },
+ "summary_zh": "评分器以缺失轨迹判失败（success=0、missing_trajectory=1），唯一节点“完全拆开两件”的评分终值未知，实际接触标为不适用。log step 142 只留下生成脚本，log step 144 的最后一次会话测试停滞并输出 NOT SUCCESSFUL，没有形成交付轨迹；断点为未知／首步前。缺少本次视频、状态日志及节点级评分结果，按 D23 和 N9 不从会话测试填入物理现象、根因或节点终值。",
+ "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 missing_trajectory=1；标注按 D23(a) 留空现象与根因并写 gap_zh，节点终值未知，未把会话测试(log step 144 停滞/NOT SUCCESSFUL)当作已交付轨迹的事实，时间未换算，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": "2026-10-31T01:07:44Z",
+  "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-interlocked-claws-12-i01-privileged--tmxtzpy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--tmxtzpy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2c17b17640e2d01eeadba6750f9e8f77040c87384d3a86262aa2aad26e9b258c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--xvpkgnc.json b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--xvpkgnc.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4d8bec3120445768bf3196fbdb2c3966222943
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--xvpkgnc.json
@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-privileged--xvpkgnc",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "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": 1701,
+   "submitted_actions": 1701,
+   "sim_steps": 1701,
+   "physics_steps": 17010,
+   "sim_time_s": 42.524999999998656,
+   "final_reward": 0.0,
+   "replay_wall_s": 709.4,
+   "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": 1,
+   "agent_resets": 12,
+   "agent_sim_steps": 0,
+   "agent_records": 4,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.83,
+   "peak_memory_gb": 1.534,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.861,
+   "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": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "pieces_separated": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 strict_goal_reached=0、strict_goal_row=0、success=0、all_success=0；两次回放 deterministic=1，review_events=0、infra_error=0、grader_error=0。评分器直接报告完整拆开并稳定保持的严格目标未达成，据此判定本节点最终为假，而非仅由零奖励推断。"
+     },
+     {
+      "t": null,
+      "log_step": 807,
+      "text_zh": "观察：agent 在 log step 753 重置并开始录制，log step 757、786 调用双件反向旋转脚本，log step 803 下达左臂平移命令；log step 785 保存首段并继续录制，log step 807 合并同次重置后的两段，保存形状为(1701,14)的动作，服务最终状态为 success=False、episode_end=None；评分器 submitted_actions=1701，与该最终交付长度一致。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/video.json 标明 kind=none，原因是远端录像404且无本地录像；本工作目录没有本次状态日志。故无法标注视频区间或核实两件的实际相对运动与接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 753、757、786、803 记录了针对两件的操作命令，但本次无录像和状态日志，不能核实左右二指夹爪与 piece_0、piece_1 实际如何接触；不将会话中的辅助抓持查询当作已观察的抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "t": null,
+   "log_step": 803,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 753 重置后录制的最终交付包含 log step 757、786 的反向旋转与 log step 803 的左臂提取命令，log step 807 保存1701步；评分器 submitted_actions=1701、strict_goal_reached=0。唯一语义步骤“完全拆开两件”已开始操作但未完成，故断点归此步；没有本次录像，不能定位具体物理失效时刻。"
+  },
+  "unmet": {
+   "pieces_separated": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 为 kind=none，且没有本次状态日志；评分器只报告严格目标未达成，未提供四项原生终态指标。log step 802、805 的负间隙是 agent 自编 gapnow 的会话计算，log step 805 的抓持查询、服务接触力及运动误差没有评分回放画面或状态轨迹可核对，不能据此确定评分尝试发生了碰撞阻挡、接触力异常、位姿偏差或抓持丢失，也不能区分解锁路径规划与执行控制原因，故现象与根因均留空，实际接触标为未知，所有视频时间及区间为null。inputs/oracle/replay.mp4 已抽查成功过程，仅说明参考运行的可见分离形态，不能补足本次证据。"
+ },
+ "summary_zh": "评分器对最终提交的1701步动作回放两次，严格拆开目标未达成，最终节点为0/1，且无接触复核或基础设施错误记录。日志显示最终交付尝试反向旋转两件并平移提取，断点归“完全拆开两件”的操作中。缺少本次录像和状态日志，无法确认实际接触、具体物理失败现象及根因，四项原生指标亦未由评分器报告。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无录像、无状态日志；标注把节点终值定为假（依据评分器 strict_goal_reached=0），接触标未知，断点归 pieces_separated，现象/根因留空并有 gap_zh，均与可得证据一致，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": "2026-10-31T01:10:18Z",
+  "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-interlocked-claws-12-i01-privileged--xvpkgnc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--xvpkgnc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5aa8915720ca58c3047b4947e6a4f03baacf287271a49f26a3d516d378273aaf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--tctixqf.json b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--tctixqf.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2f94c18369a7cb647d33fb4db9b51add0c06ee
--- /dev/null
+++ b/phase2/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--tctixqf.json
@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-standard--tctixqf",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "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": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5232,
+   "live_rows": 5232,
+   "sim_steps": 5232,
+   "physics_steps": 52320,
+   "steps": 1231,
+   "elapsed_s": 7727.0,
+   "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": {
+   "pieces_separated": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward 记录 graded_by_live=1、live_success=0、success=0、success_pending_review=0、review_events=0，且 sim_startups=1、resumes=0、replays=0、infra_error=0；评分对象是同一实时 episode。推断：唯一目标节点“完全拆开两件”的联合验收最终未成立，不能据零分断言机器人没有尝试。"
+     },
+     {
+      "t": null,
+      "log_step": 179,
+      "text_zh": "观察：log step 179 中机器人服务最终返回 done=False；log step 178 也返回 done=False、reason=None，log step 181 的 agent 最终自述任务未解决。没有本次视频或状态日志，无法建立节点成立区间；agent 点云脚本的 mind、cdist 和 free? 输出不作为原生几何间隙或节点达成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 37、73、175–179 记录机器人左右臂及夹爪的动作提交，表明本节点已被尝试；服务监测记录接触载荷，但无本次视频、逐物理刻接触对或辅助抓取状态，无法确认哪只夹爪实际夹住哪件、双指是否同时接触，亦无法确认后段按压是否建立，故实际作用端和方式均记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "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": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "t": null,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 73 中 agent 脚本向右臂提交下降、平移移开和抬升动作以拆开两件；机器人服务在平移、抬升时分别报告最大接触载荷 298.5 N、289.9 N，动作及随后保持均返回 done=False。之后仍反复提交拆开动作，log step 179 最终服务状态仍为 done=False，评分器 live_success=0；log step 178 的 agent 明确决定结束尝试。推断：失败位于持续尝试且最终未完成的“完全拆开两件”操作中；没有本次视频，t 留空。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": null,
+    "log_step": 73,
+    "evidence_zh": "观察：log step 73 的 sub 函数直接读取机器人服务返回的 meta.safety.forcing.max_press_force_n（手臂或其持物对外接触载荷监测）；右臂执行拆开所用的平移动作时为 298.5 N，随后抬升为 289.9 N，done 均为 False。log step 47 的服务反馈还记录 max_drive_fraction_while_pressing=1.0、longest_forcing_s=0.15 s。推断：拆开过程中出现较大的受载抵抗，标为接触力异常；没有接触对证据，不指定是爪件相扣、桌面还是其他部位阻挡。forcing 本身仅记录，不作为约束判负原因。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 175,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 125 的服务逐行 plan 返回左臂多次 no IK solution within 2 cm / 20 deg；log step 134 在 agent 的 IK 端点搜索返回 feasible 后，实际提交仍有多行不成功。log step 175 的服务 plan 明确拒绝左臂前臂滚转 3.29 rad、腕滚转 5.92/5.73 rad 的分支跳变，单行上限为 0.5 rad，并说明该臂保持；log step 176 的 agent 随后放弃左臂固定方案，改用桌面摩擦继续右臂动作。推断：重复的动作求解与执行受阻妨碍了用于拆开的配合动作，支持控制层面根因；缺少实际接触及零件位姿，尚不能验证所选接触布局和脱扣路径本身可行，故不细分为轨迹或逆解、抓取和接触设计，也不臆判规划错误。"
+   }
+  ],
+  "gap_zh": "无本次录像：inputs/video.json 明确 kind=none（HF 404，且无本地录像）；也没有 inputs/states.jsonl 或状态路径。所有 intervals、视频锚点均为 null；最终节点值来自评分器及实时服务，无法确定曾否短暂分离、间隙/速度/保持时长、接触配对及具体阻挡位置。四项 DAG 原生指标未见评分器报告，值均为 null；agent 点云测量不替代原生指标。已查看成功参考录像的视频 0–6.0 s（每 0.5 s 抽帧），仅用于理解脱开外观，不作为本次接触或进度证据。log step 114、122 的 safety.scope 明确为 since the previous read；因此 log step 178 最近区间的 forcing=0 不等于全程为零，评分器实际 forcing_events=1；不采用 log step 181 的全程零 forcing 自述。评分器 sim_error=0、simulator_instability=0，无依据认定强推崩溃或基础设施中断。",
+  "unmet": {
+   "pieces_separated": false
+  }
+ },
+ "summary_zh": "本次为单次实时评分 episode，机器人多次尝试平移、旋转、抓取固定和弧线脱扣，但唯一的“完全拆开两件”节点最终未完成（live_success=0，0/1）。服务在拆开操作中记录较大的接触载荷，左臂动作还反复遭遇逆解失败或分支跳变拒绝，支持接触力异常现象及控制层面根因。缺少本次视频和状态日志，无法确认实际接触方式、脱扣形态及时间区间；agent 点云估计和成功参考录像均未用于替代本次节点证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无录像、无状态日志，节点按 N9 记 intervals=null、final=false（评分器 live_success=0）合理；断点 pieces_separated/操作中、接触力异常（服务 meta.safety 的 298.5/289.9 N 读数，属服务观察）与泛化的控制根因均有 log 证据且措辞克制，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:01:51Z",
+  "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-interlocked-claws-12-i01-standard--tctixqf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--tctixqf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7c59a3fd165fe00d097f8a1fdbe07d055a14bf46940f696969060adf2513f68a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--p7yr3qr.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--p7yr3qr.json
new file mode 100644
index 0000000000000000000000000000000000000000..9157c09d4c45e39c06157d4e459c0d12f42d9846
--- /dev/null
+++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--p7yr3qr.json
@@ -0,0 +1,184 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-09-i01-privileged--p7yr3qr",
+ "taskKey": "roboarc/knot_untying_09",
+ "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f",
+ "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": 4,
+   "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": {
+   "rope_untangled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、agent_records=0、agent_replays=0，未报告本节点的终值；inputs/video.json 为 kind=none，且没有本次状态日志。log step 103 的输出目录仅列出 gen.py 和会话日志；此前解结诊断属于 agent 调试会话，不能认定为受评轨迹的节点结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，本次没有交付受评轨迹，故无可标注的实际作用端与绳体接触；调试会话中的夹持不计入。"
+     }
+    ]
+   },
+   "rope_in_goal_region": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1，未报告整绳入区、贴桌、离手或静止验收结果；inputs/video.json 为 kind=none，且没有本次状态日志。log step 89 只确认生成脚本语法通过，log step 103 的目录仍无轨迹文件，不能从脚本中计划的铺放和保存动作推定节点达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，本次没有交付受评轨迹，故无可标注的实际作用端与绳体接触；调试会话中的夹持不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outside_fraction",
+   "unit": "ratio",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 103,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0；log step 103 的目录只列出生成脚本 gen.py 和会话日志，预算监测输出 time_left_s=68.7，随后 log step 104 无输出，完整日志无最终完成报告。推断：本次未形成可供评分的交付轨迹，无法定位某一物理节点的失败；首步前指受评轨迹尚未开始，不表示调试期间机器人从未动作。"
+  },
+  "unmet": {
+   "rope_untangled": null,
+   "rope_in_goal_region": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无视频、无状态日志，也没有交付轨迹或逐节点评分结果；两个节点的时间区间与终值均未知，三个原生指标未报告。日志包含多次重置、抓取和解结调试，但这些不是交付轨迹，不能作为失败现象或节点进度。log step 81 启动拟录制运行，log step 89 仅生成脚本并检查语法，至 log step 103 仍无轨迹文件；run.json 的 wall_s=10803、time_limit_s=10800 与预算结束相符，infra_error=0、grader_error=0，未见已证实的外因中断。缺少足以证明具体保存操作错误或物理失败机制的证据，依无交付规则将现象和根因留空，不以预算耗尽充当原因。成功参考视频属于另一运行，不能补足本次证据。"
+ },
+ "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1）；解开理顺绳与绳铺入目标区两个节点均无法判定，不能将调试会话中的动作计为受评进度。log step 103 的输出目录仍只有生成脚本和会话日志，未见轨迹保存或回放结果，故断点为 unknown／首步前，现象与根因留空。本次无视频、无状态日志及逐节点终值，三个原生指标也均未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1；两个节点 unknown、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/N9），未把预算耗尽或调试会话当作现象。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": "2026-10-31T01:11:56Z",
+  "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-knot-untying-09-i01-privileged--p7yr3qr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-09-i01-privileged--p7yr3qr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "68d84429fbc8b8ae88e65d10ce563caf79fd3c8a7e4fc84d61bcf8e3a5dcc85c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--7wqyrxi.json b/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--7wqyrxi.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a04a97aa29c0bc0203d0d3140ab7345c49ba82
--- /dev/null
+++ b/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--7wqyrxi.json
@@ -0,0 +1,157 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-04-i01-privileged--7wqyrxi",
+ "taskKey": "roboarc/lock_picking_04",
+ "dag_sha256": "d4e49ab65a201d93b24b5a78fce11e4b29d89296ffc4b5887819e083c1316e8d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.766,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.05,
+   "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": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_lock": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 32,
+      "text_zh": "观察：log step 19、23、29、32中，agent 编写并启动候选握姿与逆运动学搜索脚本；这些是会话内运动学测试，没有交付动作文件或评分回放结果。"
+     },
+     {
+      "t": null,
+      "log_step": 35,
+      "text_zh": "观察：log step 35末条消息为“This request was blocked by Gemini's filters”；inputs/run.json的reward报告missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0。inputs/video.json的kind为none，且无状态日志；评分器未报告钥匙贯穿锁组的节点结果，故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告missing_trajectory=1、agent_records=0，未交付评分轨迹，无法标注夹爪与钥匙的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 35,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 33中agent自述正在等待握姿搜索结果，log step 35出现Gemini过滤器阻断消息；评分器报告missing_trajectory=1、agent_records=0、agent_replays=0，没有已保存且验证的交付轨迹。推断：外部过滤器在评分交付前中断会话，无法定位机器人操作失败的具体步骤。"
+  },
+  "unmet": {
+   "key_through_lock": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次无视频（inputs/video.json：kind=none）、无状态日志，评分器仅报告未交付轨迹，未报告节点几何或shaft_bore_excess_m；log step 35记录Gemini过滤器阻断。按CASES.md FAIL-5及DECISIONS.md D37，这是交付前的外部中断，应重试并排除于agent失败归因；没有评分尝试的物理证据，故节点终值未知、断点unknown/首步前，现象与根因均留空，不标没尝试。成功oracle属于另一运行，不能补足本次证据。"
+ },
+ "summary_zh": "评分器记录success=0、missing_trajectory=1，唯一节点“钥匙贯穿锁组”的终值未知，没有可确认的评分轨迹进展。agent在log step 19—33进行会话内逆运动学搜索，随后log step 35出现Gemini过滤器阻断，按外部中断处理，不归因于机器人失败。此次无视频、状态日志或节点级评分输出，无法判断实际接触、插入几何及失败现象。",
+ "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 35 为 Gemini 过滤器阻断，评分器 missing_trajectory=1、agent_records=0，交付前被外部切断。节点未知、断点 unknown/首步前、两层留空并写 gap_zh，符合 FAIL-5/D37，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": "2026-10-31T01:01:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-privileged--7wqyrxi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-privileged--7wqyrxi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2554d812840195dc7c8005f9cc648c6e1e8fd0b8d2e6839811d633a446531a7e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--ez8cknf.json b/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--ez8cknf.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ec2ac874da339ec8ccb3d4c09aacb1f5678681
--- /dev/null
+++ b/phase2/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--ez8cknf.json
@@ -0,0 +1,150 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-04-i01-privileged--ez8cknf",
+ "taskKey": "roboarc/lock_picking_04",
+ "dag_sha256": "d4e49ab65a201d93b24b5a78fce11e4b29d89296ffc4b5887819e083c1316e8d",
+ "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": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_lock": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 18,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 2–10 仅记录 agent 读取目录、任务源码和场景文件，log step 11、13、15、17 无工具调用，log step 18 记录 API 输出长度错误。本次无视频、无状态日志，也没有报告钥匙贯穿状态的服务或评分字段，节点终值无法判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付机器人执行轨迹；本次节点的轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 18,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 18 的终止消息为“API Error: Claude's response exceeded the 32000 output token maximum”；log step 11、13、15、17 的输出计数各为32000且均无工具调用。评分器报告 missing_trajectory=1，仿真会话、仿真步数、录制和回放次数均为0，未形成可定位物理失败步骤的交付轨迹。"
+  },
+  "unmet": {
+   "key_through_lock": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，且本次没有状态日志；评分器仅报告缺少交付轨迹，未报告节点几何结果或 shaft_bore_excess_m。log step 18 明确记录 API 输出长度错误，发生于任何轨迹交付之前；依 CASES.md FAIL-5 按外因中断处理，保留目录中的 success=0，不标“没尝试”或机器人根因，需重测后再分析机器人表现。成功参考视频属于另一次运行，不能补证本次节点、接触或时间。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，未交付可评分轨迹，唯一节点“钥匙贯穿锁组”的终值未知。log step 18 以 API 输出长度错误结束，属于交付前外因中断，断点为 unknown／首步前，现象与根因留空，待重测。本次没有视频或状态日志，无法给出节点时间区间、实际物理接触和孔隙指标，其他运行的成功参考视频不能补证本次。",
+ "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；run.json 的 log step 18 为 API 输出超限错误，之前 step 11/13/15/17 无工具调用，评分器 missing_trajectory=1、agent_sim_steps=0，未交付轨迹。按 FAIL-5 作外因中断：节点 unknown、断点 unknown/首步前、现象与根因为空并有 gap_zh，标注正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:02:26Z",
+  "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-lock-picking-04-i01-privileged--ez8cknf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-privileged--ez8cknf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "72f6e0b87f410e59e4f7b1c5f42ba3dfc92fbf3d48e77208723ab504964f752e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--9nfogfw.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--9nfogfw.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba9d31cc0599d57c55fea8dc1e0ec3850768792
--- /dev/null
+++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--9nfogfw.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-privileged--9nfogfw",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "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": 0.127,
+   "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": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_rotor_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的 CLI 记录 API Error，模型响应超过 32000 输出 token 上限；此前 log step 2–7 仅由代理读取实例及源码，未执行机器人控制。评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0，且本次无视频、无状态日志或逐节点服务结果，无法判定‘穿过第1转子’的终值。"
+     }
+    ],
+    "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；本次没有交付受评动作轨迹，机器人与钥匙的实际接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的 CLI 记录 API Error，模型响应超过 32000 输出 token 上限；此前 log step 2–7 仅由代理读取实例及源码，未执行机器人控制。评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0，且本次无视频、无状态日志或逐节点服务结果，无法判定‘穿过第2转子’的终值。"
+     }
+    ],
+    "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；本次没有交付受评动作轨迹，机器人与钥匙的实际接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的 CLI 记录 API Error，模型响应超过 32000 输出 token 上限；此前 log step 2–7 仅由代理读取实例及源码，未执行机器人控制。评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0，且本次无视频、无状态日志或逐节点服务结果，无法判定‘穿过第3转子’的终值。"
+     }
+    ],
+    "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；本次没有交付受评动作轨迹，机器人与钥匙的实际接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的 CLI 记录 API Error，模型响应超过 32000 输出 token 上限；此前 log step 2–7 仅由代理读取实例及源码，未执行机器人控制。评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0，且本次无视频、无状态日志或逐节点服务结果，无法判定‘穿过第4转子’的终值。"
+     }
+    ],
+    "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；本次没有交付受评动作轨迹，机器人与钥匙的实际接触不适用。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的 CLI 记录 API Error，模型响应超过 32000 输出 token 上限；此前 log step 2–7 仅由代理读取实例及源码，未执行机器人控制。评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0，且本次无视频、无状态日志或逐节点服务结果，无法判定‘贯穿末端板’的终值。"
+     }
+    ],
+    "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；本次没有交付受评动作轨迹，机器人与钥匙的实际接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_depth",
+   "unit": "plate_pitch",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_tilt_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 15,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 2–7 中代理只读取实例、几何与任务源码；log step 8、10、12、14 均无工具调用，log step 15 记录“API Error: Claude's response exceeded the 32000 output token maximum”。评分器记录 missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0，没有受评动作轨迹可定位物理步骤。"
+  },
+  "unmet": {
+   "key_through_rotor_1": null,
+   "key_through_rotor_2": null,
+   "key_through_rotor_3": null,
+   "key_through_rotor_4": null,
+   "key_through_end": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 标记 kind=none，无本次轨迹视频和状态日志；评分器未报告逐板通过、末端贯穿或三个原生指标的结果。log step 15 明确记录模型 API 输出长度错误，且 missing_trajectory=1，未交付轨迹。推断：按 CASES.md FAIL-5，此次属于交付前的 API/CLI 外因中断，应重试并排除机器人失败能力归因；保留目录 success=0，但现象及根因均留空，不标“没尝试”或“交付操作出错”。inputs/oracle/replay.mp4 是另一成功运行，不能补作本次节点或接触证据。"
+ },
+ "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，仿真会话、控制步、录制及重放计数均为 0；五个穿板节点均无可判定的终值。观察：代理在 log step 2–7 读取实例和源码，最终 log step 15 因模型响应超过 32000 输出 token 上限出现 API 错误。推断：这是未交付轨迹前的外因中断，断点记 unknown／首步前，不作机器人失败归因；本次没有视频、状态日志或逐节点结果，所有时间区间及原生指标保持未知。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注符合 FAIL-5：未交付任何受评轨迹（missing_trajectory=1，会话/控制步均为 0），log step 15 为 API/CLI 输出上限错误，断点 unknown/首步前，两层为空并有 gap_zh，所有节点 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": "2026-10-31T01:01:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--9nfogfw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--9nfogfw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fddc2202b7bcc4c7af8cd0c8e0785d0438235d0a13e7209097c4ff4de9e2d7be",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--k7v5xcy.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--k7v5xcy.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf35127e060a5cd69de5b1ae218f600876a83fd
--- /dev/null
+++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--k7v5xcy.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-privileged--k7v5xcy",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 189,
+   "agent_resets": 213,
+   "agent_sim_steps": 76100,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_rotor_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、success=0、agent_replays=0，未报告“穿过第1转子”的节点结果；inputs/video.json 为 kind=none，亦无本次状态日志。推断：会话测试不能代表缺失的交付轨迹，本节点终值未知，且没有视频时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有可归属本次交付轨迹的接触；会话测试中的夹持和穿板不计入。"
+     }
+    ]
+   },
+   "key_through_rotor_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、success=0、agent_replays=0，未报告“穿过第2转子”的节点结果；inputs/video.json 为 kind=none，亦无本次状态日志。推断：会话测试不能代表缺失的交付轨迹，本节点终值未知，且没有视频时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有可归属本次交付轨迹的接触；会话测试中的夹持和穿板不计入。"
+     }
+    ]
+   },
+   "key_through_rotor_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、success=0、agent_replays=0，未报告“穿过第3转子”的节点结果；inputs/video.json 为 kind=none，亦无本次状态日志。推断：会话测试不能代表缺失的交付轨迹，本节点终值未知，且没有视频时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有可归属本次交付轨迹的接触；会话测试中的夹持和穿板不计入。"
+     }
+    ]
+   },
+   "key_through_rotor_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、success=0、agent_replays=0，未报告“穿过第4转子”的节点结果；inputs/video.json 为 kind=none，亦无本次状态日志。推断：会话测试不能代表缺失的交付轨迹，本节点终值未知，且没有视频时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有可归属本次交付轨迹的接触；会话测试中的夹持和穿板不计入。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "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、success=0、agent_replays=0，未报告“贯穿末端板”的节点结果；inputs/video.json 为 kind=none，亦无本次状态日志。推断：会话测试不能代表缺失的交付轨迹，本节点终值未知，且没有视频时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有可归属本次交付轨迹的接触；会话测试中的夹持和穿板不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_depth",
+   "unit": "plate_pitch",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_tilt_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1018,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json 的评分器报告 missing_trajectory=1、agent_records=5、agent_replays=0，infra_error=0、grader_error=0；log step 1016 启动夹持接触诊断，log step 1018 最后仅自述等待任务结束。记录 wall_s=10803，预算 time_limit_s=10800。推断：会话结束时没有交付可评分轨迹，不能把任一会话测试的卡点指定为交付轨迹的物理断点，故记 unknown／首步前；会话时钟不换算为视频时间。"
+  },
+  "unmet": {
+   "key_through_rotor_1": null,
+   "key_through_rotor_2": null,
+   "key_through_rotor_3": null,
+   "key_through_rotor_4": null,
+   "key_through_end": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有视频或状态日志，评分器明确报告缺交付，且无逐节点结果。log step 228、267、484、847 的生成脚本包含成功后才保存轨迹的分支；log step 857 是会话测试中的夹持与槽间隙输出，log step 858 随即取消该测试，不能据此标注交付轨迹的失败现象或节点终值。log step 1018 仍在等待诊断，记录的会话耗时已达预算，但预算耗尽本身不是根因。按 DECISIONS.md D23 和 N9，现象、根因均留空，全部节点终值未知，接触不适用；参考成功视频属于另一运行，不能补成本次证据。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1、agent_replays=0，本次没有交付可评分轨迹，五个穿板节点均无法确定终值。agent 在多次会话测试中调试插入、转子对槽和夹持，末条 log step 1018 仍在等待诊断；会话耗时达到预算，断点只能记为 unknown／首步前。无本次视频、状态日志或逐节点评分结果，按 D23、N9 不将会话测试进展和接触失败计入交付轨迹，也不推定失败现象或根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0；五个节点 unknown、现象/根因留空并附 gap_zh，符合 D23(a) 与 N9，未把会话测试或预算耗尽当作现象或根因，未换算时钟。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": "2026-10-31T01:02:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--k7v5xcy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--k7v5xcy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "454f9ec0a427f9da3960bdf343bb9419eee9ecfff0c20e4f85471c818c394dc9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--pasz9ft.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--pasz9ft.json
new file mode 100644
index 0000000000000000000000000000000000000000..e623b267f112bfd9719b0b15eeb84d92115baa4d
--- /dev/null
+++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--pasz9ft.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-privileged--pasz9ft",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "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": 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": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_rotor_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 116,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 116 的输出目录清单仅列生成脚本 gen.py 和会话日志，未列轨迹文件。本次无受评视频、无状态日志，也无报告“穿过第1转子”结果的受评服务字段，故该节点终值未知；会话测试不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 116,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 116 的输出目录清单仅列生成脚本 gen.py 和会话日志，未列轨迹文件。本次无受评视频、无状态日志，也无报告“穿过第2转子”结果的受评服务字段，故该节点终值未知；会话测试不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 116,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 116 的输出目录清单仅列生成脚本 gen.py 和会话日志，未列轨迹文件。本次无受评视频、无状态日志，也无报告“穿过第3转子”结果的受评服务字段，故该节点终值未知；会话测试不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 116,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 116 的输出目录清单仅列生成脚本 gen.py 和会话日志，未列轨迹文件。本次无受评视频、无状态日志，也无报告“穿过第4转子”结果的受评服务字段，故该节点终值未知；会话测试不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 116,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 116 的输出目录清单仅列生成脚本 gen.py 和会话日志，未列轨迹文件。本次无受评视频、无状态日志，也无报告“贯穿末端板”结果的受评服务字段，故该节点终值未知；会话测试不作为受评节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可供评分的轨迹，轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_depth",
+   "unit": "plate_pitch",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_tilt_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 116,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、infra_error=0、grader_error=0。agent 在 log step 104 写出并语法检查生成脚本；log step 116 的输出目录仍仅有 gen.py 和会话日志，完整执行脚本的输出尚未返回，日志没有保存成功或重放成功记录。没有受评轨迹，无法定位某个物理穿板步骤的失败。"
+  },
+  "unmet": {
+   "key_through_rotor_1": null,
+   "key_through_rotor_2": null,
+   "key_through_rotor_3": null,
+   "key_through_rotor_4": null,
+   "key_through_end": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无受评视频、无状态日志且评分器报告缺失轨迹；五个节点均无受评逐节点结果，intervals 与 final 均为 null，三个原生指标也未报告。log step 70、82 的抓持、抬升和插入前移动属于会话测试；log step 98 的 Slerp 参数异常在 log step 99 被修改，后续完整执行的结果没有返回，不能据此确定最终未交付的物理根因。运行 wall_s=10802、time_limit_s=10800；日志未显示外部 API 或基础设施中断，亦无最终完成报告。依 DECISIONS.md D23 / CASES.md OPEN-16，预算耗尽而未交付时现象、根因均留空，不将会话测试的动作或异常移作受评现象。成功参考视频仅属于另一运行，不能补足本次节点、时间或接触证据。"
+ },
+ "summary_zh": "评分器以 missing_trajectory=1 判定失败；五个穿板节点均无可确认的受评进展，终值全部未知，不能从零分推成五项均未达成。agent 在会话中进行抓持和逆解测试，修正完整脚本的插值异常后持续等待执行，末次目录检查仍只有生成脚本与会话日志（log step 98–116）。本次无受评视频和状态日志，断点为 unknown／首步前；按未交付规则保留空现象与空根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无受评视频、无状态日志，评分器报告 missing_trajectory=1；标注把五个节点终值置 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23／OPEN-16。log step 98–116 的读取与日志一致（step 98 的 Slerp 报错、step 99 修正、step 116 目录仅有 gen.py 与会话日志）。会话测试未被当作受评事实，未发现需要改动之处。",
+    "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": "2026-10-31T01:05:37Z",
+  "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-lock-picking-05-i01-privileged--pasz9ft/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--pasz9ft/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6c0e4f9d15e40c94b4ffa85d79b6bb1995cfa205dafb26a0f3847ada51f7a08b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--vtfz8qs.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--vtfz8qs.json
new file mode 100644
index 0000000000000000000000000000000000000000..676e7e7700c0a5a67e6d573a70a4d9cf61483f44
--- /dev/null
+++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--vtfz8qs.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-privileged--vtfz8qs",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "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": 0.833,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.06,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "key_through_rotor_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 173 记录 Gemini 过滤拦截。本次无受评视频或状态日志，也无报告“穿过第1转子”结果的评分器或服务字段，无法判定该节点；会话内脚本测试不作为受评节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，未交付受评轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 173 记录 Gemini 过滤拦截。本次无受评视频或状态日志，也无报告“穿过第2转子”结果的评分器或服务字段，无法判定该节点；会话内脚本测试不作为受评节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，未交付受评轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 173 记录 Gemini 过滤拦截。本次无受评视频或状态日志，也无报告“穿过第3转子”结果的评分器或服务字段，无法判定该节点；会话内脚本测试不作为受评节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，未交付受评轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_rotor_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 173 记录 Gemini 过滤拦截。本次无受评视频或状态日志，也无报告“穿过第4转子”结果的评分器或服务字段，无法判定该节点；会话内脚本测试不作为受评节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，未交付受评轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 173 记录 Gemini 过滤拦截。本次无受评视频或状态日志，也无报告“贯穿末端板”结果的评分器或服务字段，无法判定该节点；会话内脚本测试不作为受评节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1，未交付受评轨迹，轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_depth",
+   "unit": "plate_pitch",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_tilt_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 173,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 170 启动 agent 的 test_cycle0.py 调试脚本，log step 171 的 agent 自述仍在等待该脚本；log step 173 记录“This request was blocked by Gemini's filters”。评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未形成已交付且验证的受评轨迹，不能定位机器人在哪个物理节点失败。"
+  },
+  "unmet": {
+   "key_through_rotor_1": null,
+   "key_through_rotor_2": null,
+   "key_through_rotor_3": null,
+   "key_through_rotor_4": null,
+   "key_through_end": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次 inputs/video.json 的 kind=none，无本次受评视频，也无状态日志；inputs/oracle/replay.mp4 是另一成功运行，不能证明本次的进度或接触。log step 173 明确记录 Gemini 提供方过滤拦截，评分器同时报告 missing_trajectory=1；此前可见内容为 agent 的会话调试，不能替代未交付的受评轨迹。推断：按 CASES.md FAIL-5 与 DECISIONS.md D37，这是受评结果固定前的外因中断，应重测并排除在 agent 失败归因之外；保留目录 success=0，但不标“没尝试”，失败现象及根因均留空，所有节点值与视频时间保持未知。"
+ },
+ "summary_zh": "本次评分器记录 success=0、missing_trajectory=1，未交付受评轨迹，五个穿板节点均无法判定，实际接触标为不适用。log step 170–171 仍在进行会话脚本调试，log step 173 出现 Gemini 提供方过滤拦截，按外因中断处理，断点为 unknown／首步前，失败现象和根因均留空。无本次视频或状态日志，成功参考视频不能补足本次进度证据；该记录应重测并排除在 agent 失败归因之外。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无受评视频与状态日志，评分器 missing_trajectory=1；log step 173 为 Gemini 过滤拦截，属外因中断，未交付受评轨迹。文件按 FAIL-5 的正确示例处理：断点 unknown/首步前，现象与根因留空并有 gap_zh，节点均为 unknown，未把会话脚本当作受评进度。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": "2026-10-31T01:06:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--vtfz8qs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--vtfz8qs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e087816845a6d02326069552b04180913871bab6b6131a317f5ac12a9e9e5e6b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--2kfxt53.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--2kfxt53.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d62eef5bdb179c9f1577056031edb450e22d87
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--2kfxt53.json
@@ -0,0 +1,190 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--2kfxt53",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 1,
+   "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": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "r1_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 38,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 38 记录模型响应超过32000输出token上限的API错误。本次无视频、无状态日志，也没有已交付轨迹的青环R1穿越结果字段，无法判断该节点终值。log steps 29–30 的会话内状态读取和逆解探测不构成已交付轨迹的节点证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器 missing_trajectory=1；未交付轨迹，无可标注的机器人夹爪与绳索或环的受评接触。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 38,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 38 记录模型响应超过32000输出token上限的API错误。本次无视频、无状态日志，也没有已交付轨迹的绿环R2穿越结果字段，无法判断该节点终值。log steps 29–30 的会话内状态读取和逆解探测不构成已交付轨迹的节点证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器 missing_trajectory=1；未交付轨迹，无可标注的机器人夹爪与绳索或环的受评接触。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 38,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 38 记录模型响应超过32000输出token上限的API错误。本次无视频、无状态日志，也没有已交付轨迹的紫环R3穿越结果字段，无法判断该节点终值。log steps 29–30 的会话内状态读取和逆解探测不构成已交付轨迹的节点证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器 missing_trajectory=1；未交付轨迹，无可标注的机器人夹爪与绳索或环的受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 38,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 14 中 agent 的脚本建立并重置仿真会话；log steps 29–30 仅执行逆解探测，log steps 31、33、35、37 均无工具调用且输出token计数各为32000，log step 38 最后记录“API Error: Claude's response exceeded the 32000 output token maximum”。评分器记录 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0，没有受评轨迹可定位物理失败步骤。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有视频或状态日志，且评分器确认未交付轨迹；无法恢复三个穿环节点的时间区间或终值，也没有受评接触、物理失败现象及其根因证据。log step 38 的模型响应输出上限API错误发生在交付之前，按CASES.md FAIL-5及DECISIONS.md D37作外因中断处理，宜重测，不归因于机器人能力；目录 success=0 仍按 skeleton 保留。log step 19 的读取键错误及 log steps 29–30 的逆解探测属于会话证据，不能替代受评尝试；成功参考视频属于另一运行，不能补出本次进度。",
+  "unmet": {
+   "r1_threaded": null,
+   "r2_threaded": null,
+   "r3_threaded": null
+  }
+ },
+ "summary_zh": "评分器记录 missing_trajectory=1，仿真动作、录制及回放计数均为0；三个穿环节点均无可确认的受评终值。日志显示 agent 创建会话并读取几何、探测逆解后，在 log step 38 因模型响应超过32000输出token上限的API错误结束，断点记为 unknown／首步前，按外因中断处理，现象与根因留空。本次无视频、无状态日志及已交付轨迹，保留目录 success=0，不用会话探测或其他运行的成功参考视频推定节点进度。",
+ "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/状态日志，评分器 missing_trajectory=1、agent_sim_steps=0；log step 38 为 API 输出上限错误，属外因中断（FAIL-5）。三节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，均与证据一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:12:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--2kfxt53/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--2kfxt53/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e9571aa2088c02e70e1bd1123df59456928f72c5aa3527899d036e49d22fad65",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--s2q38qj.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--s2q38qj.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86a28b1bf0c287e35e7acc6403c0e1c3368735b
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--s2q38qj.json
@@ -0,0 +1,190 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--s2q38qj",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 135,
+   "agent_resets": 88,
+   "agent_sim_steps": 43984,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "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": {
+   "r1_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 471,
+      "text_zh": "观察：评分器在 inputs/run.json 的 reward 中返回 missing_trajectory=1、success=0，未报告青色R1的穿越结果；inputs/video.json 为 kind=none，且无状态日志。log step 471 中 agent 只自述已启动端到端测试并等待结果；这些会话测试不能确定受评轨迹的本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付的受评轨迹可供标注实际接触；会话测试中的夹爪接触不计入。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 471,
+      "text_zh": "观察：评分器在 inputs/run.json 的 reward 中返回 missing_trajectory=1、success=0，未报告绿色R2的穿越结果；inputs/video.json 为 kind=none，且无状态日志。log step 471 中 agent 只自述已启动端到端测试并等待结果；这些会话测试不能确定受评轨迹的本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付的受评轨迹可供标注实际接触；会话测试中的夹爪接触不计入。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 471,
+      "text_zh": "观察：评分器在 inputs/run.json 的 reward 中返回 missing_trajectory=1、success=0，未报告紫色R3的穿越结果；inputs/video.json 为 kind=none，且无状态日志。log step 471 中 agent 只自述已启动端到端测试并等待结果；这些会话测试不能确定受评轨迹的本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付的受评轨迹可供标注实际接触；会话测试中的夹爪接触不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 471,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward 返回 missing_trajectory=1、agent_records=5、agent_replays=0、infra_error=0、grader_error=0；记录过会话动作并不等于交付受评轨迹。log step 470 仅启动后台 test_pipeline.py，log step 471 是 agent 自述等待该测试结果的最后发言；没有已交付轨迹可定位到某个穿环步骤，故断点记 unknown、位置记首步前。"
+  },
+  "unmet": {
+   "r1_threaded": null,
+   "r2_threaded": null,
+   "r3_threaded": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无受评视频、无状态日志，评分器明确报告缺少交付轨迹；三个环的穿越终值及发生时刻均不可判定。inputs/oracle/replay.mp4 是另一次成功运行，不能证明本次的进度或接触。日志包含多次重置和会话测试：log step 419 显示旧脚本仅在成功条件满足时保存，log step 465 的最终测试脚本只停止录制并打印结果，log step 470—471 仍在启动和等待测试；这些信息未建立任何已交付物理失败过程，也未证明导致缺交付的具体能力缺陷或保存操作错误，因此现象、根因均留空。run.json 记载 wall_s=10802、time_limit_s=10800（会话墙钟秒），不把预算耗尽本身作为现象或根因；没有证据认定为外部服务中断。"
+ },
+ "summary_zh": "评分器以 missing_trajectory=1 判失败，未交付可评分轨迹；青、绿、紫三个穿环节点均为未知，不能用会话测试代替受评进度。log step 470—471 结束于 agent 启动端到端测试并自述等待结果，断点只能记 unknown／首步前，缺少证据支持物理失败现象或具体根因。本次没有视频和状态日志，原生全绳最大速度也未由评分器报告。",
+ "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，评分器 missing_trajectory=1、agent_replays=0；三节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a) 与 03 第5项，未把预算耗尽或会话测试当作现象/根因。未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:01Z",
+  "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-rope-threading-03-i01-privileged--s2q38qj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--s2q38qj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "885802f38467f2a79c9185b5de1f464afd176fca894a0488f5bf9b41149b5314",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--zxsrhmc.json b/phase2/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--zxsrhmc.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2adb8cad32e3057db68a45a5fd67e17326885d9
--- /dev/null
+++ b/phase2/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--zxsrhmc.json
@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-04-i01-privileged--zxsrhmc",
+ "taskKey": "roboarc/rope_threading_04",
+ "dag_sha256": "8b3850fa1c4bded1ee72d91f210918cde6a7ecb944e8b7638d56a47bd7705a89",
+ "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": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：评分器reward给出missing_trajectory=1、success=0，未报告“绳穿青色壁孔”的单独验收值；inputs/video.json为kind=none，且无状态日志。log step 65为Gemini过滤器拦截提示；无已交付受评轨迹，无法判定该节点，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，未交付受评轨迹；会话调试中的夹爪或绳索读数不作为实际受评接触。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：评分器reward给出missing_trajectory=1、success=0，未报告“绳穿绿色环”的单独验收值；inputs/video.json为kind=none，且无状态日志。log step 65为Gemini过滤器拦截提示；无已交付受评轨迹，无法判定该节点，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，未交付受评轨迹；会话调试中的夹爪或绳索读数不作为实际受评接触。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：评分器reward给出missing_trajectory=1、success=0，未报告“绳穿紫色壁孔”的单独验收值；inputs/video.json为kind=none，且无状态日志。log step 65为Gemini过滤器拦截提示；无已交付受评轨迹，无法判定该节点，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，未交付受评轨迹；会话调试中的夹爪或绳索读数不作为实际受评接触。"
+     }
+    ]
+   },
+   "rope_through_b": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：评分器reward给出missing_trajectory=1、success=0，未报告“绳穿琥珀环”的单独验收值；inputs/video.json为kind=none，且无状态日志。log step 65为Gemini过滤器拦截提示；无已交付受评轨迹，无法判定该节点，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，未交付受评轨迹；会话调试中的夹爪或绳索读数不作为实际受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 65,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 65是“This request was blocked by Gemini's filters”拦截提示，之后会话结束；评分器reward为missing_trajectory=1、agent_records=0、agent_replays=0。log step 34仅做保持测试并恢复初态，log step 57启动录制并保存内存初态检查点，随后读状态报错；log step 64仍只定义运动函数并计算两臂在G1附近的逆解，没有保存或验证提交轨迹的调用。推断：模型提供方过滤器在交付前中断会话，没有可定位物理失败步骤的受评轨迹，断点为unknown、位置为首步前。"
+  },
+  "unmet": {
+   "rope_through_g1": null,
+   "rope_through_a": null,
+   "rope_through_g2": null,
+   "rope_through_b": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有视频（inputs/video.json的kind=none）、没有状态日志，评分器仅报告缺少轨迹，未给四孔的节点验收值或maximum_speed_m_s。log step 65记录模型提供方过滤器拦截，且无已保存、已验证的交付；按CASES.md FAIL-5作为外部中断处理，现象与根因均留空，不标“没尝试”，不计入机器人失败原因分析。会话中的API报错、逆解结果及内存检查点均不能代替受评轨迹；已提供另一成功运行的oracle视频，但它不能证明本运行的节点结果。"
+ },
+ "summary_zh": "评分器记录success=0、missing_trajectory=1；没有受评轨迹可确认四孔穿绳进度，四个节点的终值均为未知。log step 64仍在计算G1附近的逆解，log step 65被Gemini过滤器拦截，属于交付前的外部中断，断点记unknown／首步前，现象与根因均留空。无本运行视频、状态日志或逐孔验收字段，成功oracle仅供目标参照，不能用于补齐本运行结果。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 9,
+    "summary_zh": "运行在 log step 65 被 Gemini 过滤器拦截，评分器 missing_trajectory=1、agent_records=0，无视频和状态日志；四节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 FAIL-5，未发现需要修改的内容。",
+    "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": "2026-10-31T01:05:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-privileged--zxsrhmc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-privileged--zxsrhmc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd1293f402b6ca4e2adf8891dae444bc24551ab0e1d904ad10f21eb8aa5f1087",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--zqhywpc.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--zqhywpc.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4df559c25fca8df8724d7f9da08fa7dad3ce10
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--zqhywpc.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--zqhywpc",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 191,
+   "agent_resets": 46,
+   "agent_sim_steps": 20013,
+   "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": {
+   "system_on_original_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器仅报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告非目标组件留在原侧的节点结果；inputs/video.json 为 kind=none，亦无状态日志，无法判断该节点在评分尝试中的最终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；没有交付轨迹，因此轨迹级接触不适用，会话实验中的夹爪接触不计入。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 651,
+      "text_zh": "观察：inputs/run.json 的评分器报告 success=0、missing_trajectory=1，未报告金属环入区、解离或低速确认的节点结果；log step 651 的夹持和绳接触数来自 agent 的 test_release_motion.py 会话测试，不是已交付轨迹的验收结果，不能据此填写节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；没有交付轨迹，因此轨迹级接触不适用，会话实验中的夹爪接触不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 653,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 651 显示 agent 的解离策略测试仍在运行，最后的 log step 653 仅说“Waiting for delta_x strategies to complete.”，没有交付完成记录。推断：无可标注的评分轨迹，不能将会话测试中的某次失握或绳接触定位为节点断点，故填 unknown／首步前。"
+  },
+  "unmet": {
+   "system_on_original_side": null,
+   "ring_in_goal": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志、无交付轨迹，评分器也未提供两个节点的结果或任何原生几何、速度、确认时间指标。运行记录 wall_s=10803、time_limit_s=10800，log step 653 仍在等待会话测试，符合预算结束前未交付的记录；没有可核实的具体录制／保存错误或其他足以解释未交付的原因。按 D23 留空现象和根因：会话实验不能替代评分尝试，也不能仅由未交付推断控制、规划或交付操作出错。"
+ },
+ "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），录制和回放次数均为0，因此“系统留在原侧”和“金属环入目标区”的最终状态均无法判断。agent 在 log step 651—653 仍进行并等待解离策略测试，运行墙钟用时10803秒、预算10800秒；缺少评分轨迹、视频、状态日志和节点验收字段，断点记 unknown／首步前，现象及根因按 D23 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、agent_records=0、agent_replays=0，没有交付轨迹。节点 unknown/null、contact 不适用、断点 unknown/首步前、现象与根因留空并附 gap_zh，均符合 03 的无交付规则（D23、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": "2026-10-31T00:56:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--zqhywpc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--zqhywpc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1aa9f356b278ef9de8d13bc403e577406ebe4489101b662537b49b4d082993de",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2.json b/phase2/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2b8a477626ed72f35c46ae5ea086622bb908c8
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2.json
@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2",
+ "taskKey": "roboarc/slotted_post_ring_05",
+ "dag_sha256": "00db80c211aa6c8a66f90bf782630145d1fd157343b42acf89b5ceea5a9f26cd",
+ "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": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_freed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 27,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0；log step 27 记录响应超过 32000 输出 token 上限的 API Error。无视频、无状态日志，也无评分器或服务逐节点结果，无法判断金属环是否解离；总成功值 0 不能确定该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付可供评分的机器人轨迹；评分器记录 missing_trajectory=1。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 27,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0；log step 27 记录响应超过 32000 输出 token 上限的 API Error。无视频、无状态日志，也无评分器或服务逐节点结果，无法判断金属环是否整体入区并满足低速及共同确认窗；总成功值 0 不能确定该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付可供评分的机器人轨迹；评分器记录 missing_trajectory=1。"
+     }
+    ]
+   },
+   "remainder_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 27,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0；log step 27 记录响应超过 32000 输出 token 上限的 API Error。无视频、无状态日志，也无评分器或服务逐节点结果，无法判断全部余件是否留在系统侧；总成功值 0 不能确定该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付可供评分的机器人轨迹；评分器记录 missing_trajectory=1。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "ring_min_horizontal_margin",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ring_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ring_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.221812,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ring_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ring_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_separator_crossing",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 27,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 2–19 的工具调用仅由 agent 读取任务代码、场景文件和机器人结构；未见启动仿真、执行动作或保存提交轨迹的调用。log step 27 以“API Error: Claude's response exceeded the 32000 output token maximum”结束；评分器记录 missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为 0。推断：交付前发生 API／CLI 输出上限中断，无法定位机器人失败步骤，按外因中断处理。"
+  },
+  "unmet": {
+   "ring_in_goal": null,
+   "remainder_system_side": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 中无回放视频、状态日志或成功示范；评分器没有报告三个节点的终值或七项原生指标。log step 27 记录模型响应超出输出 token 上限的 API 错误，且 missing_trajectory=1，未形成可观察的受评物理尝试。依 CASES.md FAIL-5 按交付前外因中断处理，现象与根因均留空，不能据此标“没尝试”、规划失败或交付操作出错；目录 success=0 原样保留，此类运行应重测并排除出机器人失败分析。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，仿真会话、仿真步数、录制与回放计数均为 0，三个节点终值均未知，未确认任何节点完成。日志显示 agent 只读取代码与场景，随后在 log step 27 因响应超过 32000 输出 token 上限的 API 错误中断，断点记未知／首步前，按交付前外因中断处理并建议重测。无视频、状态日志或逐节点评分结果，无法确认物理接触、节点进展及原生指标，故不标机器人失败现象与根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与证据一致：success=0、missing_trajectory=1，所有 agent_* 计数为 0，无视频与状态日志，三节点 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合 FAIL-5。残留不确定：log step 22/24/26 各出现 32000 输出 token 且无工具调用，step 27 为 API Error，可争议是 agent 自身过长推理，但 FAIL-5 明列 API 错误为外因，且无证据支持具体机器人现象，故不要求修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-privileged--wyyhlz2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e094d614df487ea5c0877ab1818f02281385d78b3426619d41095dc2904c943b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}