Add 36 tasks (phase 2)

README.md

@@ -385,26 +385,61 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 - Layout as in phase 1: `phase2/<suite>/<task>/task_dag.json` and `phase2/<suite>/<task>/trajectories/<runId>.json`,
   provenance work-directory paths relative, `dag_sha256` = sha256 of `task_dag.json` as published here. A task is
   uploaded whole (its DAG together with all its phase-2 trajectories).
-- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 50 of 434 tasks, 100 of 868 trajectories.
+- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 86 of 434 tasks, 172 of 868 trajectories.
 
 ### Phase 2 tasks
 
 | folder | trajectories | also in phase 1 |
 | --- | --- | --- |
+| `phase2/behavior-1k/carrying_out_garden_furniture/` | 2 | no |
 | `phase2/behavior-1k/installing_a_fax_machine/` | 2 | no |
 | `phase2/behavior-1k/store_batteries/` | 2 | no |
 | `phase2/behavior-1k/store_produce/` | 2 | no |
+| `phase2/dexhand/book_page_turn/` | 2 | no |
+| `phase2/dexhand/grinder_crank/` | 2 | no |
+| `phase2/dexhand/jar_lid_open/` | 2 | no |
+| `phase2/dexhand/pancake_serve/` | 2 | no |
+| `phase2/dexhand/remote_battery_swap/` | 2 | no |
 | `phase2/dexjoco/fold_glasses/` | 2 | no |
 | `phase2/dextoolbench/hammer_mallet_hammer_swing_down/` | 2 | no |
 | `phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/` | 2 | no |
+| `phase2/embodied-olympics-fun/alpine_slalom/` | 2 | no |
 | `phase2/embodied-olympics-fun/backflip/` | 2 | no |
+| `phase2/embodied-olympics-fun/badminton_serve/` | 2 | yes |
 | `phase2/embodied-olympics-fun/balance_beam/` | 2 | no |
 | `phase2/embodied-olympics-fun/balance_board/` | 2 | yes |
+| `phase2/embodied-olympics-fun/bowling/` | 2 | no |
+| `phase2/embodied-olympics-fun/box_jump/` | 2 | yes |
+| `phase2/embodied-olympics-fun/boxing/` | 2 | no |
+| `phase2/embodied-olympics-fun/catch/` | 2 | no |
+| `phase2/embodied-olympics-fun/catch_and_shoot/` | 2 | no |
+| `phase2/embodied-olympics-fun/clean_and_jerk/` | 2 | yes |
+| `phase2/embodied-olympics-fun/discus/` | 2 | no |
 | `phase2/embodied-olympics-fun/dunk/` | 2 | no |
+| `phase2/embodied-olympics-fun/dunk_between_legs/` | 2 | yes |
+| `phase2/embodied-olympics-fun/free_throw/` | 2 | no |
+| `phase2/embodied-olympics-fun/freeski_360/` | 2 | no |
+| `phase2/embodied-olympics-fun/golf_putt/` | 2 | no |
+| `phase2/embodied-olympics-fun/high_bar_swing/` | 2 | no |
+| `phase2/embodied-olympics-fun/high_jump/` | 2 | yes |
 | `phase2/embodied-olympics-fun/javelin/` | 2 | no |
+| `phase2/embodied-olympics-fun/juggling/` | 2 | no |
+| `phase2/embodied-olympics-fun/juggling_feet/` | 2 | no |
+| `phase2/embodied-olympics-fun/jump_rope/` | 2 | no |
 | `phase2/embodied-olympics-fun/layup/` | 2 | no |
+| `phase2/embodied-olympics-fun/pole_vault/` | 2 | yes |
 | `phase2/embodied-olympics-fun/shot_put/` | 2 | no |
+| `phase2/embodied-olympics-fun/springboard_3m/` | 2 | no |
 | `phase2/embodied-olympics-fun/sprint/` | 2 | no |
+| `phase2/embodied-olympics-fun/steeplechase/` | 2 | yes |
+| `phase2/embodied-olympics-fun/table_tennis_return/` | 2 | no |
+| `phase2/embodied-olympics-fun/taekwondo_kick/` | 2 | no |
+| `phase2/embodied-olympics-fun/tennis_return/` | 2 | no |
+| `phase2/embodied-olympics-fun/tennis_serve/` | 2 | no |
+| `phase2/embodied-olympics-fun/toes_to_bar/` | 2 | no |
+| `phase2/embodied-olympics-fun/triple_jump/` | 2 | yes |
+| `phase2/embodied-olympics-fun/volleyball_spike/` | 2 | yes |
+| `phase2/embodied-olympics-match/tabletennis_match_i04/` | 2 | no |
 | `phase2/embodied-safety-exam/a29/` | 2 | no |
 | `phase2/embodied-safety-exam/c02_i01/` | 2 | no |
 | `phase2/ispatialgym/mental_rotation/` | 2 | no |
@@ -415,6 +450,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/mujoco-playground/go1_joystick_rough_terrain/` | 2 | no |
 | `phase2/myosuite/dex_hammer_use/` | 2 | no |
 | `phase2/pandadyn/d05_moving_ramp_relay/` | 2 | no |
+| `phase2/roboarc/blanket_flatten_04/` | 2 | no |
 | `phase2/roboarc/cast_coil_07/` | 2 | no |
 | `phase2/roboarc/ikea_ikea365/` | 2 | no |
 | `phase2/roboarc/ikea_lack/` | 2 | no |

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

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/carrying_out_garden_furniture",
+ "suite": "behavior-1k",
+ "base": "behavior-carrying-out-garden-furniture-i00",
+ "title_zh": "把花园家具搬出屋",
+ "summary_zh": "草坪椅放在花园地面、独轮车放在任一草坪上，两处关系同时成立且全部目标物体离手、线速度不超过 0.05 m/s，连续保持 30 个控制步。",
+ "embodiment_zh": "特权与标准模式均为 R1Pro 轮式移动双臂机器人；左右臂各七个关节，各配二指夹爪并使用辅助抓取，躯干可调，底盘可平移与转向；头部及双腕相机用于观察。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-carrying-out-garden-furniture-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "chair_on_garden_floor",
+    "zh": "草坪椅放花园地面",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机中，草坪椅已从客厅移到户外花园地面，椅体接触该地面，且地面在椅体正下方而非上方；仍在客厅、悬空或仅靠近花园地面均未达成，离开该支承面即失去此关系。整项成功还须两处目标关系同时成立，全部目标物体均未附着夹爪且线速度不超过 0.05 m/s，连续保持 30 个控制步（30 Hz，标称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住草坪椅的框架，随底盘搬运到目标支承面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘接触地面并承载机器人，持有草坪椅时从客厅移动到花园。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左右二指夹爪分别抓住草坪椅两侧的框架，共同搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘接触地面并承载双臂持有的草坪椅，从客厅移动到目标位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "手掌或张开的夹爪接触草坪椅的框架，将其推移到目标支承面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 3,
+      "note_zh": "轮式底盘接触地面，随对草坪椅的推移从客厅移动到花园。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/bddl/carrying_out_garden_furniture.bddl:13-18",
+     "inputs/bddl/carrying_out_garden_furniture.bddl:23",
+     "inputs/bddl/carrying_out_garden_furniture.literals.json:3"
+    ],
+    "conf": 6,
+    "note_zh": "仅一个放置步骤；抓取、抬起、搬出房屋、经过门口和松手不另拆。节点描述 ontop 关系，关系本身可在持物时成立，故 freeze_held=false；全场离手、静止及共同保持窗口属于 success 的联合验收，因无状态日志只能以文字表达，不把两个节点各自改为全场成功检查。未要求椅子特定朝向或每条椅腿均触地。"
+   },
+   {
+    "id": "wheelbarrow_on_lawn",
+    "zh": "独轮车放草坪",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机中，独轮车已从客厅移到花园的草坪，车体与任一草坪接触且草坪在车体正下方而非上方；参考运行文字记录中的车斗为红色，草坪为绿色，放在露台硬地、悬在草坪上方或仅靠近草坪均未达成，离开草坪支承即失去此关系。整项成功还须两处目标关系同时成立，全部目标物体均未附着夹爪且线速度不超过 0.05 m/s，连续保持 30 个控制步（30 Hz，标称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住独轮车的把手或框架，随底盘搬运到目标支承面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘接触地面并承载机器人，持有独轮车时从客厅移动到花园。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左右二指夹爪分别抓住独轮车两侧的把手或框架，共同搬运��"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘接触地面并承载双臂持有的独轮车，从客厅移动到目标位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "手掌或张开的夹爪接触独轮车的框架，将其推移到目标支承面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 3,
+      "note_zh": "轮式底盘接触地面，随对独轮车的推移从客厅移动到花园。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/bddl/carrying_out_garden_furniture.bddl:14-18",
+     "inputs/bddl/carrying_out_garden_furniture.bddl:24-27",
+     "inputs/bddl/carrying_out_garden_furniture.literals.json:4"
+    ],
+    "conf": 6,
+    "note_zh": "存在量词允许任一草坪；本实例的目标文字只列 lawn.n.01_1。独轮车与草坪椅不同，各成一步，两步可以任意顺序完成。单爪搬运、双爪抓把手与推移作为替代接触方案，不强制参考运行的左手抓取、沿泳池行走或北侧草坪落点。全局离手、静止和共同保持窗口放入整体成功的文字说明；因此本关系节点不冻结持物帧。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座低于场景地面超过 0.03 m，或底座向上轴的世界 z 分量小于 0.75（倾斜约超过 41.4°），该析取条件连续满足 300 个控制步（30 Hz，标称 10 秒）后，跌倒监视器锁存并终止；不足窗口的短暂倾倒不触发。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限值，机器人任一位置坐标绝对值超过 10000 m，或底座线速度范数超过 100 m/s，立即判为崩溃；每 30 个控制步另查全部目标物体，其位置出现非有限值或任一坐标绝对值超过 10000 m 也触发。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "chair_on_garden_floor",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop lawn_chair.n.01_1 floor.n.01_2); inputs/bddl/carrying_out_garden_furniture.literals.json:3"
+   },
+   {
+    "atom": "wheelbarrow_on_any_lawn",
+    "level": "new_code",
+    "source": "Log each candidate flags.lit:(ontop barrow.n.03_1 lawn.n.01_1); inputs/bddl/carrying_out_garden_furniture.literals.json:4"
+   },
+   {
+    "atom": "joint_success_rule",
+    "level": "new_code",
+    "source": "Log flags.success_rule from Session.succeeded / RestWatch.done, with release and rest diagnostics; inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1434"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Log Session._fall.fallen after FallWatch.update; inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Log Session.breakdown is not None; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "状态证据缺口：inputs/states/index.json 的 logs 为空，按 P8 所有节点 when、约束 never 和整体 success 均为 null；atoms 列出未来需记录的字段，当前不能核验时间线或 success 与评分器的一致性。q_score=1 仅表示裸目标全部满足，不替代离手、静止和共同保持窗口。",
+  "参考证据缺口：成功参考运行 pc43j4z 无视频、无状态日志（oracle.json），仅能读取 run.json 的动作与文字输出；其中步骤 168 自述椅子已落在户外露台，步骤 248 释放独轮车到绿色草坪，步骤 251 输出 reason: success。视觉判据据文本和这些记录编写，不能声称已由参考帧核实。",
+  "门与路线：scene_objects.json 列出客厅至花园的 sliding_door_lrvyvc_0，以及走廊、门厅、车库等至花园的其他门，但不含门初态及无门通路的完整拓扑；参考运行步骤 64-73 打开客厅露台门只证明这一条路线。依 S2 对文本未点名前置步骤可省略的规则，本文件仅保留��本两项放置，不设某扇门或某一路线的强制节点；任务无关门恢复目标。",
+  "粒度采用 D5 当前读法：搬出房屋的目的由两个最终放置关系覆盖，离开室内不是另受评的目标，因此不再拆出取出或导航步骤。",
+  "模式差异：标准模式由服务对同一现场 episode 判定；特权模式要求两个新进程回放均成功、终态散列一致且初始实例匹配（privileged/grade.py:168-174）。两者共用放置、离手和静止的物理规则；重放一致性、交付及基础设施有效性不是世界状态步骤，不能用未记录的评分结论绑定语义节点。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两个目标及其无序结构由文本和 BDDL 明确支持，初始两个目标均不成立；评分代码给出了共同保持、速度和失败阈值。缺少全部状态日志和参考视频，无法核验实际视觉判据、通路初态及动态绑定，故置信度为 6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "文本只描述两项放置（草坪椅放花园地面、独轮车放草坪），文件两个目标节点、无序、无多余节点；无状态日志故 when/success 为 null 符合 P8；约束为评分器失败条件（立即终止）。标签与接触方案合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['chair_on_garden_floor', 'wheelbarrow_on_lawn']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:37:21Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__carrying_out_garden_furniture/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__carrying_out_garden_furniture/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "b424f28fe8f92beab70840d2d990f646065e6cbed9f2eb00c278e09022ca7e48",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-out-garden-furniture-i00-privileged--rcrje99",
+ "taskKey": "behavior-1k/carrying_out_garden_furniture",
+ "dag_sha256": "1d06f3b5a0c891414123553d44f860000675991a757c0131c143640e6ba130b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 4235,
+   "sim_steps": 4235,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1875.6,
+   "replay_timeout_s": 4023.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 4,
+   "agent_sim_steps": 8470,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "regrade_0154": {
+    "tag": "behavior-254-0154",
+    "old": 1,
+    "new": 0,
+    "why": "stricter rule",
+    "at": "2026-10-18 02:08:19"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99/replay.mp4",
+  "duration_s": 141.167,
+  "fps": 30.0,
+  "frames": 4235,
+  "sha256": "047685dc756b11672ba6a4fa4c2577c963f19afae62bc549b12d784f8f9bde33"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "chair_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 草坪椅仍在客厅，尚未位于户外花园地面。"
+     },
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0 s 和视频 51.0 s 右腕视角仍可见草坪椅靠背编织框紧贴夹爪；视频 52.0–53.0 s 椅背逐渐离开右腕视野，机器人夹爪撤离；视频 57.0 s 头部视角可见椅子独立留在户外木质露台地面。推断：结合松手撤离及随后椅子留在地面的画面，将该支承关系起点估为视频 52.5 s，误差约 1 s；此前持握时的椅地接触点被遮挡，不能仅凭仍在持握判定关系未成立。"
+     },
+     {
+      "t": 141.13,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 表明两项新增目标关系在终态均成立，与视频中椅子留在户外的观察一致；后续录像未见机器人再次搬动椅子，故该关系保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–51.0 s 右夹爪夹住草坪椅靠背框架，椅子随右臂和底盘一起搬出客厅；视频 51.0 s 仍可见椅背紧贴夹爪，视频 52.0–53.0 s 松手撤离，视频 57.0 s 椅子留在露台地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘承载持椅的右臂，从客厅经门口行驶到户外露台后放椅（视频 28.0–53.0 s）。"
+     }
+    ]
+   },
+   "wheelbarrow_on_lawn": {
+    "method": "visual",
+    "intervals": [
+     [
+      141.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.0,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–77.0 s 红色独轮车仍在客厅；视频 78.0–85.0 s 右夹爪合在白色把手处，车体离开原位置，随后随机器人搬出门口。"
+     },
+     {
+      "t": 141.13,
+      "log_step": null,
+      "text_zh": "观察：视频 130.0–139.5 s 机器人仍沿户外硬质步道拖动独轮车，视频 140.0–141.13 s 车斗前部移至绿色草坪上方，右夹爪仍抓住把手，车体继续移动。"
+     },
+     {
+      "t": 141.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 140.0–141.13 s 车体进入草坪区域和评分器 reward.q_score=1.0（两项新增目标关系均满足），独轮车与草坪的支承关系约在视频 141.0 s 成立，时刻误差约 0.5 s；轮地接触点被车斗和画面边缘遮挡。节点 freeze_held=false，因此持车不否定此关系，但不代表全局离手静置验收通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78.0–85.0 s 右夹爪合拢夹住独轮车一侧白色把手，抬起把手并拖动车体；视频 140.0–141.13 s 仍保持该抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在右手持独轮车期间从客厅驶出，沿露台和花园步道行驶至草坪边（视频 85.0–141.13 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wheelbarrow_on_lawn",
+   "t": 141.0,
+   "log_step": null,
+   "where": "终态验收",
+   "evidence_zh": "观察：视频 140.0–141.13 s 独轮车进入草坪区域时，机器人右夹爪仍夹住把手并随底盘继续拖行，直到最后一帧均未见释放或静置；评分器 reward.q_score=1.0，但 success=0，regrade_0154 记载 old=1、new=0、why=\"stricter rule\"。推断：两处目标关系已成立，最后处理的独轮车尚未满足全局离手、静止并共同保持的终态验收。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 141.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 140.0–141.13 s 机器人右夹爪持续夹在独轮车白色把手上，红色车斗相对右臂保持固定而随机器人移动；录像结束前没有张爪撤离或独轮车独立静置的动作。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中有完整视频和运行记录，但没有状态日志，也没有参考视频。草坪椅落地和独轮车轮地接触点局部遮挡，草坪椅关系起点约有 1 s 不确定性，独轮车关系起点约有 0.5 s 不确定性；终态关系由视频和 q_score=1.0 合并判断。log step 228 的交付脚本安排在后续导航完成后张开右夹爪并保持，而视频结束时仍在拖车；log step 248 的旧服务回放结果报告 success=true、4235 个控制步，与视频帧数一致，复评字段仅给 stricter rule，未给离手或速度的细分结果。推断：无法据现有证据区分旧服务提前结束、脚本后段未执行及其他执行细节，故不把未释放强归于规划、控制或交付根因。",
+  "unmet": {
+   "chair_on_garden_floor": true,
+   "wheelbarrow_on_lawn": true
+  }
+ },
+ "summary_zh": "机器人将草坪椅搬到户外露台并松手，随后抓住独轮车把手拖到草坪，两项目标支承关系最终均成立（q_score=1.0）。视频约 141.0 s 的独轮车终态验收未完成：最后一帧仍持车移动，未见离手静置；旧服务报告成功，但更严格的复评将 success 改为 0。没有状态日志，轮地接触时刻需结合评分总值推断，且日志不能解释为何交付录像结束于脚本预定松手之前，因此根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "终局判断（两节点 q_score=1.0 达成、独轮车终帧仍持握、根因留空）与证据一致；但草坪椅放置/松手时刻标成视频 50.0 s 偏早约 2.5 s：右腕视角 51 s 仍夹着椅背编织框，约 52–53 s 才松开。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点（椅子约52.5 s、独轮车约141 s）、终态验收断点、没松开现象、根因留空并附gap_zh均与帧和评分字段一致；第1轮的椅子时刻已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:19Z",
+  "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/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-out-garden-furniture-i00-privileged--rcrje99/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "851a385149534227eee010242cbcf13a2bb2e34e396c16a6c4e95a93822a84d8",
+   "video_sha256": "047685dc756b11672ba6a4fa4c2577c963f19afae62bc549b12d784f8f9bde33",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-privileged--wu84vbd.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-out-garden-furniture-i00-privileged--wu84vbd",
+ "taskKey": "behavior-1k/carrying_out_garden_furniture",
+ "dag_sha256": "1d06f3b5a0c891414123553d44f860000675991a757c0131c143640e6ba130b3",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 6460,
+   "sim_steps": 6377,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 5078.0,
+   "replay_timeout_s": 4430.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 3,
+   "agent_sim_steps": 6250,
+   "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": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-out-garden-furniture-i00-privileged--wu84vbd/replay.mp4",
+  "duration_s": 212.567,
+  "fps": 30.0,
+  "frames": 6377,
+  "sha256": "79a379daf9ad9592b0e6e8ab454cb7c43c758344b9299ac57e4ed43e866edce4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "chair_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，带白色坐垫的藤编草坪椅在客厅木地板上，尚未放到花园地面。"
+     },
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "观察：视频 19–27 s，机器人右夹爪靠近并夹住椅框，右腕视角中的椅框随手臂抬起；视频 48–65 s，椅子随机器人穿过门口来到泳池旁的户外木露台。"
+     },
+     {
+      "t": 71.5,
+      "log_step": null,
+      "text_zh": "观察：视频 70–73 s，机器人右夹爪松开椅框，椅子向下落放；视频 74–76 s，机器人转身后可见白色坐垫和椅腿留在露台上，椅子未随夹爪离开。"
+     },
+     {
+      "t": 71.5,
+      "log_step": 139,
+      "text_zh": "推断：取视频约 71.5 s 的落放过程作为花园地面支承关系的达成锚点，误差约 0.5 s；搬运时椅脚受遮挡，不能排除持物期间已较早接触该地面。log step 139 的原始连续录制输出为 chair ontop True、2189 行；它与此处可见落放一致，但未用 agent 工作时间换算视频时间。"
+     },
+     {
+      "t": 212.53,
+      "log_step": null,
+      "text_zh": "推断：落放后未见机器人重新提起椅子；评分器 reward.success=1、all_success=1、q_score=1.0，确认终态包含草坪椅在花园地面的目标关系。终帧不再朝向椅子，终态判断由可见落放和评分字段共同支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右侧二指夹爪夹持草坪椅框架，将椅子带出客厅后松手落放；右腕视角可见椅框随夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人，在持有草坪椅时从客厅穿过滑门驶到户外露台。"
+     }
+    ]
+   },
+   "wheelbarrow_on_lawn": {
+    "method": "visual",
+    "intervals": [
+     [
+      212.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 90–92 s，红色车斗的独轮车仍在客厅，机器人向它靠近；视频 92–98 s，右夹爪贴近车斗后缘并夹持，车斗随后相对室内地板移动并保持在右腕相机旁。"
+     },
+     {
+      "t": 132.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 123–133 s，机器人拖着红色独轮车从客厅通过门口来到露台；视频 138–203 s，机器人继续带着它沿户外露台移动，红色车斗一直可在右腕视角辨认。"
+     },
+     {
+      "t": 212.5,
+      "log_step": null,
+      "text_zh": "观察：视频 204–209 s，独轮车随机器人沿木露台的草坪边缘移动；视频 210–212.53 s，机器人向草坪方向移动，灰色车把、红色车斗与草地同框，末段右夹爪张开，车斗相对夹爪下移。车轮和支腿的具体落地点被车斗及视野边缘遮挡。"
+     },
+     {
+      "t": 212.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频末段车斗到达草坪并在夹爪旁下移，以及��分器 success=1、all_success=1、q_score=1.0，将独轮车放草坪记为最终成立。区间起点取视频约 212.5 s 的末段落放锚点；精确的首次支承接触不可见，可能早于该锚点约 1–2 s，不能由画面独立确认。"
+     },
+     {
+      "t": 212.53,
+      "log_step": 167,
+      "text_zh": "观察：log step 164、166–167 显示交付文件由原始连续录制的前 6260 行加向草坪平移、开右夹爪的 200 行组成；视频末段与此平移和开爪方向一致。log step 151 的跌倒以及 log step 163 的重置回放偏离属于其他会话测试，评分视频末段没有相同跌倒；未把这些测试状态移入本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右侧二指夹爪夹住红色独轮车车斗后缘，随底盘移动拖运，末段张开右夹爪；左手未共同夹持车体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人并在右手牵引独轮车时穿门、沿露台绕泳池移动到草坪边缘，最后驶向草坪。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分回放完成两项目标：草坪椅在视频约 71.5 s 落放于户外露台，独轮车在视频约 212.5 s 到达草坪并落放，评分器 success=1、q_score=1.0，终态为 2/2。log step 168 的悲观自述及会话中的跌倒、重置回放偏离不代表这次评分回放失败，故没有失败断点或原因标签。无状态日志且参考运行无视频，家具底部接触点受遮挡，首次达成时刻只能近似定位；DAG 所述离手、速度阈值和连续 30 控制步窗口不能由末段画面独立核验，按本次实际评分规则保留成功判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分回放 success=1、q_score=1.0，两个目标节点均为 true，无失败断点，与帧一致；椅子约 71.5 s 落放、独轮车 212.5 s 在草坪（207–209 s 腕视角下仍为木露台，212 s 为草地），时间与接触标注合理。",
+    "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": "2026-10-29T09:51:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-out-garden-furniture-i00-privileged--wu84vbd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-out-garden-furniture-i00-privileged--wu84vbd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8705631a189b0c0d3396b092018686ccc93276b467a87da3a363a4ab623aab4f",
+   "video_sha256": "79a379daf9ad9592b0e6e8ab454cb7c43c758344b9299ac57e4ed43e866edce4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/task_dag.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/book_page_turn",
+ "suite": "dexhand",
+ "base": "dexhand-book-page-turn-i00",
+ "title_zh": "翻过一页硬纸书",
+ "summary_zh": "仅把右侧顶层第2号叶片翻到左侧页堆，使书显示第6、7页，并在书体和其他页未越过失败阈值的情况下离手稳定50次控制。",
+ "embodiment_zh": "两种模式均为固定天机Marvin支架、两条七关节机械臂，每臂腕部安装一只灵巧手；默认Sharpa Wave（每手22个手指执行器），可选Wuji Hand 2.2（每手20个）；双手均可参与，无移动底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-book-page-turn-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "target_page_turned",
+    "zh": "翻过指定页",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "总览中，原在右侧顶层的第2号硬纸页绕书脊翻到左侧页堆，摊开面由第4、5页变为第6、7页，翻动时须依次经过铰链角大于30度和大于90度；完成时铰链角大于170度、与左侧第0号叶片／第1号叶片／左封面之一实际接触、铰链角速度绝对值不大于0.2弧度每秒、所有其他叶片及两封面相对静置后初态的角度变化绝对值均不大于5度，且两手、两臂和支架都不再接触书的任何部位，这组条件连续成立50次控制（50赫兹，名义1秒，录像叠字hold达到50/50）。纸页仍在右侧、悬起未落到左堆、手还碰书或稳定计数未满均未完成；达到后若纸页离开左堆、重新被碰触或上述联合条件失效，就失去该状态，录像末尾追加的冻结画面不作为新的保持时长。",
+    "step": {
+     "cat": "位姿",
+     "item": "翻转"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "一只灵巧手（如右手）的食指指尖拨动第2号叶片外缘，将其带过书脊；成功录像用右食指拨页，没有合手夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一只灵巧手的拇指与其余手指捏住第2号叶片边缘，将其翻到左侧页堆。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 3,
+      "note_zh": "一只灵巧手抓住书的固定部分稳住书体，另一只灵巧手捏住第2号叶片翻页；两只手最终都须离开书。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/standard/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:10-11,44-49,116-146,149-173",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:11-15,37-49",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:62-74,127-138",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1afea4c64a/scene.py:140-177,253-261,288-291",
+     "inputs/oracle/replay.mp4:0.0-6.0",
+     "inputs/oracle/run.json:steps[86]"
+    ],
+    "conf": 6,
+    "note_zh": "一个指定叶片的一次翻页为一个语义步骤（位姿·翻转的定义明确包含翻页）。分离顶页、抬起、过竖直是途经状态，原生四阶段0→1→2→3→4只绑定本步骤验收；松手和稳定不另建节点，其余页及封面在5度范围内属于翻页质量条件。hold_s为0是预留使用原生hold_steps>=50的计数验收，不再叠加保持窗口；当前没有状态日志，when为null。显式关闭持物冻结以便操作铰接页时不掩盖状态丢失；接触方案可用任一只手，方案3表示可选的双手做法而非额外步骤。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "book_displaced",
+    "zh": "书脊移位",
+    "never": null,
+    "criterion_zh": "书脊主体相对被动静置后的初始位置，三维位移范数大于0.03米；每个2毫秒物理子步检查，首次越界立即失败，之后移回也不能补救。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:99-101",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:45"
+    ]
+   },
+   {
+    "id": "book_rotated",
+    "zh": "书脊转动",
+    "never": null,
+    "criterion_zh": "书脊主体相对被动静置后的初始四元数，最短旋转角大于10度；不是只检查倾斜角，每个2毫秒物理子步检查，首次越界立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:87-90,102-104",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:46"
+    ]
+   },
+   {
+    "id": "second_leaf_turned",
+    "zh": "误翻其他页",
+    "never": null,
+    "criterion_zh": "除第2号叶片外，任一叶片的绑定铰链角相对静置后初态变化绝对值大于30度；每个2毫秒物理子步检查，首次越界立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:108-113",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:44"
+    ]
+   },
+   {
+    "id": "book_closing",
+    "zh": "封面合拢",
+    "never": null,
+    "criterion_zh": "左封面或右封面的绑定铰链角相对静置后初态变化绝对值大于30度；每个2毫秒物理子步检查，首次越界立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:108-113",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:44"
+    ]
+   },
+   {
+    "id": "book_below_table",
+    "zh": "书体穿过桌面",
+    "never": null,
+    "criterion_zh": "书脊子树内任一书体的质心高度小于0.778米，即低于0.78米桌面超过2毫米；每个2毫秒物理子步检查，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:105-107",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:15,47"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理状态失稳",
+    "never": null,
+    "criterion_zh": "任一广义位置或速度非有限，或出现坏位置、坏速度、坏加速度物理警告；每个2毫秒物理子步检查，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:94-98",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "target_page_turned",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:149-173；需逐控制记录原生stage、target_angle_deg、target_on_left_stack、target_speed_rad_s、max_other_leaf_change_deg、hand_book_contacts及hold_steps（inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:127-138），验收用有序阶段及hold_steps>=50；现无状态日志，不能绑定。"
+   },
+   {
+    "atom": "book_displaced",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:99-101; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118; inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:45；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态日志。"
+   },
+   {
+    "atom": "book_rotated",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:87-90,102-104; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118; inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:46；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态日志。"
+   },
+   {
+    "atom": "second_leaf_turned",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:108-113; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118; inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:44；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态日志。"
+   },
+   {
+    "atom": "book_closing",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:108-113; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118; inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:44；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态��志。"
+   },
+   {
+    "atom": "book_below_table",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:105-107; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118; inputs/grader/efe_dexhand-files/privileged/environment/variants/0e164430d9/task.json:15,47；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态日志。"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/feaa1d1d97/checker.py:94-98; inputs/grader/efe_dexhand-files/privileged/environment/variants/13c6999f14/runtime.py:111-118；需逐物理子步记录invariant首个失败原因及相关原生量，现无状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空：节点when、约束never及success均为null（P8），现有录像可看见翻页、离手及原生叠字，但无法独立核验全部接触、瞬时角速度和2毫秒子步失败条件；需增加原生特征、保持计数及失败原因的状态记录。",
+  "模式差异：物理任务的checker.py、runtime.py与task.json两模式逐字相同；特权模式评分器还要求两个独立进程回放均成功且最终状态哈希一致，标准模式直接判定最终在线回合。上述交付、确定性与基础设施判定不建物理步骤，也不冒充已记录世界状态（inputs/grader/efe_dexhand-files/privileged/tests/grade.py:103-146；inputs/grader/efe_dexhand-files/standard/tests/grade.py:23-48）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单步粒度来自两模式一致的任务文本，全部验收及失败阈值直接取自相同检查器和配置，初态由场景与静置重置代码核实，成功录像展示完整翻页及hold达到50/50；没有任何状态日志，联合条件和子步约束不能程序核验，因此置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单步（翻第2号叶片）符合任务文本：抬起/过竖直/落放为途经阶段，离手并入验收；约束均为评分器失败条件且立即终止，阈值与来源一致；无状态日志故when/success为null合理且已列入开放问题。接触方案与成功录像（右手拨页）一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['target_page_turned']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:48:34Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__book_page_turn/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__book_page_turn/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "f3ee22385400828cf1678e6adec47813418ee530a553917f7f4ef20872572780",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--68s3td9.json

@@ -0,0 +1,213 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--68s3td9",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 68,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 318,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 9,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 318,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.549,
+   "peak_processes": 11,
+   "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": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--68s3td9/replay.mp4",
+  "duration_s": 8.6,
+  "fps": 5.0,
+  "frames": 43,
+  "sha256": "b93ad3313a33671e1acc493cb3c632e5e8e9c23d7330fe92f9fb99aacf399cc3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，书平摊在桌面，目标星形图案页仍在原侧，叠字为叶片2角度−0.3度、stage 0/4、hold 0/50。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 164,
+      "text_zh": "观察：逐帧检查视频 0.0–6.4 s，机器人左手从桌后侧抬起并伸食指靠近星形页外缘，目标页未出现抬起、越过竖直或落到对侧的过程；视频 6.2–6.4 s 整本书向画面左下方移位。视频 6.4 s 叠字为 FAIL: book_displaced，叶片2角度3.3度、stage 0/4、其他页最大变化9.4度、hold 0/50、书体移位33.3毫米、旋转4.49度；log step 164 的服务状态报告末次 episode 10 在318次控制后 task_failure。"
+     },
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6–8.4 s 为失败终态冻结画面，目标页仍在原侧，stage 0/4、hold 0/50未变，翻过指定页的联合验收从未成立。成功参考视频 2.0–6.0 s 可见页板立起、翻到对侧及hold 50/50，这些完成特征在本次视频均未出现。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 6.0–6.2 s，机器人左手伸直的食指抵近星形目标页外缘，指尖出现接触色标；视频 6.4 s 整本书被推移。推断：左食指拨推页边时把作用传给整书，没有形成对向夹持；右手停在桌旁，未参与稳书。末帧hand-book contacts为0表示该帧接触已解除，不代表此前没有接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 6.4,
+   "log_step": 163,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.0–6.4 s，机器人左食指靠近并拨压目标页外缘，页板未翻起而整本书移动；视频 6.4 s 评分叠字显示 FAIL: book_displaced、book shift 33.3 mm，stage仍为0/4。log step 163启动最后一次重置后的控制脚本，log step 164的episode 10、318次控制及task_failure与本次回放结局一致；断点属于翻指定页这一步。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 6.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.2–6.4 s，机器人左手食指在星形目标页外缘动作后，书的两侧页堆和书脊一起向画面左下方移动，而目标页未相对书脊翻起；视频 6.4 s 叠字报告书体移位33.3毫米并以book_displaced结束，叶片2角度仅3.3度、stage 0/4。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 6.4,
+    "log_step": 161,
+    "evidence_zh": "推断：末次脚本的末端偏差校正存在腕部与指腹目标换算错误。log step 156定义pad_rows把输入指腹目标减去R@OFF得到腕目标；log step 161新增校正先算腕目标w_corr，却把w_corr−R_PRESS@OFF传给pad_rows，导致腕目标再次减去同一偏置，成为w_corr−2R_PRESS@OFF。log step 163启动这一修改版本，log step 164报告其失败；视频 6.0–6.4 s实际呈现伸指逼近页边并推移整书，未实现分离抬页。该代码证据支持末端校正控制有误，末次实际校正误差大小未记录，不能仅凭agent在log step 165的下垂解释确定全部动力学原因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频仅5帧/秒，视频 6.2–6.4 s之间的瞬时接触力和具体碰撞子步不能恢复。末次episode的校正过程打印未出现在现有日志中，因而无法量化该次末端误差或确认每一轮校正的执行结果；先前回合的2.7厘米误差不作为本次测量。DAG列出的5项原生指标均未在run.json评分字段中报告，native_metrics按规则填null，视频叠字的可见数值仅用于观察证据。"
+ },
+ "summary_zh": "观察：本次评分回合中，机器人左食指靠近星形目标页外缘，但未完成任何抬页或翻页阶段，翻过指定页节点始终未达成，最终为0/1。观察：视频 6.4 s整本书被带动，叠字以book_displaced失败结束；推断：日志中末次脚本的指腹／腕目标偏置重复扣除支持反馈控制错误。没有状态日志及末次校正过程测量，无法还原瞬时接触力或量化该次末端偏差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（翻指定页，操作中，视频 6.4 s book_displaced）、接触（左食指推/扫）与视频叠字一致；反馈控制根因明确标为推断，基于log中pad_rows与w_corr的重复扣除代码，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": "2026-10-29T10:06:16Z",
+  "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/dexhand-book-page-turn-i00-standard--68s3td9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--68s3td9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "13f19807faaf605cd3293ac9fbed9e66cb7664ababdc705092829f643cf3ea7e",
+   "video_sha256": "b93ad3313a33671e1acc493cb3c632e5e8e9c23d7330fe92f9fb99aacf399cc3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--p9y4nub.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--p9y4nub",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 178,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 2508,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2508,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.328,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--p9y4nub/replay.mp4",
+  "duration_s": 52.4,
+  "fps": 5.0,
+  "frames": 262,
+  "sha256": "c43a93eb1cb88f3af6b51610a80d149e933537e5b287ef5d4179f8d1534be212"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 书摊开，第2号页仍平放在右侧，原生叠字为 stage 0/4、hold 0/50；本节点初始未完成。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–39.6 s 右手伸出的食指在指定页外缘拨动，页片逐渐抬离下层页；视频 36.0 s 叠字给出页角1.8度、hand-book contacts 2。右手没有以拇指和食指对夹页片，另一只手未参与。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0 s 第2号页角31.7度、stage 1/4（lifted）；视频 44.0 s 页片越过竖直，页角92.8度、stage 2/4（past_vertical），其余页仍平放。"
+     },
+     {
+      "t": 49.2,
+      "log_step": null,
+      "text_zh": "观察：视频 46.0–48.8 s 右食指在竖起页片的页面一侧移动，页片继续朝左堆倾倒，原生 hand-book contacts 为0，右手随后抬离；视频 49.2 s 页片已落到左侧，摊开面为左侧绿色图案、右侧黄色图案，与成功参考终态一致，叠字为页角181.6度、stage 3/4（laid）、hold 2/50、hand-book contacts 0。此时保持计数未满，尚不计完成。"
+     },
+     {
+      "t": 50.2,
+      "log_step": 49,
+      "text_zh": "观察：视频 49.4、49.6、49.8、50.0 s 的原生保持计数依次为12/50、22/50、32/50、42/50；视频 50.2 s 首次可见 PASS、stage 4/4（held）、hold 50/50，页角181.7度、其余页最大变化0.0度、hand-book contacts 0，双手均离书。log step 49 的机器人服务返回 done=True、reason=success、control_steps=2508，评分字段 live_success=1、replay_success=1、live_matches_replay=1。节点时间取视频帧，精度约0.2 s。"
+     },
+     {
+      "t": 52.2,
+      "log_step": null,
+      "text_zh": "观察：视频 50.4–52.2 s 为标有 final state 的冻结终态，指定页留在左堆且右手悬空，PASS 与 hold 50/50 保持显示；已逐帧核对视频 51.4–52.2 s。冻结画面未计入新的保持时长，节点完成依据为视频 50.2 s 之前的实际保持过程。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.8–43.6 s 右手食指指尖沿第2号硬纸页外缘拨动并将其抬过接近竖直的位置，手没有对向捏夹，左手未参与；视频 44.0 s 已越过竖直且原生 hand-book contacts 为0，之后右手指在页片旁移动并撤离，页片继续向左落下。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：受评视频中，机器人用右食指拨起第2号硬纸页，依次抬过30度和90度，再使其落到左侧页堆并离手；视频 50.2 s 首次显示 PASS、stage 4/4 和 hold 50/50，完成1/1节点。观察：log step 49–50 的机器人服务确认第4回合成功，评分字段也确认在线与回放均成功且一致，前三次重置涉及的会话尝试不计入本次节点进度。观察：没有状态日志可独立复核瞬时角速度和全部细分接触，联合验收由原生叠字及成功判定佐证；评分字段未报告DAG所列五项指标的数值，因此 native_metrics 的 value 均保留null，末尾冻结画面不计保持时长。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 target_page_turned 在视频 50.2 s 首次出现 PASS、stage 4/4、hold 50/50，与抽帧一致；触点为右食指推/扫，无失败层，标注可接受。",
+    "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": "2026-10-29T10:06:44Z",
+  "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/dexhand-book-page-turn-i00-standard--p9y4nub/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--p9y4nub/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a7612cae7d8fc3c09e7f79251e9899850162b8879583a1be5d353ec43e97dd55",
+   "video_sha256": "c43a93eb1cb88f3af6b51610a80d149e933537e5b287ef5d4179f8d1534be212",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/grinder_crank/task_dag.json

@@ -0,0 +1,397 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/grinder_crank",
+ "suite": "dexhand",
+ "base": "dexhand-grinder-crank-i00",
+ "title_zh": "手摇磨豆机",
+ "summary_zh": "曲柄相对机身净顺时针转过至少720°后，双手脱离，磨豆机底座落台、直立且低速静止的联合条件连续保持50个控制步，并且全过程未触发失败约束。",
+ "embodiment_zh": "两模式均为固定在支架上的天机Marvin双臂机器人，每臂7个关节，左右腕各安装一只同型号灵巧手；默认两只Sharpa Wave（每手22个手指执行器），也支持两只Wuji Hand 2.2（每手20个手指执行器），底座固定、无移动底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-grinder-crank-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "crank_turned",
+    "zh": "曲柄转满两圈",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "总览画面中，黑色圆旋钮随金属曲柄绕磨豆机顶轴从上方看净顺时针转至少两整圈（相对机身的展开转角≥720°，不是旋钮自转），随后双手与机身、曲柄、旋钮均无接触，底座接触台面、机身竖轴倾角≤10°，质心线速度≤0.02米/秒、机身角速度≤0.2弧度/秒、曲柄速度绝对值≤0.5弧度/秒，这些条件同时连续满足50个50赫兹控制步才完成。回放顶部的Crank至少为2.00/2.00、hand contacts为R 0 L 0且released hold为50/50可辅助确认；仅转够角度但仍握住、仍在晃动或保持不足均未完成，接触恢复、转角降回阈值以下或任一验收条件失去即不再满足。",
+    "step": {
+     "cat": "机构",
+     "item": "旋转"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一只灵巧手抓握磨豆机身抵抗转矩，另一只灵巧手抓握黑色旋钮带动曲柄；典型方案为左手扶机身、右手转旋钮，左右角色不作为必经条件。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/standard/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:64,97-99,178-201",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:113-137,203-224",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:139-150",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2b6719073f/runtime.py:45-69,100-115",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/49286a9a86/scene.py:101-124",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/source/hario_mechanism.py:77-105",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 12.0 s, 21.0 s, 29.0 s",
+     "inputs/oracle/run.json:steps[id=94].out.text"
+    ],
+    "conf": 7,
+    "note_zh": "两个整圈由同一个展开净转角阈值验收，按暂行D6只建一个步骤；评分器stage=1只表示转角曾达标，不能替代最终仍达标且释放静置的验收。抓握、必要的换握和最后松手均不另建节点；机身的开局直立和位置范围属于失败约束。hold_s为0表示不在原生released_hold_steps达到50之外再次计时；没有状态日志，完整保持窗由视频判据承担。曲柄作为操作机构显式禁用持物冻结；转角判定实现使用720°减1e-9°的浮点容差。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "grinder_tipped",
+    "zh": "磨豆机倾倒",
+    "never": null,
+    "criterion_zh": "磨豆机自身竖轴偏离世界竖直方向超过10°；每个2毫秒物理子步检查，首次越限立即结束，扶正不能补救。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:101-111,166-167",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:141"
+    ]
+   },
+   {
+    "id": "grinder_slid",
+    "zh": "磨豆机滑移",
+    "never": null,
+    "criterion_zh": "磨豆机底座中心相对开局位置的水平位移大于0.02米；首次越限立即结束，移回不能补救。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:104-106,168-169",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:142"
+    ]
+   },
+   {
+    "id": "grinder_lifted",
+    "zh": "磨豆机抬离",
+    "never": null,
+    "criterion_zh": "磨豆机底座中心相对开局高度上升大于0.02米；首次越限立即结束。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:104-106,170-171",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:143"
+    ]
+   },
+   {
+    "id": "grinder_below_counter",
+    "zh": "底座跌穿台面",
+    "never": null,
+    "criterion_zh": "磨豆机底座中心世界高度小于0.695米，即台面0.700米减去0.005米容差；首次越限立即结束。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:34,164-165",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:16-26,144"
+    ]
+   },
+   {
+    "id": "grinder_spun",
+    "zh": "磨豆机身自转",
+    "never": null,
+    "criterion_zh": "磨豆机身局部横轴的水平投影相对开局方向的有符号偏航角绝对值大于45°；首次越限立即结束，并非限制曲柄自身转角。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:107-110,172-173",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:145"
+    ]
+   },
+   {
+    "id": "crank_reversed",
+    "zh": "曲柄反向超限",
+    "never": null,
+    "criterion_zh": "相对机身的曲柄展开净顺时针角小于负90°，即从开局净逆时针转过90°以上；不把转动中的任意短暂回退都判作失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:97-99,174-175",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:146"
+    ]
+   },
+   {
+    "id": "robot_collision",
+    "zh": "非手部碰撞",
+    "never": null,
+    "criterion_zh": "任一机械臂、躯干或支架几何体与任何几何体发生接触，即使碰到另一只手也失败；只有手部允许接触，每个物理子步检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:40-61,153-163"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理状态失稳",
+    "never": null,
+    "criterion_zh": "物理引擎报告BADQPOS、BADQVEL或BADQACC任一种警告，首次出现即失败；该数值异常须由引擎诊断判断，不能仅凭画面猜测。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:140-146"
+    ]
+   },
+   {
+    "id": "direct_object_manipulation",
+    "zh": "绕过执行器操控",
+    "never": null,
+    "criterion_zh": "任务禁止直接传送物体、建立抓取焊接、脚本驱动物体或向磨豆机直接施力；合法交付只能包含机器人14个臂关节和双手手指的执行器目标。此为文本禁止的操控方式，不能从单张画面判断，也不声称评分器具有独立作弊检测字段。",
+    "consequence": "历史否决",
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/standard/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2b6719073f/runtime.py:92-108"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "net_clockwise_deg",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:97-99,183,209；需逐控制步记录Checker.features(data)[\"net_clockwise_deg\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "hand_contacts",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:113-131,190-191,218；需逐控制步记录Checker.features(data)[\"hand_contacts\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "base_on_counter",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:113-131,192,219；需逐控制步记录Checker.features(data)[\"base_on_counter\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "tilt_deg",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:101-111,193,213；需逐控制步记录Checker.features(data)[\"tilt_deg\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "linear_speed_m_s",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:133-137,194,220；需逐控制步记录Checker.features(data)[\"linear_speed_m_s\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "angular_speed_rad_s",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:133-137,195,221；需逐控制步记录Checker.features(data)[\"angular_speed_rad_s\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "crank_speed_rad_s",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:133-137,196,222；需逐控制步记录Checker.features(data)[\"crank_speed_rad_s\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "released_hold_steps",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:178-201,223；需逐控制步记录Checker.features(data)[\"released_hold_steps\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "slide_m",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:101-111,168-169,214；需逐控制步记录Checker.features(data)[\"slide_m\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "lift_m",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:101-111,170-171,215；需逐控制步记录Checker.features(data)[\"lift_m\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "base_z_m",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:101-111,164-165,216；需逐控制步记录Checker.features(data)[\"base_z_m\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "body_yaw_deg",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:107-110,172-173,217；需逐控制步记录Checker.features(data)[\"body_yaw_deg\"]，本任务未提供状态日志。"
+   },
+   {
+    "atom": "robot_collision",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:153-163；需在每个子步记录非手部几何接触或原生failure与failure_detail。"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:144-146；需记录物理引擎BADQPOS/BADQVEL/BADQACC警告及首次失败。"
+   },
+   {
+    "atom": "direct_object_manipulation",
+    "level": "infeasible",
+    "source": "inputs/task/privileged/instruction.md:3；仅靠机器人与物体的状态不能可靠识别外部直接施力、传送或焊接，需独立的执行接口审计。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "net_clockwise_deg",
+   "unit": "deg",
+   "threshold": 720,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:183"
+   ]
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:141"
+   ]
+  },
+  {
+   "name": "slide_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:142"
+   ]
+  },
+  {
+   "name": "lift_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:143"
+   ]
+  },
+  {
+   "name": "base_z_m",
+   "unit": "m",
+   "threshold": 0.695,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/f0caa6842d/checker.py:34,164-165"
+   ]
+  },
+  {
+   "name": "abs_body_yaw_deg",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:145"
+   ]
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:147"
+   ]
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:148"
+   ]
+  },
+  {
+   "name": "crank_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:149"
+   ]
+  },
+  {
+   "name": "released_hold_steps",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/1d21e930d4/task.json:150"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，没有可安全绑定的逐帧字段；依P8，唯一节点when、全部约束never及success均为null，不能进行状态日志的达标与评分一致性验证。原生特征虽在评分器代码和成功运行记录中存在，仍需由回放适配器逐帧记录后才能绑定。",
+  "暂行DECISIONS.md D6、D10：两整圈按单个720°累计转角目标建一个旋转步骤；不拆逐圈计数，也不把评分器crank_turned与released_hold两个阶段拆成语义节点。",
+  "文本与评分器的方式核查范围不同：文本要求一手扶机身、另一手通过旋钮转曲柄，Checker.control只核查相对转角与最终释放静止，未独立核查哪只手扶机身或是否始终抓旋钮；这些是接触方案，不补成未受评的动作节点。",
+  "两模式共享完全一致的checker.py、runtime.py和初态实例；privileged评分入口要求两次新进程重放都成功且终态哈希相同（inputs/grader/efe_dexhand-files/privileged/tests/grade.py:113-118），standard评分入口读取可信服务的实时终结记录（inputs/grader/efe_dexhand-files/standard/tests/grade.py:23-29）。本DAG表示共同的物理任务核心，不把交付有效性、重放一致性或服务终结状态绑定为语义条件。",
+  "没有状态日志时，速度和严格无接触难以仅从静帧精确量测；成功参考视频顶部显示Crank +2.09/2.00、R 0 L 0、released hold 50/50，run.json的step 94中两次重放输出净转角753.373°及保持50步，支持成功终态，但不以此代替日志覆盖率。回放标明2倍速，50个控制步的保持窗应按控制步或模拟时间判断，不能直接要求播放时长1秒。"
+ ],
+ "conf": 7,
+ "conf_reason_zh": "单节点粒度直接来自文本且符合D6；阈值、联合保持窗、初态与失败规则均有源码证据，两模式物理核心相同，成功视频及两次重放记录与目标一致；无逐帧状态日志，精确速度和接触验收尚不能自动核对。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点（曲柄转满两圈）符合文本与暂行D6/D10：抓握、松手静置均折入该节点的判据，评分器全部失败条件均作为立即终止约束，success因无日志为null合规。无状态日志，无法做回放一致性验证，已在open_questions_zh说明。接触标签双臂协作×抓握合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['crank_turned']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:49:41Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__grinder_crank/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__grinder_crank/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "8499b9e9a61418a5c37ec88c964607a0275a1aad5082831163414661eb6f6b9e",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--7n7fpdp.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-grinder-crank-i00-privileged--7n7fpdp",
+ "taskKey": "dexhand/grinder_crank",
+ "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 876,
+   "sim_steps": 875,
+   "stages_completed": 2,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.45,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-grinder-crank-i00-privileged--7n7fpdp/replay.mp4",
+  "duration_s": 19.6,
+  "fps": 10.0,
+  "frames": 196,
+  "sha256": "c5e408a176fc1eb021680ff8c6aa642d7270742481c6b11a914cf7d52c5db86f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "crank_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s，机器人左手四指弯曲环抱磨豆机身，右手食指向下伸直抵住黑色旋钮，其余手指收起；视频 8.0、10.0、12.0、14.0 s 的旋钮位置随曲柄绕顶轴变化，左手持续固定机身。右手是单指推动，没有夹住旋钮。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s 顶部基准回放叠字显示 Crank +1.97/2.00，视频 14.4 s 为 +2.03/2.00，hand contacts R 1 L 26、released hold 0/50；该叠字报告评分器的曲柄净顺时针圈数、双手接触数及联合释放静止保持步数。此时转角达标，但双手尚未脱离，节点尚未完成。"
+     },
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–16.5 s，机器人左手逐渐张开，右手已抬离；视频 16.5 s 叠字显示 R 0 L 0、released hold 0/50、Crank +2.04/2.00，机身底座仍在台面上。视频 17.4 s 左手已后撤，保持计数为45/50，仍未完成验收。"
+     },
+     {
+      "t": 17.5,
+      "log_step": 33,
+      "text_zh": "观察：视频 17.5 s 首次显示 PASS，Crank +2.04/2.00、hand contacts R 0 L 0、released hold 50/50、step 875；磨豆机直立落台，双手均已脱离。视频 17.6–19.5 s 逐帧检查均维持相同成功终态；视频 19.5 s 仍为 PASS。log step 33 对实际交付文件的两次独立重放均报告 success=True、failure=None、steps=875，且终态哈希一致；inputs/run.json 的 reward.success=1、stages_completed=2、deterministic=1 与视频相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–14.4 s，机器人左手掌与弯曲四指环抱磨豆机身，固定机身并配合右手转动曲柄；此项仅描述左手与机身的抓握接触。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 6.0、8.0、10.0、12.0、14.0、14.4 s，机器人右手以伸直食指抵住黑色旋钮并沿圆周推动，其他手指收起，没有形成对向夹持；同时左手抓握机身。随后右手先抬离，左手再张开后撤，视频 16.5 s 双手接触数均为0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "net_clockwise_deg",
+   "unit": "deg",
+   "threshold": 720,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "slide_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lift_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "base_z_m",
+   "unit": "m",
+   "threshold": 0.695,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "abs_body_yaw_deg",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "crank_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "released_hold_steps",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人左手抓握磨豆机身，右手用食指推动旋钮，曲柄净顺时针转过两圈后双手依次脱离；视频 17.5 s 首次显示 PASS、R 0 L 0、released hold 50/50，唯一节点完成，成功状态保持至视频 19.5 s。观察：评分器 success=1、stages_completed=2，log step 33 对交付文件的两次独立重放均成功且终态哈希相同，与视频一致。观察：本次没有状态日志，精确速度依靠回放的联合验收计数确认；评分器 reward 未报告 DAG 所列原生指标的数值，故 native_metrics 的 value 均留为 null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行：crank_turned 在视频 17.5 s（step 875）首次 PASS，与帧、log step 33 及评分器一致；接触标注（左手抓握机身、右手食指推）与帧相符，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:30Z",
+  "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/dexhand-grinder-crank-i00-privileged--7n7fpdp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-privileged--7n7fpdp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7337829cdb8e3c83734fcaf92c7c9de89f0a5651df7806621c205f2f8cd64fb8",
+   "video_sha256": "c5e408a176fc1eb021680ff8c6aa642d7270742481c6b11a914cf7d52c5db86f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--2ormf7y.json

@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-grinder-crank-i00-standard--2ormf7y",
+ "taskKey": "dexhand/grinder_crank",
+ "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 148,
+   "control_steps_total": 1828,
+   "elapsed_s": 3644.084,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 241,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 241,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.659,
+   "peak_processes": 11,
+   "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": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-grinder-crank-i00-standard--2ormf7y/replay.mp4",
+  "duration_s": 7.2,
+  "fps": 5.0,
+  "frames": 36,
+  "sha256": "5bfd68bc6f6d33c3883c594391bf70d27477e832a3e0d7c74112963bc4e82f42"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "crank_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 至 4.4 s，机器人左手靠近并逐渐合拢包住磨豆机身，机身发生偏转；黑色旋钮没有绕顶轴完成整圈，画面原生叠字 Crank 始终约为 0.00/2.00 圈。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 470,
+      "text_zh": "观察：视频 4.6 s 至 5.0 s，机器人右手双指向旋钮下探并接触，左手仍扶握机身；机身倾斜加大。视频 5.0 s 叠字显示 FAIL: grinder_tipped、tilt 10.2 deg、Crank -0.00/2.00、hand contacts R 2 L 1、released hold 0/50；视频 5.2 s 至 7.0 s 保持同一失败终态，未出现两圈或松手保持达标。log step 470 的服务终结记录为 Episode 11、control_steps 241、done=True、reason=task_failure，与视频末端 step 241 相符。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 464,
+      "text_zh": "观察：log step 464 重置到 Episode 11，log step 465 确认该局 control_steps=0，log step 466 启动控制器；评分字段 n_actions=241、sim_steps=241。此前十次试验不计本次节点进度。成功参考视频 29.0 s 显示 PASS、Crank +2.09/2.00、R 0 L 0、released hold 50/50，仅用于对照完成判据，不是本次进度证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.2 s 至 5.0 s，机器人左手手指合拢包住磨豆机身进行扶握，右手随后同时接近并作用于旋钮区域；此项记录左手对机身的抓握。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.6 s 至 5.0 s，机器人右手食指、中指向下接触黑色旋钮附近的曲柄组件，左手同时扶握机身；右手呈双指下探压碰，画面未显示其对旋钮形成对向夹紧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "net_clockwise_deg",
+   "unit": "deg",
+   "threshold": 720,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "slide_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lift_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "base_z_m",
+   "unit": "m",
+   "threshold": 0.695,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "abs_body_yaw_deg",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "crank_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "released_hold_steps",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "crank_turned",
+   "t": 5.0,
+   "log_step": 470,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.6 s 至 5.0 s，机器人左手扶握机身、右手下探接触旋钮区域时，机身倾角由 7.5° 增至 10.2°，视频 5.0 s 显示 FAIL: grinder_tipped；曲柄仍约零圈，尚未进入转满两圈后的释放验收。log step 470 确认最后评分局 Episode 11 在 241 个控制步后 task_failure，此后视频至 7.0 s 均为冻结终态。"
+  },
+  "unmet": {
+   "crank_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.2 s 左手扶握时机身已偏转，视频 4.6 s 至 5.0 s 右手双指下探触碰曲柄组件时，磨豆机身继续被带斜，叠字倾角由 7.5° 增至 10.2° 并显示 grinder_tipped；旋钮没有产生所需的相对机身两圈转动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 4.6 s 至 5.0 s，机器人右手接触旋钮区域时，左手的扶握未能保持机身稳定，接触引起的机身倾斜先于有效曲柄旋转触发失败；因此归为双手接触与稳定控制失败。该判断依据实际接触后的机身运动及原生倾角叠字，不依据 agent 在 log step 473 所称控制器已验证的总结。"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志，无法分离左右手的接触力、精确接触部位及腕部跟踪误差；log step 462 的控制器主体在输入日志中已截断，因此不进一步断言错误握法、特定高度参数或逆解误差。inputs/run.json 的 reward 未报告 DAG 所列原生数值指标，native_metrics 的 value 均留 null；视频叠字中的倾角等读数只作为视觉证据。"
+ },
+ "summary_zh": "本次评分局为最后重置后的 Episode 11：机器人左手扶握机身、右手下探接触旋钮，唯一节点“曲柄转满两圈”未达成，最终为 0/1。视频约 5.0 s 机身被带斜至叠字 10.2°，触发 grinder_tipped，曲柄仍约零圈、释放保持 0/50；根因保守归为控制。没有逐帧接触力或状态日志，无法细分接触设计与执行误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点在 crank_turned 操作中、倾倒终态（视频 5.0 s 叠字 FAIL: grinder_tipped、tilt 10.2°）、接触与根因（控制，已标推断）与帧一致，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-standard--2ormf7y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-standard--2ormf7y/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "049b406b79245d81a8585407efa38dca8ae15a26eb6c07d87b1aa67ba38e2b37",
+   "video_sha256": "5bfd68bc6f6d33c3883c594391bf70d27477e832a3e0d7c74112963bc4e82f42",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/jar_lid_open/task_dag.json

@@ -0,0 +1,385 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/jar_lid_open",
+ "suite": "dexhand",
+ "base": "dexhand-jar-lid-open-i00",
+ "title_zh": "拧开罐盖并放到桌面",
+ "summary_zh": "右手依次拧开红色罐盖、抬离罐口并将盖直立放在罐旁台面，盖与罐均离手稳定保持 50 个控制步，且全程没有触发失败条件。",
+ "embodiment_zh": "两个模式均为固定底座的天机 Marvin 双臂机器人，每臂七关节；只用右臂及右侧灵巧手操作，左臂停放且左手张开。每回合选 Sharpa Wave（默认，22 个手指执行器）或 Wuji Hand 2.2（20 个手指执行器），无移动底盘；两种手型共用场景与成功判据。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-jar-lid-open-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "lid_unscrewed",
+    "zh": "拧开罐盖",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "红盖仍套在玻璃罐口的螺纹区时，相对罐身从上方看逆时针累计转过至少 1.049342105263158 rad；盖原点在罐坐标系中比闭合高度高出小于 6 mm、距罐轴小于 4 mm，评分器 stage 至少为 1。视频中可看红盖顶面白色标记相对罐身转动，顶栏由 Stage 0/3 变为 1/3；仅握住盖、整罐一起转或未到解锁角不算，达到后即保留完成记录。",
+    "step": {
+     "cat": "关系",
+     "item": "拧"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "右手拇指与其余手指夹住红色罐盖外缘，相对罐身逆时针拧转。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "plan": 2,
+      "note_zh": "右手掌面或指腹压住红色罐盖顶面，以摩擦接触带动盖逆时针转动；随后抬盖所需的抓握是后续接触。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:39-40",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:179-182",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:222-238",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a4f4d5a733/scene.py:69-86",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a4f4d5a733/scene.py:219-220",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0c73de31b5/runtime.py:58-64",
+     "inputs/oracle/replay.mp4:约 8-14 秒，红盖相对转动并进入 Stage 1/3"
+    ],
+    "conf": 6,
+    "note_zh": "初始红盖闭合且累计相对转角为零。逆时针拧开是独立语义步骤，原生 stage 1 是其验收；不拆成接近、抓取或旋转若干小段。螺纹由被动接触几何构成，两种手型共享条件。"
+   },
+   {
+    "id": "lid_on_worktop",
+    "zh": "罐盖放到桌面",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "lid_unscrewed"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "拧开后，盖裙最低点曾比罐口高出严格大于 30 mm（stage 2），然后红盖正面朝上、开口朝下放在罐旁浅色台面，中心距罐轴至少 90 mm，接触台面且不接触任何机器人部件或罐身，倾角不大于 0.15 rad、线速度不大于 0.02 m/s、角速度不大于 0.3 rad/s，同时玻璃罐接触台面、不接触机器人、倾角不大于 0.10 rad、线速度不大于 0.02 m/s，全部连续满足 50 个控制步（50 Hz，约 1 秒）。视频中罐口已露出，红盖位于罐旁桌面并停止移动，手指虽可在附近但须离盖，顶栏 hold 达 50/50、Stage 3/3；仍悬在手中、贴罐、倾斜或未保持满窗口均未完成，之后若被拿离、碰触或失去这些终态条件即不再满足。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "右手手指抓住已拧开的红色罐盖，抬离罐口并移到罐旁台面，放稳后松开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "plan": 2,
+      "note_zh": "右手指腹从下方托住已脱离螺纹的罐盖，移至罐旁台面，盖得到台面承托后抽离手指。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:33",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:41-43",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:235-238",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:241-277",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0c73de31b5/runtime.py:45-46",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a4f4d5a733/scene.py:315-322",
+     "inputs/oracle/replay.mp4:约 14-18 秒抬离，约 24-26.2 秒盖落桌并保持至 PASS",
+     "inputs/oracle/run.json:step 56，stage 3、hold_steps 50、lid_distance_m 0.1394785507；step 67，两次重放成功"
+    ],
+    "conf": 6,
+    "note_zh": "抬离是放置过程中的原生有序验收阶段，不另建节点。罐身原本直立在桌上，保持稳定是此步验收及全程失败约束，不另计保留初态。连续窗口由评分器 hold_steps >= 50 表达；未来记录该计数后无需再施加时间保持，因此 hold_s 为 0，避免重复等待。freeze_held=false 使重新触碰或持盖时不会隐藏放置条件丢失。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "jar_tipped",
+    "zh": "罐身倾倒",
+    "never": null,
+    "criterion_zh": "任一 2 ms 物理子步中，玻璃罐相对世界竖直方向的倾角大于 15°；首次违反即终止，之后扶正不能撤销。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:34",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:185-187"
+    ]
+   },
+   {
+    "id": "jar_slid",
+    "zh": "罐身滑移",
+    "never": null,
+    "criterion_zh": "玻璃罐原点相对重置位置的水平位移大于 0.03 m，立即终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:35",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:188-190"
+    ]
+   },
+   {
+    "id": "jar_lifted",
+    "zh": "罐身抬起",
+    "never": null,
+    "criterion_zh": "玻璃罐原点比重置时高出大于 0.015 m，立即终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:36",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:191-192"
+    ]
+   },
+   {
+    "id": "lid_knocked_off",
+    "zh": "罐盖提前落桌",
+    "never": null,
+    "criterion_zh": "尚未达到抬离阶段（stage < 2）时，红盖与工作台发生有效接触，立即终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:211-212"
+    ]
+   },
+   {
+    "id": "lid_dropped",
+    "zh": "罐盖掉落",
+    "never": null,
+    "criterion_zh": "任一物理子步，盖质心向下速度大于 1.0 m/s；或盖没有任何其他接触类别的有效接触时，向下速度大于 0.3 m/s，即立即终止，无重新接住的宽限期。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:37-38",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:150-161",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:210-221"
+    ]
+   },
+   {
+    "id": "lid_off_table",
+    "zh": "罐盖离开台面",
+    "never": null,
+    "criterion_zh": "盖原点 z < 0.745 m，或 |x| > 0.45 m、|y| > 0.58 m，或盖接触地面，立即终止；评分器也把罐身接触地面记为 lid_off_table。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:193-209",
+     "inputs/task/privileged/environment/instance.json:147-151"
+    ]
+   },
+   {
+    "id": "jar_off_table",
+    "zh": "罐身离开台面",
+    "never": null,
+    "criterion_zh": "罐原点 z < 0.745 m，或 |x| > 0.45 m、|y| > 0.58 m，立即终止；罐身接触地面同样终止，原生原因名为 lid_off_table。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:193-209",
+     "inputs/task/privileged/environment/instance.json:147-151"
+    ]
+   },
+   {
+    "id": "object_left_workspace",
+    "zh": "物体越出工作区",
+    "never": null,
+    "criterion_zh": "罐或盖的原点离开闭区间工作空间：x 为 [-0.45, 0.45] m、y 为 [-0.40, 0.40] m、z 为 [0.73, 1.25] m，立即终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:91-92",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:193-195",
+     "inputs/task/privileged/environment/instance.json:153-164"
+    ]
+   },
+   {
+    "id": "lid_forced_through_thread",
+    "zh": "罐盖强穿螺纹",
+    "never": null,
+    "criterion_zh": "盖从螺纹区向上离开且仍距罐轴小于 0.004 m 时，相对累计转角模 pi/2 不在 [RELEASE_ANGLE - 0.03, STOP_ANGLE + 0.03] rad 内即失败；端点由场景给出，约为 [1.0193421053, 1.2914542215] rad，不能直接向上硬拔。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:39-44",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:222-230",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a4f4d5a733/scene.py:73-86"
+    ]
+   },
+   {
+    "id": "left_arm_contact",
+    "zh": "左臂接触物体",
+    "never": null,
+    "criterion_zh": "停放的左臂任一连杆或左手与罐或盖发生有效接触，立即终止；只移动左臂而未接触不触发此检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:81-88",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:199-207"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理失稳",
+    "never": null,
+    "criterion_zh": "任一物理子步出现 MuJoCo BADQPOS、BADQVEL 或 BADQACC 警告，即记为物理失稳并立即终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0c73de31b5/runtime.py:23",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/0c73de31b5/runtime.py:101-108"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "lid_unscrewed",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:111-115,279-295 Checker.state().stage / Checker.features().stage；需逐帧记录 stage，取 stage >= 1；当前无状态日志。"
+   },
+   {
+    "atom": "lid_on_worktop",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:241-273 Checker.final_features() 的全部接触、距离、倾角、速度字段，以及 stage >= 2；需逐帧记录，当前无状态日志。"
+   },
+   {
+    "atom": "placement_hold",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:274-284 Checker.features().hold_steps；需记录 hold_steps >= 50，原生计数已含连续保持窗口。"
+   },
+   {
+    "atom": "task_failure",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:169-239,292-294 Checker.features().failure / failure_detail；inputs/grader/efe_dexhand-files/privileged/environment/variants/0c73de31b5/runtime.py:101-108 记录物理失稳；需逐物理子步或永久失败原因日志，当前无状态日志。"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2009ba31aa/checker.py:275-277,292 Checker.features().success；需记录原生逐帧成功标志，当前无状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clearance_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_distance_m",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "输入 inputs/states/index.json 的 logs 为空，成功示例也没有状态日志；按 P8，两个节点的 when、全部约束的 never 以及 success 均为 null。现有视频和运行记录可支持语义及验收解读，但无法逐物理子步核验接触、瞬时速度、解锁角和历史失败，atoms 仅列需要增加的记录，不冒充已存在的绑定。",
+  "模式差异：物理 checker.py、runtime.py、scene.py 两个模式逐字节相同；privileged 的 grade.py:114-123 要求两次独立重放均成功且最终哈希一致，standard 的 grade.py:23-32 采用已终结实时回合的成功值。DAG 表达共同物理任务，归档合法性、确定性和服务交付不作为语义步骤或世界状态。",
+  "文本与评分器差异：instruction.md:3 要求转盖时不要带转罐身，且左臂保持停放；checker.py:185-207 只对罐倾斜、水平位移、抬起及左臂接触作失败检查，没有罐身纯偏航旋转或左臂单纯离开停放姿态的独立阈值。按 N1 记录差异，不臆造转角阈值或阶段。",
+  "P14：接触方案 1 为右手抓握；方案 2 分别为压住盖面借摩擦拧转、从下方托盖搬放，作为任务几何允许的明显替代接触，未由当前这一条成功示例验证；不要求示例使用的特定手指组合。",
+  "连续保持由原生 hold_steps >= 50 验收，hold_s=0 避免再次计时；若将来只记录逐控制步原始放置条件而不记录计数，需按 D31 改为 49 × 0.02 = 0.98 秒并核对采样频率。max_clearance_m 的 0.03 m 阈值为严格大于，其余终态最大值为小于等于、最小距离为大于等于。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两个语义步骤与文本及 S1 的明确案例一致，必要顺序、所有验收阈值、起态和失败规则均有代码依据，成功视频及记录覆盖两步；缺少全部状态日志，不能执行世界状态绑定和重放一致性自检，替代接触未实证，因此置信度为 6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点（拧开罐盖→放到罐旁台面）与指令的开罐、放置两步对应，「Lift clear」已折入第二节点的 criterion，未单列；success 为 null（无状态日志，P8），11 个约束与评分器失败条件一致且均为立即终止，边、标签、open_questions 合理。无需改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['lid_unscrewed', 'lid_on_worktop']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:50:53Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__jar_lid_open/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__jar_lid_open/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "1bf88932f7cdbf41c1108214bf7838bac0bc06bae6bf438f5dbc9105b4340137",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--s96sbbw.json

@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--s96sbbw",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 706,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 2497,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2497,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.65,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.993,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-jar-lid-open-i00-standard--s96sbbw/replay.mp4",
+  "duration_s": 52.2,
+  "fps": 5.0,
+  "frames": 261,
+  "sha256": "6ca7b310b4c1f7572b3c505e8ffa081acbb9e36f3f3c7ec4fe59d4303e4d5113"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红盖闭合在玻璃罐口，顶栏 Stage 0/3、lid turn 0.00 rad。"
+     },
+     {
+      "t": 33.2,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–33.2 s 机器人右手夹住红盖拧转，白色标记随盖相对罐身转动；视频 33.0 s 顶栏仍为 Stage 0/3、lid turn 1.03 rad，视频 33.2 s 首次显示 Stage 1/3、lid turn 1.06 rad，红盖仍在罐口。此后该事件保持已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 21.0–33.2 s，机器人右手拇指与弯曲的其余手指从红盖外缘相向夹住，随后拧转红盖；此前视频 12.0–20.0 s 手指在盖缘逐渐接近、调整接触。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.2,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–38.2 s 机器人右手将红盖向上抬离罐口，盖与罐口之间出现清楚间隙；视频 38.2 s 顶栏 Stage 2/3、clearance 36 mm、hold 0/50，抬离阶段已达到，但盖仍由手指夹持。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 40.6 s 红盖尚大致水平；视频 41.2–42.0 s 右手搬运时，红盖在指间明显滑转，由水平转为接近竖直、悬垂在腕部下方，罐留在原处。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 209,
+      "text_zh": "观察：视频 44.0–49.8 s 机器人右臂向罐旁桌面下降，盖逐渐被腕臂遮挡，顶栏始终 Stage 2/3、hold 0/50；视频 50.0 s 顶栏显示 FAIL: lid_dropped，并保持到视频 52.0 s 最后一帧。log step 209 的服务终结状态为 episode 11、control_steps 2497、task_failure；评分器 live_matches_replay=1、replay_success=0。没有达到放置所需的 Stage 3/3 和连续保持窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 36.0–40.6 s，机器人右手以拇指和其余弯曲手指对向夹持红盖外缘，抬离罐口并开始搬运；视频 41.2–42.0 s 盖在这只手中滑转、下垂，仍局部挂在手指处。末段腕臂遮挡了具体脱离接触的瞬间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clearance_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "lid_distance_m",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "lid_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lid_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_on_worktop",
+   "t": 41.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 38.2 s 机器人已将红盖抬离罐口，正在持盖搬向桌面；视频 41.2–42.0 s 盖开始在指间滑转并下垂，之后未见恢复稳定水平夹持或完成放置。视频 50.0 s 评分顶栏显示 FAIL: lid_dropped、Stage 2/3、hold 0/50；log step 209 的第 11 回合以 task_failure 终结。断点取搬运中首次未修复的夹持失稳。"
+  },
+  "unmet": {
+   "lid_unscrewed": true,
+   "lid_on_worktop": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 41.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 38.2–40.6 s 红盖随机器人右手被平稳抬起；视频 41.2–42.0 s 在右腕姿态没有相应大幅翻转时，盖自行在指间滑转至接近竖直并向下悬垂。视频 50.0 s 顶栏最终报 lid_dropped。这里是已建立夹持后未保持住盖的稳定承载，末段具体掉落接触被腕臂遮挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 40.6–42.0 s 机器人右腕姿态基本不变而盖相对手指滑转、下垂，说明实际夹持控制没有继续约束盖的姿态。log step 195 的 pressure 脚本由指尖雅可比和预设刚度计算指关节偏置，log step 202 将名义压力参数由 2 改为 8 后运行最后回合，log step 203 的后续脚本依次下降和张指释放；log step 205 打印的是脚本计算的目标力，并非触觉实测。结合视频中的失稳及视频 50.0 s 的掉盖判定，归为保持和释放控制不足；现有证据不能可靠细分为接触布局、实际夹持力或关节跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧接触、实测指尖力及盖倾角数据。视频约 44.0 s 后红盖被腕臂遮挡，无法直接看到松指时盖与台面的全部接触关系，不能断言是悬空提前释放、夹持残留后甩落还是其他具体脱离机制；掉盖终结由本次视频顶栏及 log step 209 的服务状态确认。评分器 reward 未报告 DAG 的九项原生连续指标，因此其 value 均为 null；未将视频顶栏瞬时读数或 agent 自行估计填作评分器指标。"
+ },
+ "summary_zh": "评分对应最后的第 11 回合（log step 203 重置，log step 209 终结）；机器人右手在视频 33.2 s 拧开红盖，并在视频 38.2 s 抬离罐口，最终完成 1/2 个语义节点。视频 41.2–42.0 s 搬运时盖在指间滑转下垂，此后未完成稳定放置，视频 50.0 s 以 lid_dropped 判负，现象为没保持住，根因归为控制。末段腕臂遮挡及缺少接触、实测力日志，使掉盖的具体释放机制和控制子类仍不确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、接触、断点和现象与视频顶栏及帧一致：视频 33.2 s 进入 Stage 1/3，38.2 s Stage 2/3 抬离，41.2–42.0 s 盖在指间滑转下垂，50.0 s 显示 FAIL: lid_dropped。根因为推断且已标注，不确定性已写入 gap_zh，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": "2026-10-29T10:06:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--s96sbbw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--s96sbbw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
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+   "video_choice": "HF replay.mp4"
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+ }
+}

phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--vdr3ybj.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--vdr3ybj",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 9,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 580,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 580,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.439,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.284,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-jar-lid-open-i00-standard--vdr3ybj/replay.mp4",
+  "duration_s": 13.8,
+  "fps": 5.0,
+  "frames": 69,
+  "sha256": "b7f4354dc7ec0484f43f78a03dcae4a01b6b988817cd5809dd0c35e9d3a5cae0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.4 s 红盖仍在罐口，机器人右手以拇指与对侧手指夹住盖缘，顶栏为 Stage 0/3、lid turn 1.03 rad；视频 5.6 s 顶栏变为 Stage 1/3、lid turn 1.08 rad，白色盖面标记随右手转动，罐身仍直立在原处。首次达到时间定位在视频 5.4–5.6 s 之间，取首个确认帧视频 5.6 s。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4 s 盖与罐口已出现间隙，视频 6.6 s 顶栏为 Stage 2/3、clearance 46 mm，右手继续夹持红盖，罐留在桌上。拧开节点为已完成即保留的事件，随后搬放时转角变化不撤销该事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.0–5.6 s，机器人右手拇指与对侧食指、中指在红盖外缘形成对向夹持，随腕部转动拧开盖；没有使用左手固定罐身。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8 s，机器人右手夹持红盖悬在罐口上方，罐口已露出，顶栏 Stage 2/3、clearance 63 mm；随后视频约 7.0–10.4 s，右手把盖移到罐旁并降低至浅色台面。"
+     },
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6–11.4 s 右手手指逐渐张开并抬离，红盖正面朝上留在罐旁台面；视频 11.4 s 顶栏为 Stage 2/3、hold 40/50，视频 11.6 s 首次显示 Stage 3/3、hold 50/50 和 PASS。此时盖与罐分离，罐直立，右手离盖，按评分器完整保持窗口的确认帧取视频 11.6 s 为完成时刻。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：视频 12.8、13.0、13.2、13.4、13.6 s 的末秒画面均保持同一终态，顶栏持续 PASS、Stage 3/3、hold 50/50；红盖在桌面，右手悬于其上，玻璃罐直立。inputs/run.json 的 reward 同时报告 live_success=1、replay_success=1、live_matches_replay=1，且 resets=0、resumes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.2–10.6 s，机器人右手拇指与食指、中指对向夹住红盖外缘，抬离罐口并搬到罐旁桌面；随后张指松开并抬手，盖留在台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clearance_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "lid_distance_m",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "lid_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lid_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "jar_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人右手夹持红盖相对罐身拧转，视频约 5.6 s 达到拧开节点，继而抬离并把盖平放在罐旁台面，视频约 11.6 s 达到放置节点，顶栏显示 Stage 3/3、hold 50/50、PASS，最终完成 2/2 个节点。观察：末秒画面持续保持盖已放稳且离手，评分记录实时与重放均成功，没有失败断点。证据缺口：没有状态日志，节点时刻取自视频相邻帧及顶栏，精度约 0.2 s；评分字段未报告 DAG 所列九项原生连续指标，均保留 null，无法独立逐物理子步核验接触和瞬时速度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两个节点时刻（视频 5.6 s Stage 1/3；11.6 s Stage 3/3、hold 50/50、PASS）与顶栏一致，接触标注合理，无失败断点，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:13Z",
+  "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/dexhand-jar-lid-open-i00-standard--vdr3ybj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--vdr3ybj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "b7f4354dc7ec0484f43f78a03dcae4a01b6b988817cd5809dd0c35e9d3a5cae0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/pancake_serve/task_dag.json

@@ -0,0 +1,388 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/pancake_serve",
+ "suite": "dexhand",
+ "base": "dexhand-pancake-serve-i00",
+ "title_zh": "用锅铲盛煎饼",
+ "summary_zh": "用手持锅铲从煎锅托起煎饼，依序移至餐盘上方并平稳装盘撤铲，静置达标且全程不掉落、不碰饼、不扰动锅盘或越界。",
+ "embodiment_zh": "两模式均为固定底座的天机 Marvin 双臂机器人，每臂7关节并装一只灵巧手；默认 Sharpa Wave（每手22指关节执行器），也支持 Wuji Hand 2.2（每手20执行器），右臂和右手操作锅铲，左臂停在躯干旁，无移动底盘。锅铲为自由工具，铲片有三个被动弹簧铰链，靠手指及掌面接触握持。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-pancake-serve-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "turner_in_hand",
+    "zh": "拿起锅铲",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "总览画面中，灵巧手手指合拢握住黑色锅铲柄，锅铲离开其开局位于白盘前方的台面，并随手移动、由手承持。手仅靠近或压住仍躺在台面上的锅铲，不算完成。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "右侧灵巧手用拇指和其余手指握住锅铲柄并提起锅铲。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:3 先拿起台面上的锅铲，只有锅铲可移动煎饼",
+     "task/privileged/instruction.md:21-23 锅铲初始未在手中，仅由接触握持",
+     "task/privileged/environment/instance.json:65-244 两种手型的冻结初始位姿",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:57-66 按冻结位姿复位，没有抓取焊接",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:190-198 必须使用铲片独立承托煎饼",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:214 手与锅铲的原生接触特征",
+     "oracle/replay.mp4 @ 0.0-3.5 s 台面上的锅铲被右手握住并提离"
+    ],
+    "conf": 6,
+    "note_zh": "按 Y17 与 DECISIONS.md D2 保留必需工具拿起步骤：文本明确要求先拿起，锅铲初始自由放在台面且未安装在机器人上，评分器强制铲片独立承托煎饼；该工具必须用于所有合法路线。手柄握法采用典型方案，不限定手指数或特定指尖。此步为过程事件，不要求结束时仍把锅铲举在空中；评分器没有单独的拿起阶段。"
+   },
+   {
+    "id": "pancake_on_blade",
+    "zh": "煎饼托上铲",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "turner_in_hand"
+    ],
+    "hold_s": 0.18,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "总览中，黑色铲片从下方托住金黄色煎饼，煎饼完全离开黑色煎锅且只接触铲片所属的锅铲，不接触锅、盘、机器人、台面或地面，饼原点比复位高度升高至少0.015 m、相对水平倾角不超过30°，连续10个50 Hz控制步成立，画面顶部的 on blade 勾选后即通过。煎饼仍贴锅底或锅沿、只是铲片伸到饼边下方，均未完成；这是通过后锁存的事件，之后煎饼装盘不撤销本步。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "右手持锅铲，以铲片从下方托住并抬起煎饼；手指不直接接触煎饼。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:3 滑入铲片并将煎饼从锅中托起",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:100-118 有效接触与铲片识别",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:180-198 独立铲片接触、升高和倾角",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:227-230 连续10控制步后阶段锁存",
+     "task/privileged/environment/instance.json:56-58 搬运倾角30度、控制间隔0.02秒",
+     "task/privileged/environment/instance.json:364 升高至少0.015米",
+     "task/privileged/environment/instance.json:376 连续10控制步",
+     "oracle/replay.mp4 @ 6.0-6.5 s 煎饼随铲片离锅且 on blade 勾选"
+    ],
+    "conf": 6,
+    "note_zh": "文本独立要求煎饼托上铲，托稳后可暂停再搬运，故与装盘分开；直接产生变化的是用工具将煎饼拿起，接触为铲片托/舀，不另列手握工具。hold_s按 DECISIONS.md D31 ���(10-1)×0.02=0.18秒；无状态日志，实际验收仍由 criterion_zh 的10步原生窗口或视频阶段标记判定。"
+   },
+   {
+    "id": "pancake_on_plate",
+    "zh": "煎饼装盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pancake_on_blade"
+    ],
+    "hold_s": 0.98,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "在托上铲阶段通过之后，先让煎饼仍只接触锅铲、饼心距白盘心水平不超过0.058 m且饼原点高于盘原点加0.006 m，再让煎饼只接触白盘、饼心仍在该水平半径内、相对水平倾角不超过20°、质心线速度不超过0.02 m/s且角速度不超过0.3 rad/s，同时锅铲不接触饼且评分器采样的铲片轮廓点距饼心水平距离全部至少0.08 m，整组装盘条件连续50个50 Hz控制步成立才完成。画面中金黄色煎饼平落在右侧白盘内、黑色铲片完全撤到饼旁并保持安静，顶部 hold 到50/50且 PASS；饼仍搭在铲片上、超出盘内允许位置或铲片未撤开都不算完成，达标后若这些状态丢失则本步失去。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "右手持锅铲，以铲片托住煎饼送到白色陶瓷盘并降低，再从煎饼下抽出铲片。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:3 盘上方、装盘、撤铲与静置验收",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:65-72 铲片轮廓实际采样点",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:185-202 距离、盘上方、倾角、速度、撤铲及仅盘接触",
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:227-239 原生顺序与50控制步成功窗口",
+     "task/privileged/environment/instance.json:58 控制间隔0.02秒",
+     "task/privileged/environment/instance.json:63 静置50控制步",
+     "task/privileged/environment/instance.json:377-386 饼半径0.07米、盘半径0.128米、速度与装盘阈值",
+     "task/privileged/environment/instance.json:402 撤铲边缘间隙0.01米，与饼半径合为0.08米",
+     "oracle/replay.mp4 @ 7.5-10.0 s 煎饼进入白盘，撤铲，hold到50/50"
+    ],
+    "conf": 6,
+    "note_zh": "原生 over_plate 只标记装盘过程中的必经中间状态，不单列步骤；该时刻要求 z_pancake > z_plate+0.006，装盘时不再要求悬空。装盘的50步静置与撤铲均并入验收，hold_s按 D31 取(50-1)×0.02=0.98秒；原生计数器一旦单独记录，绑定计数器时无需重复时间窗。freeze_held=false避免手仍握锅铲时遮蔽装盘达成或丢失，机器人不得直接持饼。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "pancake_dropped",
+    "zh": "煎饼掉落",
+    "never": null,
+    "criterion_zh": "煎饼接触台面或地面，或没有任何有效接触且质心竖直速度小于-0.35 m/s，或煎饼原点低于z=0.85 m，即立即失败且不可撤销。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:140-158",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "robot_touches_pancake",
+    "zh": "机器人碰饼",
+    "never": null,
+    "criterion_zh": "煎饼与任意机器人几何体发生有效接触即立即失败，包括左右手、臂连杆和支架；手不能直接扶住或夹住煎饼。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:43-60,153-154",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "turner_dropped",
+    "zh": "锅铲掉落",
+    "never": null,
+    "criterion_zh": "锅铲碰地，或锅铲与机器人没有有效接触时质心竖直速度小于-0.35 m/s，或锅铲原点低于z=0.85 m，即立即失败；初始静放台面不构成掉落。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:147-160",
+     "task/privileged/environment/instance.json:58-63 控制步长、��面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "pan_disturbed",
+    "zh": "煎锅移位倾倒",
+    "never": null,
+    "criterion_zh": "黑色煎锅原点相对复位位置的三维位移超过0.03 m，或其上轴相对复位上轴倾斜超过15°，即立即失败；绕竖直轴的纯自转不等于倾倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:124-127,161-167",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "plate_disturbed",
+    "zh": "餐盘移位倾倒",
+    "never": null,
+    "criterion_zh": "白色陶瓷盘原点相对复位位置的三维位移超过0.03 m，或其上轴相对复位上轴倾斜超过15°，即立即失败；盘中煎饼的倾角阈值另属装盘验收。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:124-127,161-167",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "object_outside_workspace",
+    "zh": "物体越界",
+    "never": null,
+    "criterion_zh": "煎饼、煎锅、餐盘或锅铲任一主体原点离开闭工作区x∈[0.23,1.13] m、y∈[-0.65,0.45] m、z∈[0.80,1.50] m即立即失败，检查的是主体原点而非所有网格顶点。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:63-74,168-171",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理失稳",
+    "never": null,
+    "criterion_zh": "物理引擎报告位置、速度或加速度异常警告，或者任意广义位置或速度出现非有限值，即立即失败；仅凭视频抖动不能精确确定此项。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:134-139",
+     "task/privileged/environment/instance.json:58-63 控制步长、台面高度与掉落阈值",
+     "task/privileged/environment/instance.json:387-419 支承物阈值和工作区",
+     "grader/efe_dexhand-files/privileged/environment/variants/24a9fdfcda/runtime.py:103-106 每1毫秒物理子步检查，无宽限期",
+     "task/privileged/environment/instance.json:378 物理步长0.001秒"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "turner_in_hand",
+    "level": "new_code",
+    "source": "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:214 需记录 hand_holds_spatula，并记录锅铲离开台面且随手承持的状态；本任务没有状态日志"
+   },
+   {
+    "atom": "pancake_on_blade",
+    "level": "new_code",
+    "source": "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:198,227-230 需记录 on_blade、on_blade_run 与 stage；本任务没有状态日志"
+   },
+   {
+    "atom": "pancake_on_plate",
+    "level": "new_code",
+    "source": "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:199-202,231-239 需记录 over_plate、served、stage、hold，包含完整顺序与撤铲、静止验收；本任务没有状态日志"
+   },
+   {
+    "atom": "task_failure",
+    "level": "new_code",
+    "source": "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:130-177 需逐物理子步记录 failure、failure_detail 和失败时刻；覆盖全部七项约束"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "grader/efe_dexhand-files/privileged/environment/variants/282560417a/checker.py:222-239 需记录原生 success 与 failure；成功为无既往失败且依次通过 on_blade、over_plate、served的50步窗口"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "pancake_lift_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_plate_dist_m",
+   "unit": "m",
+   "threshold": 0.058,
+   "direction": "lower_better"
+  },
+  {
+   "name": "served_pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_ang_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "blade_clearance_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pan_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "plate_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；按 DECISIONS.md P8，全部节点 when、全部约束 never 和 success 均为 null，不能声称已用状态日志验证达到全部步骤或评分一致。原生字段只列为待新增记录的原子，精确接触、毫米级阈值和速度需依靠原生画面计数及后续状态记录核实。",
+  "DECISIONS.md D2/Y17 的本任务应用：保留拿起锅铲；指令明确要求先从台面拿起，评分器 on_blade 必须接触真实铲片且只接触锅铲（checker.py:190-198），禁止机器人直接碰饼（153-154），初态与视频均显示工具未在手中，因此所有遵守文本的成功路线都需要该工具。checker.py:214 虽计算手铲接触，但成功谓词未独立要求锅铲离台并在手，故本节点 goal=false，不把典型握法变成额外成功门槛。",
+  "文本步骤未受评：拿起锅铲没有独立的评分阶段或离台高度判据；按 N1 保留为视频判断的非目标过程步骤。这里既不把一般物体抓取扩成节点，也不把仅接触锅铲等同于完成拿起。",
+  "DECISIONS.md D10/S2 的粒度读法：煎饼托上铲与煎饼装盘分开，可托稳后暂停；原生 over_plate 是装盘的中间验收而不另建节点，撤铲与50步静止也并入装盘。煎饼托上铲按其直接产生的离锅升高状态标位姿·拿起，工具接触标手持工具×托/舀。",
+  "文本与实现的精度差异：指令称铲片轮廓每一点均须撤出0.08 m，而 checker.py:65-72,192-197 只检查每条铲片的四个角点和一个前缘中点，并非整条轮廓的连续最小距离；装盘标准采用实现的采样点检查，0.08 m来自0.07 m饼半径加0.01 m间隙。",
+  "两模式场景 checker.py 逐字相同；privileged/tests/grade.py:114-119 还要求两次新进程回放均成功且终态哈希相同，standard/tests/grade.py:22-37 评分服务最后一次实时回合并检查终结与基础设施状态。这些交付有效性条件不拆成世界状态节点；success 无日志可绑定而置 null。",
+  "成功视频长10.6秒，画面终态显示模拟时间13.66秒，不能把视频秒直接当作模拟秒；10步和50步窗口按控制步及画面原生计数判定，hold_s分别用 D31 的0.18和0.98秒，不按该视频播放速度估计。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "步骤来自文本，初态、阶段顺序、阈值和即时失败均有源代码依据，成功视频可见全部三步；但没有任何状态日志可核实条件绑定和细微接触，工具拿起的Y17应用及轮廓采样与文字差异需明确保留。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三步（拿起锅铲/煎饼托上铲/煎饼装盘）与指令三阶段一致，over_plate、撤铲和静置并入装盘，阈值（0.015 m、30°、10步、0.058 m、20°、0.02 m/s、0.3 rad/s、0.08 m、50步）与checker一致；七项约束为立即终止；无状态日志，when/success为null并已在open_questions_zh说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['turner_in_hand', 'pancake_on_blade', 'pancake_on_plate']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:50:30Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__pancake_serve/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__pancake_serve/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "bf734c9818b5ead55baa27eccc2ca9b41453cb631fd2a908092ac14007d3fac4",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--wxe6lrk.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-pancake-serve-i00-privileged--wxe6lrk",
+ "taskKey": "dexhand/pancake_serve",
+ "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2699,
+   "sim_steps": 2699,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.225,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.838,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-pancake-serve-i00-privileged--wxe6lrk/replay.mp4",
+  "duration_s": 13.48,
+  "fps": 25.0,
+  "frames": 337,
+  "sha256": "32034b651695c042aa6e497d7d9587ce66f50b3111d438466e7b5a5b13e3bbcd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "turner_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.48,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，黑色锅铲平放在白盘前方台面，机器人右手张开，煎饼仍在黑锅内。"
+     },
+     {
+      "t": 2.48,
+      "log_step": null,
+      "text_zh": "观察：视频 2.24–2.72 s，机器人右手手指围拢黑色铲柄并抬手，锅铲离开台面、随右手升起；视频 2.48 s 已可见铲片与台面分离，随后右手持铲移向黑锅。拿起时刻约为视频 2.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧灵巧手手指合拢包住黑色锅铲柄，握持并提离台面；左手未参与。"
+     }
+    ]
+   },
+   "pancake_on_blade": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.48,
+      "log_step": null,
+      "text_zh": "观察：视频 8.08–8.48 s，机器人右手持铲从锅内向上托起煎饼，顶部 on blade 尚未勾选；仅铲片进入饼下不提前记作完成。"
+     },
+     {
+      "t": 8.56,
+      "log_step": null,
+      "text_zh": "观察：视频 8.56 s，煎饼由黑色铲片承托并离开锅底，顶部 on blade 首次在已检查帧中勾选（视频 8.48 s 尚未勾选）；视频 8.64–9.50 s，煎饼继续随铲抬高、移向白盘，黑锅原处已无煎饼。原生勾选确认独立铲片承托、升高、倾角及连续10控制步验收；本节点通过后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人右手持黑色锅铲，铲片滑到煎饼下方并从下方托起煎饼；未见手直接扶饼。"
+     }
+    ]
+   },
+   "pancake_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.00–11.50 s，机器人右手持铲把已离锅的煎饼送到白盘上方并降低，顶部 over plate 已勾选；铲片仍在饼下时 hold 为0/50，装盘尚未验收。"
+     },
+     {
+      "t": 12.44,
+      "log_step": null,
+      "text_zh": "观察：视频 12.08–12.40 s，机器人向左后方抽出铲片，煎饼留在白盘内，hold 从0/50增至42/50；视频 12.44 s 顶部显示 PASS、served 勾选和 hold 50/50，饼平放盘内、铲片已撤开，盘心距离显示2.4 cm。此处采用视频内评分器原生计数验收，不把加速视频的播放时长当作仿真静置时长。"
+     },
+     {
+      "t": 13.44,
+      "log_step": null,
+      "text_zh": "观察：视频 12.48、12.80、13.00、13.20、13.44 s 均保持相同成功终态，煎饼仍在盘内且铲片在旁，末尾未见装盘关系丢失。"
+     },
+     {
+      "t": null,
+      "log_step": 113,
+      "text_zh": "观察：log step 106、113 的两次独立新进程交付文件回放报告均为 success=true、stage=3、2699个控制步，终态哈希相同；inputs/run.json 评分器字段 success=1、stages_completed=3、deterministic=1，与视频 PASS 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人右手以锅铲从下方承托煎饼送至白盘并降低，随后抽出铲片，让煎饼留在白盘上静置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pancake_lift_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_plate_dist_m",
+   "unit": "m",
+   "threshold": 0.058,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "served_pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_ang_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blade_clearance_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pan_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "plate_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依序完成拿起锅铲（约视频 2.5 s）、煎饼托上铲（视频 8.56 s 原生标记通过）及装盘撤铲静置（视频 12.44 s PASS、hold 50/50），末尾视频 13.44 s 保持成功终态，全部3个节点最终成立。交付文件的两次新进程回放均成功且终态哈希相同（log step 106、113），与评分器 success=1 一致；会话中恢复快照后的失败调试不计入交付视频的失败。无状态日志，细微接触和速度阈值依赖画面原生验收标记，评分器 reward 未报告的9项原生数值指标均保留为null；画面仿真时钟与视频时钟不同，节点时刻均取自视频帧。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "三个节点（拿起锅铲约视频 2.5 s、托饼上铲约 8.6 s、装盘 12.44 s PASS）与帧和画面原生勾选一致，成功运行，无失败层，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:08:43Z",
+  "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/dexhand-pancake-serve-i00-privileged--wxe6lrk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-pancake-serve-i00-privileged--wxe6lrk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b85109a49620f0f6197ba6e2da838794f0744b2acfa218f50946af47abce4b48",
+   "video_sha256": "32034b651695c042aa6e497d7d9587ce66f50b3111d438466e7b5a5b13e3bbcd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--mhaxhhl.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-pancake-serve-i00-standard--mhaxhhl",
+ "taskKey": "dexhand/pancake_serve",
+ "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 99,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 500,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 500,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.533,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.026,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-pancake-serve-i00-standard--mhaxhhl/replay.mp4",
+  "duration_s": 11.4,
+  "fps": 5.0,
+  "frames": 57,
+  "sha256": "bb9280c5551759edd745331843991e76b8b9a9c9b809bef26c87579f2314f8a2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "turner_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6–2.2 s，机器人右手屈指靠到黑色铲柄旁；视频 2.4–2.8 s，锅铲在台面上转向、向右滑移，未见整件锅铲离台由手承持；视频 3.0–3.4 s，右手空手抬离，锅铲留在台面。"
+     },
+     {
+      "t": 11.2,
+      "log_step": 180,
+      "text_zh": "观察：视频 3.4–11.2 s，锅铲一直留在台面前部，没有再次被拿起。agent 在 log step 180 自述“成功拿起并抬高12 cm”，但该说法不符合本评分视频，不能据此判定本节点达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.2–2.8 s，机器人右手屈曲手指接触、拨动黑色锅铲柄，使锅铲在台面转向滑移；未见手指从相对两侧夹紧铲柄并提离台面，不标抓握。"
+     }
+    ]
+   },
+   "pancake_on_blade": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–11.2 s，金黄色煎饼始终留在黑色煎锅内；视频 3.4–6.4 s，机器人右手空手移向锅边，黑色锅铲仍在台面前部，铲片未进入煎饼下方，未实际开始工具托饼。顶部 on blade 始终未勾选。"
+     }
+    ]
+   },
+   "pancake_on_plate": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": 175,
+      "text_zh": "观察：视频 6.6–8.0 s，机器人空手向白盘一侧移动后撤回；视频 10.2–11.2 s 的全部尾帧中，白盘仍空、煎饼仍在锅内、锅铲仍在台面，顶部 hold 为0/50且没有PASS。log step 175 的服务返回显示最后评分回合为 episode 8、执行500个控制步、done=False、reason=None；没有煎饼实际搬运装盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pancake_lift_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_plate_dist_m",
+   "unit": "m",
+   "threshold": 0.058,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "served_pancake_tilt_deg",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pancake_ang_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blade_clearance_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pan_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "plate_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "turner_in_hand",
+   "t": 2.8,
+   "log_step": 175,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.2–2.8 s，机器人右手使锅铲在台面转动，但未将其抓起；视频 3.0 s 起右手空手上抬，锅铲留在原工作台前部直到视频 11.2 s，没有补做成功。最早未修复的是拿起锅铲，而非后续托饼或装盘。log step 175 记录执行最后的 episode 8；评分器字段 n_actions=500、live_matches_replay=1，与该回合相符。"
+  },
+  "unmet": {
+   "pancake_on_blade": false,
+   "pancake_on_plate": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.6–3.2 s，机器人右手屈指靠在铲柄一侧，锅铲在台面滑转，随后右手空手抬起，锅铲没有随手离台；所需的夹持承重接触未建立。这里确有拨动接触，但不等于建立拿起所需的抓持，未见先拿稳再滑落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：右手选定的屈指笼式接触未把铲柄夹在相对接触面之间，产生拨转而不能承重；依据视频 2.2–3.2 s 的台面滑转及空手抬离。log step 146 的脚本预设俯掌笼式握法，log step 175 只微调抓取腕位后执行最后回合；agent 在 log step 180 也承认该接触笼不能可靠夹持。可行替代仅由成功参考确认：同任务 oracle 视频 2.0–3.5 s 显示同型右手拿起并持续承持锅铲，参考不是本回合的进度证据。"
+   }
+  ],
+  "gap_zh": "观察：本任务没有状态日志；仅有5 fps总览视频，无法核实手柄背面的全部接触点及接触力。agent 在 log step 180 给出的握隙与柄尺寸均属自述、待核实，且其“成功拿起后侧移滑落”的叙述与本评分视频不符；本标签以逐帧可见的台面拨转和空手抬离为准，未采用该叙述或把早期测试算入进度。评分器未报告DAG所列九项原生连续指标，故其值均为null。"
+ },
+ "summary_zh": "观察：评分回合中，机器人右手只将锅铲在台面拨转，随后空手完成后续移动；未达到拿起锅铲、煎饼托上铲或煎饼装盘，终态为0/3。推断：断在拿起锅铲，屈指笼式接触没有形成承重抓持；煎饼始终留锅、白盘始终空。观察：没有状态日志，agent关于已经拿起锅铲的自述不符合本回合视频，精确接触力与握隙无法独立核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达成、终态0/3与帧一致：锅铲始终留在台面，煎饼留锅，白盘空；断点在拿起锅铲，接触/抓取设计的归因有视频支持。未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:44Z",
+  "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/dexhand-pancake-serve-i00-standard--mhaxhhl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-pancake-serve-i00-standard--mhaxhhl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "349aab808e497af3ff3460fb2aa431554a29b2d983ebf6d970d1015ef205bd32",
+   "video_sha256": "bb9280c5551759edd745331843991e76b8b9a9c9b809bef26c87579f2314f8a2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/remote_battery_swap/task_dag.json

@@ -0,0 +1,575 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/remote_battery_swap",
+ "suite": "dexhand",
+ "base": "dexhand-remote-battery-swap-i00",
+ "title_zh": "更换遥控器电池",
+ "summary_zh": "依序开盖、将灰色旧电池放入托盘、把绿色新电池按正确极性装入槽并关盖扣锁，最终所有任务物体离手、所需位置和静止条件共同连续保持 50 个控制步且全程无失败。",
+ "embodiment_zh": "两模式均为固定底座的天机 Marvin 机器人，左右各七关节机械臂并装灵巧手；仅右臂和右手操作，左臂及左手停放且不得触碰任务物体，底座不移动；可用 Sharpa Wave（每手 22 个手指执行器，默认）或 Wuji Hand 2.2（每手 20 个），任务几何及判据相同。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-remote-battery-swap-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "battery_cover_opened",
+    "zh": "打开电池盖",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "总览中黑色滑盖向遥控器尾端伸出，原先被遮住的灰色电池及仓口露出；盖的滑动开度至少 0.060 m（全行程 0.085 m）才算打开，锁片仅被按下或小幅露缝均不算。此步骤一经通过即保留，随后关盖不撤销。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手指腹压住滑盖弹性锁片，同时靠摩擦将滑盖向尾端滑开",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指压住锁片，其他手指夹住滑盖边缘向尾端拉开",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:221-226",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:272",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cc9b3e00d4/scene.py:188-205",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/93b12f9846/runtime.py:63-72",
+     "inputs/oracle/replay.mp4 @ 0-6 s",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:256-271",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:49"
+    ],
+    "conf": 6,
+    "note_zh": "文本明确要求的开盖步骤；按锁片解锁和滑开是同一机构开启动作，不拆出按压节点。评分器最终要求 stages_latched.cover_open 为真，因此列为 goal 事件；关盖后无需继续保持开度。"
+   },
+   {
+    "id": "old_cell_in_tray",
+    "zh": "旧电池入托盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "battery_cover_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "总览可见灰色旧电池从黑色仓内转到右侧白色托盘底面，右手已不接触它；中心在托盘坐标系内满足 |x|<=0.037 m、|y|<=0.032 m、z<=0.014 m，并确实接触托盘底板，仅悬在盘上或搁在盘沿不算完成，离开上述位置或重新被手接触即失去。最终联合验收还要求四阶段已依序锁存、两节电池及关盖条件仍成立，所有任务物体无机器人接触，遥控器、托盘和两节电池的线速度均不超过 0.02 m/s、角速度均不超过 0.5 rad/s，连续 50 个控制步；该跨步骤窗口归入整体成功，不单列节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手两根或多根手指捏住灰色旧电池，移至白色托盘内后放开",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:184-206",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:256-271",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:59-62",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:275",
+     "inputs/oracle/replay.mp4 @ 8-17 s"
+    ],
+    "conf": 6,
+    "note_zh": "从仓中取出与移入托盘合为一次转移，以托盘内落底并离手为验收；取出没有独立评分目标（DECISIONS.md D5）。视频中盘沿上的电池还需拨入，后续右手对灰色电池的推拨是同一步的修正；不把特定捏取手指或修正动作写成必经步骤。"
+   },
+   {
+    "id": "new_cell_seated",
+    "zh": "新电池入槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "old_cell_in_tray"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "开盖时可见绿色电池沿遥控器长轴卧在原灰色电池的位置，正极朝金色触点，右手离开电池；相对槽中心沿槽、跨槽、高度误差分别不超过 0.005、0.003、0.002 m，正极方向相对遥控器 +x 夹角不超过 10 度，且同时接触两条支承肋，反向、斜搭、未落到底或仍被手接触均不算，随后移位或重新被手接触会失去。最终联合验收还要求四阶段已依序锁存、两节电池及关盖条件仍成立，所有任务物体无机器人接触，遥控器、托盘和两节电池的线速度均不超过 0.02 m/s、角速度均不超过 0.5 rad/s，连续 50 个控制步；该跨步骤窗口归入整体成功，不单列节点。",
+    "step": {
+     "cat": "关系",
+     "item": "插入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指捏住绿色新电池，校正朝向并放入电池槽后放开",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:191-217",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:256-271",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:276-279",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cc9b3e00d4/scene.py:148-173",
+     "inputs/oracle/replay.mp4 @ 18-24 s"
+    ],
+    "conf": 6,
+    "note_zh": "电池是进入有严格配合公差的槽，标关系·插入；极性、双肋接触、离手为验收，不另建对准、翻转或释放节点。盖合上后会遮住电池，可结合盖合前的清晰画面及原生阶段叠字判定是否持续成立。"
+   },
+   {
+    "id": "battery_cover_closed",
+    "zh": "关上电池盖",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "new_cell_seated"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "黑色滑盖滑回覆盖整个电池仓、绿色电池不再露出，弹性锁片回弹；开度<=0.002 m且锁片按深<=0.0015 m才算关上并锁住，留缝、滑盖伸出或锁片仍压下超过阈值即不成立。此状态开局已成立，开盖后失去，最终关盖恢复；全部工作完成后还须满足共同离手静止窗口：最终联合验收还要求四阶段已依序锁存、两节电池及关盖条件仍成立，所有任务物体无机器人接触，遥控器、托盘和两节电池的线速度均不超过 0.02 m/s、角速度均不超过 0.5 rad/s，连续 50 个控制步；该跨步骤窗口归入整体成功，不单列节点。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手指腹按住滑盖锁片并沿滑轨向仓口方向擦推，随后离开使锁片回弹",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指压下锁片、其余手指夹持滑盖边缘推回，随后放开滑盖和锁片",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:221-226",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:256-271",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:273-274",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cc9b3e00d4/scene.py:188-205",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/93b12f9846/runtime.py:63-72",
+     "inputs/oracle/replay.mp4 @ 0 s, 24-29 s"
+    ],
+    "conf": 6,
+    "note_zh": "初态 cover_slide=0、tab_depth=0，按 S4(b) 是从起点计分的恢复步骤，不能改成 final。state 不受 after 门控；after 仅表达第三阶段后最终关盖的原生顺序，阶段锁存历史及联合保持归整体成功；hold_s=0 不重复计入 50 步窗口。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "object_below_table",
+    "zh": "物体低于桌面",
+    "never": null,
+    "criterion_zh": "每个 0.002 s 物理子步检查：旧电池、新电池、滑盖、遥控器或托盘任一刚体原点 z<0.30 m 即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:113-120"
+    ]
+   },
+   {
+    "id": "object_outside_workspace",
+    "zh": "物体越界",
+    "never": null,
+    "criterion_zh": "旧电池、新电池、滑盖、遥控器或托盘任一刚体原点离开 x∈[-0.37,0.47] m、y∈[-0.34,0.34] m、z∈[0.30,0.80] m 的闭区间工作箱即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:117-122",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:254-265"
+    ]
+   },
+   {
+    "id": "object_touches_floor",
+    "zh": "物体触地",
+    "never": null,
+    "criterion_zh": "遥控器（含滑盖及锁片子体）、托盘或任一电池与地面产生有效接触即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:47-61",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:138-145"
+    ]
+   },
+   {
+    "id": "remote_displaced",
+    "zh": "遥控器移位",
+    "never": null,
+    "criterion_zh": "遥控器刚体原点相对重置位置的水平位移超过 0.03 m 即失败，不是沿某一个轴分别比较。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:92-95",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:123-125",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:266"
+    ]
+   },
+   {
+    "id": "remote_tipped",
+    "zh": "遥控器倾斜",
+    "never": null,
+    "criterion_zh": "遥控器局部上轴相对世界竖直的倾角超过 15 度即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:109-110",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:126-128",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:267"
+    ]
+   },
+   {
+    "id": "tray_displaced",
+    "zh": "托盘移位",
+    "never": null,
+    "criterion_zh": "托盘刚体原点相对重置位置的水平位移超过 0.03 m 即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:92-95",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:129-131",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:268"
+    ]
+   },
+   {
+    "id": "tray_tipped",
+    "zh": "托盘倾斜",
+    "never": null,
+    "criterion_zh": "托盘局部上轴相对世界竖直的倾角超过 15 度即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:109-110",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:132-134",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:269"
+    ]
+   },
+   {
+    "id": "old_cell_touches_table",
+    "zh": "旧电池触桌",
+    "never": null,
+    "criterion_zh": "灰色旧电池一旦与桌面产生有效接触即失败，即使还被手抓住也不豁免。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:135-153"
+    ]
+   },
+   {
+    "id": "new_cell_returns_to_table",
+    "zh": "新电池再触桌",
+    "never": null,
+    "criterion_zh": "绿色新电池在某控制步满足中心比初始高度高出超过 0.01 m 且不接触桌面后，任何后续物理子步再次触桌即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:154-155",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:250-255",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:271"
+    ]
+   },
+   {
+    "id": "cell_falls_without_hand",
+    "zh": "电池无手快落",
+    "never": null,
+    "criterion_zh": "任一电池没有机器人接触且竖直速度小于 -sqrt(2*9.81*0.04) m/s（约 -0.886 m/s）即失败，即便接触其他表面也不豁免。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:77",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:156-160",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:270"
+    ]
+   },
+   {
+    "id": "cell_falls_unsupported",
+    "zh": "电池悬空快落",
+    "never": null,
+    "criterion_zh": "任一电池完全没有有效接触且竖直速度小于 -0.5 m/s 即失败；没有等待或补接宽限期，后来接住不能撤销失败��",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:138-151",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:161-164",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:283"
+    ]
+   },
+   {
+    "id": "left_arm_contact",
+    "zh": "左臂接触任务物",
+    "never": null,
+    "criterion_zh": "停放的左肩至腕的臂链或左手接触遥控器、滑盖、锁片、托盘或任一电池即失败；移动左臂本身未被此检查禁止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:17-28",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:63-65",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:138-142"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理失稳",
+    "never": null,
+    "criterion_zh": "物理子步出现 MuJoCo BADQPOS、BADQVEL 或 BADQACC 警告，运行时立即以 unstable_physics 结束；仅凭画面中的正常摆动不能断定该约束被违反。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/93b12f9846/runtime.py:125-134"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "battery_cover_open",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.conditions.cover_open；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:221-226；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "old_cell_in_tray",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.conditions.old_cell_in_tray；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:199-206；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "new_cell_seated",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.conditions.new_cell_seated；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:207-217；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "battery_cover_closed",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.conditions.cover_closed；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:225-226；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "ordered_stages",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.stages_latched and stage_steps；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:256-275；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "released_rest_hold",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Checker.features.hand_contacts, max_speed_m_s, max_spin_rad_s, hold_steps；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:263-276；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Session.features.success；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/93b12f9846/runtime.py:97-99；当前没有状态日志，未假设已有字段路径。"
+   },
+   {
+    "atom": "task_failure",
+    "level": "new_code",
+    "source": "待在逐帧/子步适配器记录 Session.failure, failure_detail, new_cell_lifted and substep violation record；来源 inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:113-165; inputs/grader/efe_dexhand-files/privileged/environment/variants/93b12f9846/runtime.py:125-139；当前没有状态日志，未假设已有字段路径。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "cover_slide_m_open",
+   "unit": "m",
+   "threshold": 0.06,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:222; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:272"
+   ]
+  },
+  {
+   "name": "cover_slide_m_closed",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:226; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:273"
+   ]
+  },
+  {
+   "name": "tab_depth_m_closed",
+   "unit": "m",
+   "threshold": 0.0015,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:226; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:274"
+   ]
+  },
+  {
+   "name": "old_cell_tray_local_x_abs",
+   "unit": "m",
+   "threshold": 0.037,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:202-205",
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:59-62"
+   ]
+  },
+  {
+   "name": "old_cell_tray_local_y_abs",
+   "unit": "m",
+   "threshold": 0.032,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:202-205",
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:59-62"
+   ]
+  },
+  {
+   "name": "old_cell_tray_local_z",
+   "unit": "m",
+   "threshold": 0.014,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:203-205",
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:275"
+   ]
+  },
+  {
+   "name": "new_cell_slot_error_x_abs",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:214-216; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:276"
+   ]
+  },
+  {
+   "name": "new_cell_slot_error_y_abs",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:214-216; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:277"
+   ]
+  },
+  {
+   "name": "new_cell_slot_error_z_abs",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:214-216; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:278"
+   ]
+  },
+  {
+   "name": "new_cell_axis_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:207-216; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:279"
+   ]
+  },
+  {
+   "name": "max_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:219; inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:267; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:280"
+   ]
+  },
+  {
+   "name": "max_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:220; inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:268; inputs/grader/efe_dexhand-files/privileged/environment/variants/e30cc06716/task.json:281"
+   ]
+  },
+  {
+   "name": "remote_displacement_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:123-125"
+   ]
+  },
+  {
+   "name": "remote_tilt_deg",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/grader/efe_dexhand-files/privileged/environment/variants/5655757645/checker.py:126-128"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "无状态日志：inputs/states/index.json 的 logs 为空，成功样例也没有状态日志。依 DECISIONS.md P8，全部 when、never 和 success 均为 null，需据视频判定；毫米级公差、真实接触、极性角度和子步跌落无法仅凭总览精确复算，原生特征列为待记录的 new_code，而非虚构现有字段。",
+  "按 DECISIONS.md D5／CASES.md OPEN-5，将“旧电池出仓并入托盘”合为旧电池入托盘：评分器只独立检查托盘内落底离手，没有独立出仓目标；取出、搬运和末端拨正均在这一步内。",
+  "评分器要求，文本未提：第三阶段 new_cell_seated 已要求绿色电池无机器人接触（checker.py:214-216），任务段落在第四阶段后才明确要求全局松手；将此作为新电池入槽的验收，不添加释放节点（DECISIONS.md N1）。",
+  "任务设计问题：文本称每个任务物体静止，但 checker.py:13、219-220、263-268 仅计算遥控器、托盘、旧电池和新电池四个自由体原点速度，未单独约束滑盖和锁片的关节速度；DAG 按代码描述实际静止验收，关盖几何条件仍须持续满足。",
+  "两���式的 checker.py 与 task.json 内容相同，物理成功条件相同；privileged 评分还要求两次新进程回放均成功且终态哈希一致（privileged/tests/grade.py:113-123），standard 取服务最终现场回合结果（standard/tests/grade.py:22-35）。交付格式、确定性、服务终结和基础设施有效性不作为世界状态节点或约束；无可用日志时 success 保持 null。",
+  "共同成功条件精确为：四阶段按序锁存，old_cell_in_tray、new_cell_seated、cover_closed 当前均真，hand_contacts 总和为零，四自由体最大线速度<=0.02 m/s、最大角速度<=0.5 rad/s，连续 50 次控制后 hold_steps>=50（checker.py:256-271）。窗口跨越三个末态步骤，归整体 success；节点 hold_s=0，避免关盖在初态的计分被全局松手条件掩盖；未来有日志应优先记录并比较原生 hold_steps，而非另估时长。",
+  "原视频叠字为 3.2 倍速（inputs/oracle/replay.mp4），物理连续 50 控制步的一秒不能用一秒视频长度直接替代。现有视频末帧显示 PASS、Stages 4/4、released hold 50/50；仅用这次成功说明可达状态和视觉线索，不将其手指选择、拨正动作或时间点作为必经路线。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个步骤来自两模式相同的任务文本，阶段顺序、阈值、初态及失败规则都有源码依据，成功视频显示各阶段及最终通过；没有任何状态日志，精细接触和阈值只能使用视频与原生叠字判断，不能进行逐帧绑定和回放一致性验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个步骤（开盖、旧电池入托盘、新电池入槽、关盖锁定）与任务文本一致，顺序边符合评分器的阶段锁存，最终 50 步松手静止窗口归入整体成功，失败条件均为立即终止。无状态日志，when/never/success 为 null 符合 P8。旧电池出仓并入托盘按 D5 合并，已列入 open_questions_zh。未发现需要修改内容的错误。小提醒：前三个节点的 criterion_zh 重复了整段最终联合验收文字，略冗长，属措辞问题，不要求修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['battery_cover_opened', 'old_cell_in_tray', 'new_cell_seated', 'battery_cover_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:51:40Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__remote_battery_swap/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__remote_battery_swap/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "46b7545e632de525f598881c9d7d0254516796cc8af90b0f2a88e4f311c958db",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--dncwpct.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-remote-battery-swap-i00-privileged--dncwpct",
+ "taskKey": "dexhand/remote_battery_swap",
+ "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1015,
+   "sim_steps": 1015,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.231,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.25,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-remote-battery-swap-i00-privileged--dncwpct/replay.mp4",
+  "duration_s": 22.4,
+  "fps": 10.0,
+  "frames": 224,
+  "sha256": "698e0a5bb9f58572e4e50d223dd756e4fb78b28b46d10cb1e0334093d93c8c75"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "battery_cover_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.7,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–3.6 s，机器人右手食指下压滑盖锁片并向尾端擦推，黑色滑盖伸出、灰色旧电池及仓口露出；视频 2.6 s 原生叠字为 door 56 mm、Stages 0/4，视频 2.7 s 变为 door 64 mm、Stages 1/4，达到 60 mm 开盖判据。"
+     },
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "观察：视频 22.3 s 显示 PASS、Stages 4/4；开盖为锁存事件，最终盖子关回不撤销该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手食指指端按住滑盖的弹性锁片，并保持压接向遥控器尾端擦推滑盖；没有夹住盖子。"
+     }
+    ]
+   },
+   "old_cell_in_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–6.8 s，机器人右手拇指与食指从两侧夹住灰色电池并抬起；视频 6.8 s 可见灰色电池随指端悬在原仓口之外，原仓内不再有灰色电池。"
+     },
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "观察：视频 7.1–9.5 s，机器人将灰色电池移到右侧白色托盘并降下、张指；视频 9.0 s 叠字仍为 Stages 1/4，视频 9.1 s 变为 Stages 2/4，随后右手抬离，灰色电池留在盘底。"
+     },
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "观察：视频 9.5–22.3 s 灰色电池持续留在白色托盘内，机器人未再操作它；视频 21.3–22.3 s 逐帧显示其位置不变，叠字 PASS、Stages 4/4、released hold 50/50。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手拇指和食指对向捏夹灰色旧电池，提离遥控器电池仓并搬入白色托盘，降下后张指释放。"
+     }
+    ]
+   },
+   "new_cell_seated": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.9,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–12.6 s，机器人右手下降到桌上的绿色电池处，掌部遮住夹取瞬间；视频 13.1 s 原桌面位置已无绿色电池，视频 13.9 s 可见绿色电池夹在右手指端并随手移至遥控器仓口上方。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频 14.1–16.5 s，机器人将绿色电池降到灰色电池原来的槽内并张指抬手；视频 15.6 s 叠字仍为 Stages 2/4，视频 15.7 s 变为 Stages 3/4；视频 16.2 s 可见绿色电池沿槽长轴平卧，金色端朝向槽的金色触点，手指已抬开。"
+     },
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "推断：视频 16.2–17.7 s 绿色电池稳定留在槽内，随后被机器人滑回的盖子遮住；视频 20.3 s 及视频 22.3 s 原生叠字均显示 PASS、Stages 4/4、released hold 50/50，且 inputs/run.json 评分器字段 success=1、stages_completed=4，支持最终仍满足极性、落底及离手判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手拇指和食指捏夹绿色新电池，提离桌面、调整方向后搬到电池槽，降入并张指释放；掌部遮住最初合指瞬间��搬运至仓口时可见电池在对向指端之间。"
+     }
+    ]
+   },
+   "battery_cover_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.6
+     ],
+     [
+      19.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 初始黑色滑盖覆盖电池仓，没有电池露出，原生叠字 door 0 mm；该 state 节点从初态成立，不受 after 顺序边门控。"
+     },
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "推断：视频 1.2–1.8 s 机器人右手食指下降按压锁片，随后滑盖移出；视频 2.0 s 叠字 door 5 mm 已超过关盖阈值。锁片按深未在叠字中给出，结合下降压接动作，将初始锁闭状态失去时间估为视频 1.6 s，约有 0.3 s 不确定性。"
+     },
+     {
+      "t": 19.3,
+      "log_step": null,
+      "text_zh": "观察：视频 17.5–19.4 s，机器人右手食指压住盖上锁片并向仓口擦推滑盖，绿色电池被覆盖；视频 19.2 s 仍为 Stages 3/4，视频 19.3 s 变为 Stages 4/4，随后指端抬离、released hold 开始累计。"
+     },
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "观察：视频 20.3 s 叠字显示 PASS、door -0 mm、released hold 50/50；视频 21.3–22.3 s 逐帧显示右手离开滑盖、黑盖保持闭合，灰色电池仍在托盘。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手食指指端按下滑盖锁片，沿滑轨向仓口方向擦推盖子，随后抬起食指使锁片回弹；开盖阶段的同类按压使初始锁闭状态失去。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cover_slide_m_open",
+   "unit": "m",
+   "threshold": 0.06,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cover_slide_m_closed",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tab_depth_m_closed",
+   "unit": "m",
+   "threshold": 0.0015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_x_abs",
+   "unit": "m",
+   "threshold": 0.037,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_y_abs",
+   "unit": "m",
+   "threshold": 0.032,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_z",
+   "unit": "m",
+   "threshold": 0.014,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_x_abs",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_y_abs",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_z_abs",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_axis_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remote_displacement_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remote_tilt_deg",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依序开盖、将灰色旧电池夹送入托盘、将绿色新电池按正确极性放入槽并关盖锁住，最终四个节点全部成立；关盖节点从初态计入，开盖时失去，最终恢复。视频 20.3 s 及视频 21.3–22.3 s 的画面显示 PASS、Stages 4/4、released hold 50/50，与评分器 success=1、deterministic=1 一致，无失败断点。没有状态日志，首次按压导致锁闭失去的时间约有 0.3 s 不确定性，槽内微小公差及接触验收结合原生阶段叠字与评分结果判断；评分器未报告 DAG 所列原生连续指标数值，均保留为 null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，四个节点的时间与叠字（视频 2.7 s Stages 1/4、9.1 s 2/4、15.7 s 3/4、19.3 s 4/4）吻合，contact_actual 与画面一致，无失败断点，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": "2026-10-29T10:05:35Z",
+  "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/dexhand-remote-battery-swap-i00-privileged--dncwpct/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--dncwpct/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "094d2d9b53b609ccf0c545ab63c5783a3f37411078f1e94fd268198ef7364fd9",
+   "video_sha256": "698e0a5bb9f58572e4e50d223dd756e4fb78b28b46d10cb1e0334093d93c8c75",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--9s6thft.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-remote-battery-swap-i00-standard--9s6thft",
+ "taskKey": "dexhand/remote_battery_swap",
+ "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 806,
+   "control_steps_total": 5986,
+   "elapsed_s": 2522.632,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 422,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 422,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.324,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-remote-battery-swap-i00-standard--9s6thft/replay.mp4",
+  "duration_s": 10.8,
+  "fps": 5.0,
+  "frames": 54,
+  "sha256": "e601b95e6817963ae1f178a0589e66b632361a0c5f7c64322e374f54c6d7e574"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "battery_cover_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–8.6 s，机器人右手伸出食指，在黑色滑盖尾端按压并横移；盖未向尾端伸出到露出灰色电池的程度，视频叠字始终为 Stages 0/4，未达到 0.060 m 的开盖节点。"
+     },
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.6 s 叠字变为 FAIL: remote_tipped；视频 8.8–10.6 s 为相同终态，电池仓仍被盖遮住。成功参考视频 4.0–6.0 s 可清楚看到滑盖向尾端伸出及灰色电池露出，本次没有该线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 4.6–8.6 s，机器人右手食指指端压住黑色滑盖尾部并沿盖面横向擦移；没有形成相向夹持。"
+     }
+    ]
+   },
+   "old_cell_in_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.6 s，机器人右手始终在遥控器滑盖附近，没有从仓内取出并搬运灰色电池；右侧白色托盘从初态到视频 10.6 s 始终为空。"
+     }
+    ]
+   },
+   "new_cell_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.6 s，绿色新电池始终卧在遥控器前方桌面原位，机器人右手未接近、夹取或搬运它；最终仍在桌面，没有进入电池槽。"
+     }
+    ]
+   },
+   "battery_cover_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 标为 initial state，黑色滑盖覆盖电池仓，叠字 door 0 mm；任务初态规定盖已关上且锁片未按下，故关盖条件在初态成立。"
+     },
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "观察：视频约 4.6–8.6 s 机器人右手食指压擦滑盖尾部；视频 8.6–10.6 s 盖仍覆盖仓口且叠字 door -0 mm，但锁片所在接触区持续被食指遮住，叠字没有报告锁片按深。"
+     },
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "推断：本次没有主动执行换电后的关盖步骤。初态关盖成立，但仅凭最终盖的位置不能确定锁片按深是否恢复到 <=0.0015 m；缺少状态日志和可见锁片侧视，无法可靠重建关盖条件的完整区间及终值，保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cover_slide_m_open",
+   "unit": "m",
+   "threshold": 0.06,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cover_slide_m_closed",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tab_depth_m_closed",
+   "unit": "m",
+   "threshold": 0.0015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_x_abs",
+   "unit": "m",
+   "threshold": 0.037,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_y_abs",
+   "unit": "m",
+   "threshold": 0.032,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "old_cell_tray_local_z",
+   "unit": "m",
+   "threshold": 0.014,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_x_abs",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_y_abs",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_slot_error_z_abs",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "new_cell_axis_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_spin_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remote_displacement_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remote_tilt_deg",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "battery_cover_opened",
+   "t": 8.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.8–8.4 s，机器人右手食指继续压擦滑盖，遥控器整件随之改变朝向并翘起，滑盖未露出灰色电池；视频 8.6 s 首次显示 FAIL: remote_tipped，随后冻结至视频 10.6 s。机器人一直在尝试开盖，该步骤没有随后修复。"
+  },
+  "unmet": {
+   "battery_cover_opened": false,
+   "old_cell_in_tray": false,
+   "new_cell_seated": false,
+   "battery_cover_closed": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 8.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 5.8–8.6 s，机器人右手食指在滑盖尾部施力时，遥控器本体跟随手指转动、倾起，盖未相对本体滑开到所需位置；视频 8.6 s 的原生叠字为 FAIL: remote_tipped。这不是机器人本体失去平衡，而是操作盖时带动了遥控器基体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频约 4.6–8.6 s，机器人已经把右手食指放在滑盖尾部并执行按压、横移，但所需的解锁和相对滑动没有实现，作用力反而带动遥控器倾起，支持开盖接触控制失败。log step 60 中 agent 的控制脚本输出 cavity True，随后又输出 BLOCKED、S1 done，最终服务返回 EpisodeOver: task_failure；log step 61 中 agent 承认灰度仓口检测误把锁片当作开仓。这些日志只作为控制过程的补充证据，不把脚本自报的 S1 done 当作节点完成，也不将其中工作耗时换算为视频时间。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频提供总览及阶段、盖位移、失败原因叠字，但没有锁片按深或接触力。锁片在受操作及终态时被右手食指遮挡，因此关盖节点虽初态已成立，后续完整区间和终值仍未知；也不能据现有证据把控制根因进一步确定为具体按压参数、接触几何或反馈失稳。日志包含十次重置，未给出最后现场回合各输出与视频帧的逐控制步对应，本文件所有视频锚点均直接取自已检查画面。"
+ },
+ "summary_zh": "本次评分视频中，机器人右手只尝试打开电池盖，未达到开度要求，旧电池未入托盘，绿色新电池始终留在桌面。视频约 8.4 s 开盖操作带动遥控器本体倾起，视频 8.6 s 显示 remote_tipped 判负，支持控制失败。盖在初态已关闭，但锁片受操作后持续被手指遮挡且无按深记录，关盖节点的完整时间区间及终值保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频显示右手食指压擦滑盖，遥控器被带动倾起，8.6 s 叠字 FAIL: remote_tipped，盖开度未达节点；开盖未达成、旧电池未入托盘、新电池始终在桌面，断点 battery_cover_opened、现象带动本体、根因控制均有证据支持；关盖未知的理由成立（锁片被遮、无状态日志）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:06:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-standard--9s6thft/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-standard--9s6thft/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a2dc72ffda5ab1f7f518b507fc2889c72d19041eae68cc06bae0e9680275042",
+   "video_sha256": "e601b95e6817963ae1f178a0589e66b632361a0c5f7c64322e374f54c6d7e574",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/alpine_slalom/task_dag.json

@@ -0,0 +1,1575 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/alpine_slalom",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-alpine-slalom-i00",
+ "title_zh": "高山滑雪回转",
+ "summary_zh": "机器人自行起滑，以双脚及两只雪板尖依次通过全部32道旗门，并在规则和总时限内以双脚越过两柱间的终点。",
+ "embodiment_zh": "两种模式均为MuJoCo中的Unitree G1人形机器人，29个关节、高1.32米、重33千克；双臂末端是无可动手指的橡胶拳垫，不是二指夹爪或灵巧手；双脚各刚性绑定一只1.28米回转雪板，无雪杖、无轮式底盘，靠腿和躯干控制滑行。特权模式可读仿真状态，标准模式通过机器人服务获取相机及本体感知，受评本体相同。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-alpine-slalom-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "gate_1_passed",
+    "zh": "通过第1门",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "先在回合开始后20秒内自行起滑，双脚跨过起点红线；随后两只雪板尖和双脚四个受检点均沿下坡方向穿过第1道红色旗门的两杆间门线（坡面里程12米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 6,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。起点阶段仅为首门之前的途中事件及计时验收，不另建起滑节点（S8）；雪板已在初态固定于双脚。"
+   },
+   {
+    "id": "gate_2_passed",
+    "zh": "通过第2门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_1_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第1道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第2道蓝色旗门的两杆间门线（坡面里程21.6米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 6,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_3_passed",
+    "zh": "通过第3门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_2_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第2道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第3道红色旗门的两杆间门线（坡面里��31.2米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 6,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_4_passed",
+    "zh": "通过第4门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_3_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第3道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第4道蓝色旗门的两杆间门线（坡面里程40.8米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_5_passed",
+    "zh": "通过第5门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_4_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第4道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第5道红色旗门的两杆间门线（坡面里程50.4米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_6_passed",
+    "zh": "通过第6门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_5_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第5道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第6道蓝色旗门的两杆间门线（坡面里程60米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_7_passed",
+    "zh": "通过第7门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_6_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第6道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第7道红色旗门的两杆间门线（坡面里程69.6米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_8_passed",
+    "zh": "通过第8门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_7_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第7道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第8道蓝色旗门的两杆间门线（坡面里程79.2米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_9_passed",
+    "zh": "通过第9门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_8_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第8道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第9道红色旗门的两杆间门线（坡面里程88.8米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_10_passed",
+    "zh": "通过第10门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_9_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第9道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第10道蓝色旗门的两杆间门线（坡面里程98.4米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_11_passed",
+    "zh": "通过第11门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_10_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第10道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第11道红色旗门的两杆间门线（坡面里程108米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳���也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_12_passed",
+    "zh": "通过第12门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_11_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第11道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第12道蓝色旗门的两杆间门线（坡面里程117.6米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_13_passed",
+    "zh": "通过第13门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_12_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第12道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第13道红色旗门的两杆间门线（坡面里程127.2米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_14_passed",
+    "zh": "通过第14门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_13_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第13道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第14道蓝色旗门的两杆间门线（坡面里程136.8米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_15_passed",
+    "zh": "通过第15门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_14_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第14道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第15道红色旗门的两杆间门线（坡面里程146.4米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_16_passed",
+    "zh": "通过第16门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_15_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第15道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第16道蓝色旗门的两杆间门线（坡面里程156米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_17_passed",
+    "zh": "通过第17门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_16_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第16道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第17道红色旗门的两杆间门线（坡面里程165.6米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_18_passed",
+    "zh": "通过第18门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_17_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第17道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第18道蓝色旗门的两杆间门线（坡面里程175.2米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_19_passed",
+    "zh": "通过第19门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_18_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第18道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第19道红色旗门的两杆间门线（坡面里程184.8米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_20_passed",
+    "zh": "通过第20门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_19_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第19道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第20道蓝色旗门的两杆间门线（坡面里程194.4米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_21_passed",
+    "zh": "通过第21门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_20_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第20道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第21道红色旗门的两杆间门线（坡面里程204米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_22_passed",
+    "zh": "通过第22门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_21_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第21道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第22道蓝色旗门的两杆间门线（坡面里程213.6米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_23_passed",
+    "zh": "通过第23门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_22_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第22道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第23道红色旗门的两杆间门线（坡面里程223.2米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_24_passed",
+    "zh": "通过第24门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_23_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第23道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第24道蓝色旗门的两杆间门线（坡面里程232.8米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_25_passed",
+    "zh": "通过第25门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_24_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第24道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第25道红色旗门的两杆间门线（坡面里程242.4米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_26_passed",
+    "zh": "通过第26门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_25_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第25道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第26道蓝色旗门的两杆间门线（坡面里程252米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过��时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_27_passed",
+    "zh": "通过第27门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_26_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第26道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第27道红色旗门的两杆间门线（坡面里程261.6米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_28_passed",
+    "zh": "通过第28门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_27_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第27道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第28道蓝色旗门的两杆间门线（坡面里程271.2米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_29_passed",
+    "zh": "通过第29门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_28_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第28道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第29道红色旗门的两杆间门线（坡面里程280.8米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点）��才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_30_passed",
+    "zh": "通过第30门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_29_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第29道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第30道蓝色旗门的两杆间门线（坡面里程290.4米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_31_passed",
+    "zh": "通过第31门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_30_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第30道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第31道红色旗门的两杆间门线（坡面里程300米，位于起始朝向的左侧，横向范围[0.8, 4.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对红杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "gate_32_passed",
+    "zh": "通过第32门",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_31_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "第31道门已通过后，两只雪板尖和双脚四个受检点均沿下坡方向穿过第32道蓝色旗门的两杆间门线（坡面里程309.6米，位于起始朝向的右侧，横向范围[-4.8, -0.8]米，含端点），才记为过门。画面能分辨时，应见双脚连同两板尖从该对蓝杆上坡侧全部进入下坡侧；仅躯干越线、跨杆两侧或仍有一点未过均不算，尚未记过门时逆向退回的点须重过，碰倒杆本身不扣分。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干调节重心完成过门。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:719-731",
+     "inputs/task/privileged/environment/rfo_task.py:866-881",
+     "inputs/task/privileged/environment/rfo_task.py:899-930",
+     "inputs/task/privileged/environment/rfo_task.py:1034-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/task/privileged/instruction.md:34-38"
+    ],
+    "conf": 5,
+    "note_zh": "每门仅一个步骤，同时接受两板尖与双脚；按裁判已通过门数锁存，过门后不要求停稳，也不随机器人远离而失去。固定远景中后段旗门和机器人过小或离开画面，不能从不可见推断未完成；需结合该次裁判阶段记录。"
+   },
+   {
+    "id": "finish_crossed",
+    "zh": "越过终点",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "gate_32_passed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "32道旗门均依次通过后，双脚都到达坡面里程320米的终点线下坡侧，且检查当时双脚横向坐标都在[-6, 6]米内；须在从回合初态起90秒的总时限内由裁判接受，无需停下或静置。画面能分辨时，应见机器人双脚滑至终点横幅下两立柱之间并越过地面终点线；只看见起点黑色拱架或机器人消失在远景中不足以确认，双脚未全部过线或检查时有脚在柱外即未完成。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚经固定雪板支承在雪面上，双腿和躯干控制滑行至终点两柱之间。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:734-736",
+     "inputs/task/privileged/environment/rfo_task.py:780-787",
+     "inputs/task/privileged/environment/rfo_task.py:931-942",
+     "inputs/task/privileged/environment/rfo_task.py:1033-1037",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:283-289",
+     "inputs/oracle/run.json: reward.metric_gates, reward.metric_time_s, reward.stages_reached"
+    ],
+    "conf": 5,
+    "note_zh": "终点按代码在双脚均位于终点线下坡侧时检查其当前横坐标，非逐脚越线插值；与文字差异见疑问。成功立即锁存，不另设站稳节点。成功录像后段机器人及终点离开固定远景的可辨范围，最终达成由该次裁判记录支持。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "fell",
+    "zh": "摔倒",
+    "never": null,
+    "criterion_zh": "成功前，脚和手以外任一机器人部位实际接触雪面（每1毫秒物理步检查），或骨盆沿当地雪面法向的高度小于0.35米（每10毫秒控制步检查），裁判判摔倒并终止；手触雪及雪板正常支承不构成摔倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:672-673",
+     "inputs/task/privileged/environment/rfo_task.py:883-893",
+     "inputs/task/privileged/environment/rfo_task.py:944-951",
+     "inputs/task/privileged/environment/rfo_task.py:1037"
+    ]
+   },
+   {
+    "id": "missed_gate",
+    "zh": "漏过旗门",
+    "never": null,
+    "criterion_zh": "当前旗门尚未记为通过时，任一受检板尖或脚向下跨过后续旗门线，立即判漏门；抵达终点的代码分支则在双脚都到终点线下坡侧而仍有未过旗门时判漏门。当前门仍有点未过、但尚未越过后续门线，仅为尚未完成，不立即构成漏门。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:907-935"
+    ]
+   },
+   {
+    "id": "stopped_after_start",
+    "zh": "起滑后停滞",
+    "never": null,
+    "criterion_zh": "起点阶段已成立后，骨盆平移速度模长连续150个控制步低于0.1米/秒（150×0.01秒=1.5秒），裁判判停滞并终止；起点前不应用此规则，任一步达到或超过0.1米/秒会重置停滞计数。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:952-961",
+     "inputs/task/privileged/environment/rfo_task.py:1037"
+    ]
+   },
+   {
+    "id": "did_not_start",
+    "zh": "未按时起滑",
+    "never": null,
+    "criterion_zh": "回合时间达到20秒的控制步检查时，双脚尚未都跨过起点线，裁判判未起滑并终止；这是未出发规则，区别于90秒总回合上限。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:899-902",
+     "inputs/task/privileged/environment/rfo_task.py:954-958",
+     "inputs/task/privileged/environment/rfo_task.py:1035"
+    ]
+   },
+   {
+    "id": "missed_finish",
+    "zh": "错过终点",
+    "never": null,
+    "criterion_zh": "所有旗门已过且双脚都位于终点线下坡侧时，任一脚当时的横向坐标绝对值大于6米，裁判判错过终点并终止；代码不在第一只脚单独越线时立即判罚。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:931-942",
+     "inputs/task/privileged/environment/rfo_task.py:1037"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "gate_1_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 1 or referee.stages membership gate 1; no state log supplied"
+   },
+   {
+    "atom": "gate_2_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 2 or referee.stages membership gate 2; no state log supplied"
+   },
+   {
+    "atom": "gate_3_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 3 or referee.stages membership gate 3; no state log supplied"
+   },
+   {
+    "atom": "gate_4_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 4 or referee.stages membership gate 4; no state log supplied"
+   },
+   {
+    "atom": "gate_5_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 5 or referee.stages membership gate 5; no state log supplied"
+   },
+   {
+    "atom": "gate_6_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 6 or referee.stages membership gate 6; no state log supplied"
+   },
+   {
+    "atom": "gate_7_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 7 or referee.stages membership gate 7; no state log supplied"
+   },
+   {
+    "atom": "gate_8_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 8 or referee.stages membership gate 8; no state log supplied"
+   },
+   {
+    "atom": "gate_9_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 9 or referee.stages membership gate 9; no state log supplied"
+   },
+   {
+    "atom": "gate_10_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 10 or referee.stages membership gate 10; no state log supplied"
+   },
+   {
+    "atom": "gate_11_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 11 or referee.stages membership gate 11; no state log supplied"
+   },
+   {
+    "atom": "gate_12_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 12 or referee.stages membership gate 12; no state log supplied"
+   },
+   {
+    "atom": "gate_13_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 13 or referee.stages membership gate 13; no state log supplied"
+   },
+   {
+    "atom": "gate_14_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 14 or referee.stages membership gate 14; no state log supplied"
+   },
+   {
+    "atom": "gate_15_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 15 or referee.stages membership gate 15; no state log supplied"
+   },
+   {
+    "atom": "gate_16_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 16 or referee.stages membership gate 16; no state log supplied"
+   },
+   {
+    "atom": "gate_17_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 17 or referee.stages membership gate 17; no state log supplied"
+   },
+   {
+    "atom": "gate_18_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 18 or referee.stages membership gate 18; no state log supplied"
+   },
+   {
+    "atom": "gate_19_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 19 or referee.stages membership gate 19; no state log supplied"
+   },
+   {
+    "atom": "gate_20_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 20 or referee.stages membership gate 20; no state log supplied"
+   },
+   {
+    "atom": "gate_21_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 21 or referee.stages membership gate 21; no state log supplied"
+   },
+   {
+    "atom": "gate_22_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 22 or referee.stages membership gate 22; no state log supplied"
+   },
+   {
+    "atom": "gate_23_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 23 or referee.stages membership gate 23; no state log supplied"
+   },
+   {
+    "atom": "gate_24_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 24 or referee.stages membership gate 24; no state log supplied"
+   },
+   {
+    "atom": "gate_25_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 25 or referee.stages membership gate 25; no state log supplied"
+   },
+   {
+    "atom": "gate_26_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 26 or referee.stages membership gate 26; no state log supplied"
+   },
+   {
+    "atom": "gate_27_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 27 or referee.stages membership gate 27; no state log supplied"
+   },
+   {
+    "atom": "gate_28_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 28 or referee.stages membership gate 28; no state log supplied"
+   },
+   {
+    "atom": "gate_29_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 29 or referee.stages membership gate 29; no state log supplied"
+   },
+   {
+    "atom": "gate_30_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 30 or referee.stages membership gate 30; no state log supplied"
+   },
+   {
+    "atom": "gate_31_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 31 or referee.stages membership gate 31; no state log supplied"
+   },
+   {
+    "atom": "gate_32_passed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:926-930; log task.trackers.passed >= 32 or referee.stages membership gate 32; no state log supplied"
+   },
+   {
+    "atom": "finish_crossed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:931-940; log referee.stages membership finish; no state log supplied"
+   },
+   {
+    "atom": "start_crossed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:899-902; log task.trackers.started and t_start for first-gate acceptance; no state log supplied"
+   },
+   {
+    "atom": "fell",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:672-673; log the corresponding referee failure event and its measured world-state inputs; no state log supplied"
+   },
+   {
+    "atom": "missed_gate",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:907-935; log the corresponding referee failure event and its measured world-state inputs; no state log supplied"
+   },
+   {
+    "atom": "stopped_after_start",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:952-961; log the corresponding referee failure event and its measured world-state inputs; no state log supplied"
+   },
+   {
+    "atom": "did_not_start",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:899-902; log the corresponding referee failure event and its measured world-state inputs; no state log supplied"
+   },
+   {
+    "atom": "missed_finish",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:931-942; log the corresponding referee failure event and its measured world-state inputs; no state log supplied"
+   },
+   {
+    "atom": "referee_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178; log per-frame benchmark referee.success, referee.stages, referee.failed; no state log supplied"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "gates",
+   "unit": "count",
+   "threshold": 32,
+   "direction": "higher_better",
+   "note_zh": "裁判已通过旗门计数；达到32之后还必须越过终点。",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:926-930",
+    "inputs/task/privileged/environment/rfo_task.py:1036"
+   ]
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "note_zh": "仅表示起滑后停滞判定的速度下界，须连续低于此值1.5秒才失败；不是越快得分越高的评分指标。",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:952-961",
+    "inputs/task/privileged/environment/rfo_task.py:1037"
+   ]
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "note_zh": "终点记录的比赛用时为终点回合时间减起滑时间；90秒限制约束整个回合，不是此净用时的独立阈值；成功为二值，不按用时给分。",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:938",
+    "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:284-287"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "输入没有任何状态日志（inputs/states/index.json 的 logs 为空）；依P8，全部节点的 when、约束的 never 及 success 均为 null。atoms 的 new_code 仅列出将来需要记录的裁判世界状态，未将运行记录中的最终评分冒充逐帧状态。",
+  "录像证据限制：已查看成功录像全程每5秒抽帧及0、10、77.35秒原帧。固定远景早段可见黑色起点拱架、红色起点线及机器人向远处红蓝杆滑行，后段无法逐一辨认双脚、板尖、门序或终点；成功记录报告32门、34个原生阶段、7738控制步、比赛用时73.028秒，两次回放终态哈希相同（inputs/oracle/run.json 的 reward 及步骤80）。这不能替代缺失的逐帧过门证据。",
+  "颗粒度采用32个过门步骤加终点，起滑阶段并入首门验收（S2、S5、S8）；文本的 start 原生阶段不单列，禁止停滞也不把整场32次计数合为一项，逐门计数按S5执行。",
+  "文本与代码不一致：文字称任一脚在柱外越过终点线即失败，也称未过门时任一板尖或脚越过终点线即漏门；实际代码只在双脚均到终点线下坡侧时检查是否漏门及当时双脚横坐标（rfo_task.py:916-917,931-942），不保留各脚越线瞬间的横坐标。终点节点与相应约束按实际评分器接受规则书写，不新增步骤（N1）。",
+  "文本与代码的过门细节：两板尖受检位置由雪板中段刚体位置及其前向乘tip_x推算（rfo_task.py:870-873），并非柔性前段真实端点；未通过门的点逆向退回会清除记录，但已通过门的 passed 计数不减少（919-929）。因此过门节点用event，精确验收应以该次裁判几何和阶段为准。",
+  "场地文字近似坐标有误：instruction.md:10称起点边缘约在x=-1.6米、z=0.14米；按场景profile公式及本实例18.3度、6米圆角计算，边缘约x=-2.833米、z=0.617米（rfo_task.py:689-694）。判据以可见起点红线和场景几何为准，不据文字近似坐标另设阈值。",
+  "模式交付判定不同：特权模式要求两次新进程回放均成功且终态哈希一致（grader/efe_embodied-olympics-fun-files/grade.py:105-115）；标准模式取服务的实时裁判结果并要求有效终结且无基础设施错误（grader/efe_standard-files/v2_1/grade.py:93-99）。两者任务模块及实例完全相同，DAG建模共同世界状态；交付有效性和回放确定性不作为语义步骤或世界状态原子。",
+  "20秒未出发是明确的DNS规则，列为立即终止约束；90秒为从初态计起的总回合上限，依P21不列为约束。骨盆速度和净比赛用时虽列原生指标，评分为二值；速度只用于停滞判定，用时不单独决定得分。",
+  "任务说明还规定数值发散失败，world.py:872-883确实会撤销同一控制步新触发的成功；这是仿真有效性而非可由普通视频独立判断的语义世界步骤，未增设节点。无状态日志时也不能用最终视频位置穷尽该有效性判定。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "32道门及终点直接来自两模式文本，几何、门序、阈值和终止规则均有代码依据；初态与模式共同核心已核对。没有状态日志，固定远景也无法逐门观察精细接受条件，故不可自动检验且节点置信度受限；文字与代码差异已显式列出。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "33个节点（32道旗门+终点）与文本及裁判一致：门里程12+9.6k、横向区间[0.8,4.8]/[-4.8,-0.8]、终点x=320与|y|≤6、成功条件（全部阶段）均与rfo_task.py一致；链式after即裁判阶段顺序；约束(fell/missed_gate/stopped/did_not_start/missed_finish)均为立即终止且阈值正确（0.35 m、0.1 m/s×1.5 s、20 s、6 m）；无状态日志故when/success为null符合规则，文字与代码差异已列入open_questions_zh。起滑并入首门属S2允许的两种读法之一，不提出修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['gate_1_passed', 'gate_2_passed', 'gate_3_passed', 'gate_4_passed', 'gate_5_passed', 'gate_6_passed', 'gate_7_passed', 'gate_8_passed', 'gate_9_passed', 'gate_10_passed', 'gate_11_passed', 'gate_12_passed', 'gate_13_passed', 'gate_14_passed', 'gate_15_passed', 'gate_16_passed', 'gate_17_passed', 'gate_18_passed', 'gate_19_passed', 'gate_20_passed', 'gate_21_passed', 'gate_22_passed', 'gate_23_passed', 'gate_24_passed', 'gate_25_passed', 'gate_26_passed', 'gate_27_passed', 'gate_28_passed', 'gate_29_passed', 'gate_30_passed', 'gate_31_passed', 'gate_32_passed', 'finish_crossed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:46:13Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__alpine_slalom/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__alpine_slalom/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "036c99c3647b3a34d64e12757f2a1b735f80c82046e20841cc0b227e2e20a9d7",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--ev2gd7x.json

@@ -0,0 +1,1265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--ev2gd7x",
+ "taskKey": "embodied-olympics-fun/alpine_slalom",
+ "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 8341,
+   "sim_steps": 8341,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 34,
+   "stages_total": 34,
+   "fell": 0,
+   "replay_s": 73.19,
+   "bad_trajectory": 0,
+   "metric_gates": 32.0,
+   "metric_speed_m_s": 5.35,
+   "metric_time_s": 79.058,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 85,
+   "agent_resets": 234,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ev2gd7x/replay.mp4",
+  "duration_s": 83.44,
+  "fps": 25.0,
+  "frames": 2086,
+  "sha256": "f4624b71b383accd420070c7fd58f1b23db22676944ec17fd4f5ba3a29187250"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 33,
+  "base": 0,
+  "peak": 33,
+  "final": 33,
+  "nodes": {
+   "gate_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 1，事件时刻为仿真 11.684 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 11.6 s、视频 11.8 s，机器人以屈膝姿态随双脚固定雪板滑行，在旗杆间交替转弯；双脚和两板尖的精确过线先后在远景中不能逐点分辨。"
+     },
+     {
+      "t": 11.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 11.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 11.6 s、视频 11.8 s，机器人双脚固定于雪板，腿和躯干在板上承重并随雪板沿雪面滑行转弯；未据此声称是否触碰旗杆。"
+     }
+    ]
+   },
+   "gate_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 2，事件时刻为仿真 13.981 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.8 s、视频 14.0 s、视频 14.2 s，机器人以屈膝姿态随双脚固定雪板滑行，在旗杆间交替转弯；双脚和两板尖的精确过线先后在远景中不能逐点分辨。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 14.0 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 13.8 s、视频 14.0 s、视频 14.2 s，机器人双脚固定于雪板，腿和躯干在板上承重并随雪板沿雪面滑行转弯；未据此声称是否触碰旗杆。"
+     }
+    ]
+   },
+   "gate_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.2,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 3，事件时刻为仿真 16.170 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0 s、视频 16.2 s、视频 16.4 s，机器人以屈膝姿态随双脚固定雪板滑行，在旗杆间交替转弯；双脚和两板尖的精确过线先后在远景中不能逐点分辨。"
+     },
+     {
+      "t": 16.2,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 16.2 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 16.0 s、视频 16.2 s、视频 16.4 s，机器人双脚固定于雪板，腿和躯干在板上承重并随雪板沿雪面滑行转弯；未据此声称是否触碰旗杆。"
+     }
+    ]
+   },
+   "gate_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 4，事件时刻为仿真 18.560 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 18.4 s、视频 18.6 s、视频 18.8 s，机器人以屈膝姿态随双脚固定雪板滑行，在旗杆间交替转弯；双脚和两板尖的精确过线先后在远景中不能逐点分辨。"
+     },
+     {
+      "t": 18.6,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 18.6 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.4 s、视频 18.6 s、视频 18.8 s，机器人双脚固定于雪板，腿和躯干在板上承重并随雪板沿雪面滑行转弯；未据此声称是否触碰旗杆。"
+     }
+    ]
+   },
+   "gate_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.1,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 5，事件时刻为仿真 21.090 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0 s、视频 21.2 s，机器人已缩小为远处旗门间的小轮廓，不能分辨足部支承、两板尖及四点过线。"
+     },
+     {
+      "t": 21.1,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 21.1 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 21.0 s、视频 21.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 6，事件时刻为仿真 23.495 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 23.4,
+      "log_step": null,
+      "text_zh": "观察：视频 23.4 s、视频 23.6 s，机器人已缩小为远处旗门间的小轮廓，不能分辨足部支承、两板尖及四点过线。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 23.5 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 23.4 s、视频 23.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_7_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 7，事件时刻为仿真 25.514 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 25.4,
+      "log_step": null,
+      "text_zh": "观察：视频 25.4 s、视频 25.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 25.5,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 25.5 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 25.4 s、视频 25.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_8_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.9,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 8，事件时刻为仿真 27.862 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 27.8,
+      "log_step": null,
+      "text_zh": "观察：视频 27.8 s、视频 28.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 27.9,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 27.9 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 27.8 s、视频 28.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_9_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.1,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 9，事件时刻为仿真 30.073 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0 s、视频 30.2 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 30.1,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 30.1 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 30.0 s、视频 30.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_10_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.4,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 10，事件时刻为仿真 32.434 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 32.2,
+      "log_step": null,
+      "text_zh": "观察：视频 32.2 s、视频 32.4 s、视频 32.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 32.4,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 32.4 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 32.2 s、视频 32.4 s、视频 32.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_11_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 11，事件时刻为仿真 34.676 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 34.6,
+      "log_step": null,
+      "text_zh": "观察：视频 34.6 s、视频 34.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 34.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 34.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 34.6 s、视频 34.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_12_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.8,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 12，事件时刻为仿真 36.792 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 36.6,
+      "log_step": null,
+      "text_zh": "观察：视频 36.6 s、视频 36.8 s、视频 37.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 36.8,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 36.8 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 36.6 s、视频 36.8 s、视频 37.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_13_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.0,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 13，事件时刻为仿真 39.029 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 38.8,
+      "log_step": null,
+      "text_zh": "观察：视频 38.8 s、视频 39.0 s、视频 39.2 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 39.0 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 38.8 s、视频 39.0 s、视频 39.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_14_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.2,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 14，事件时刻为仿真 41.213 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "观察：视频 41.0 s、视频 41.2 s、视频 41.4 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 41.2,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 41.2 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 41.0 s、视频 41.2 s、视频 41.4 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_15_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 15，事件时刻为仿真 43.506 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 43.4,
+      "log_step": null,
+      "text_zh": "观察：视频 43.4 s、视频 43.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 43.5,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 43.5 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 43.4 s、视频 43.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_16_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.6,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 16，事件时刻为仿真 45.561 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 45.4,
+      "log_step": null,
+      "text_zh": "观察：视频 45.4 s、视频 45.6 s、视频 45.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 45.6,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 45.6 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 45.4 s、视频 45.6 s、视频 45.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_17_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 47.9,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 17，事件时刻为仿真 47.862 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8 s、视频 48.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 47.9,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 47.9 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 47.8 s、视频 48.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_18_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.9,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 18，事件时刻为仿真 49.879 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 49.8,
+      "log_step": null,
+      "text_zh": "观察：视频 49.8 s、视频 50.0 s，固定相机仍朝向起点和近段���门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 49.9,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 49.9 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 49.8 s、视频 50.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_19_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.1,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 19，事件时刻为仿真 52.065 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 52.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.0 s、视频 52.2 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 52.1,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 52.1 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 52.0 s、视频 52.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_20_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      54.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 54.4,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 20，事件时刻为仿真 54.368 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 54.2,
+      "log_step": null,
+      "text_zh": "观察：视频 54.2 s、视频 54.4 s、视频 54.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 54.4,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 54.4 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 54.2 s、视频 54.4 s、视频 54.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_21_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      57.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 57.9,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 21，事件时刻为仿真 57.851 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 57.8,
+      "log_step": null,
+      "text_zh": "观察：视频 57.8 s、视频 58.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考���像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 57.9,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 57.9 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 57.8 s、视频 58.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_22_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      60.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 60.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 22，事件时刻为仿真 60.722 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 60.6,
+      "log_step": null,
+      "text_zh": "观察：视频 60.6 s、视频 60.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 60.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 60.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 60.6 s、视频 60.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_23_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      63.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 23，事件时刻为仿真 62.954 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 62.8,
+      "log_step": null,
+      "text_zh": "观察：视频 62.8 s、视频 63.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 63.0,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 63.0 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 62.8 s、视频 63.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_24_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      65.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 65.0,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 24，事件时刻为仿真 64.999 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 64.8,
+      "log_step": null,
+      "text_zh": "观察：视频 64.8 s、视频 65.0 s、视频 65.2 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 65.0,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 65.0 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 64.8 s、视频 65.0 s、视频 65.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_25_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      67.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 67.1,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 25，事件时刻为仿真 67.095 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 67.0,
+      "log_step": null,
+      "text_zh": "观察：视频 67.0 s、视频 67.2 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 67.1,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 67.1 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 67.0 s、视频 67.2 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_26_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      69.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 69.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 26，事件时刻为仿真 69.673 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 69.6,
+      "log_step": null,
+      "text_zh": "观察：视频 69.6 s、视频 69.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 69.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 69.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 69.6 s、视频 69.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_27_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 71.9,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 27，事件时刻为仿真 71.890 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 71.8,
+      "log_step": null,
+      "text_zh": "观察：视频 71.8 s、视频 72.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 71.9,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判���段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 71.9 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 71.8 s、视频 72.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_28_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      73.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 73.8,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 28，事件时刻为仿真 73.840 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 73.6,
+      "log_step": null,
+      "text_zh": "观察：视频 73.6 s、视频 73.8 s、视频 74.0 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 73.8,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 73.8 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 73.6 s、视频 73.8 s、视频 74.0 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_29_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      75.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 29，事件时刻为仿真 75.666 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 75.6,
+      "log_step": null,
+      "text_zh": "观察：视频 75.6 s、视频 75.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 75.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 75.6 s、视频 75.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_30_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.7,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 30，事件时刻为仿真 77.680 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 77.6,
+      "log_step": null,
+      "text_zh": "观察：视频 77.6 s、视频 77.8 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 77.7,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s��视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 77.7 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 77.6 s、视频 77.8 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_31_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      79.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 79.4,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 31，事件时刻为仿真 79.366 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 79.2,
+      "log_step": null,
+      "text_zh": "观察：视频 79.2 s、视频 79.4 s、视频 79.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 79.4,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 79.4 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 79.2 s、视频 79.4 s、视频 79.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "gate_32_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      81.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 81.4,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放报告均为 success=true、8341个控制步、仿真 83.41 s、相同终态哈希；其裁判事件包含 gate 32，事件时刻为仿真 81.434 s。最终评分器也报告 metric_gates=32、stages_reached=34、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 81.2,
+      "log_step": null,
+      "text_zh": "观察：视频 81.2 s、视频 81.4 s、视频 81.6 s，固定相机仍朝向起点和近段旗门，机器人及当前门的足部、板尖已不可辨；与成功参考录像相同的远景限制，画面不提供逐点过门证据。"
+     },
+     {
+      "t": 81.4,
+      "log_step": 224,
+      "text_zh": "推断：这是交付文件回放的裁判阶段，而非搜索候选的结果。由8341控制步×0.01 s=仿真83.41 s与视频83.44 s时长相符，且已在视频4.24–4.60 s起点越红线及视频11.6–11.8 s首门附近滑行处核对，按同一回合时钟将该门事件定位为约视频 81.4 s（N6，精度约0.2 s）；成功裁判确认四受检点及前序门均被接受，事件锁存至片尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 81.2 s、视频 81.4 s、视频 81.6 s，该门附近的机器人足部和雪板接触区域太小或已超出可辨范围；无状态接触日志，不能逐门确认实际支承及其他接触。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      83.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 83.4,
+      "log_step": 224,
+      "text_zh": "观察：log step 224 的交付文件两次新进程回放均报告全部32个 gate 和 finish 阶段、success=true、failed=null、8341控制步、仿真83.41 s且终态哈希相同；finish 裁判事件为仿真83.409 s。最终评分器记录success=1、replay_success=1、deterministic=1、metric_gates=32、metric_time_s=79.058。"
+     },
+     {
+      "t": 83.4,
+      "log_step": null,
+      "text_zh": "观察：已检查视频82.4、82.6、82.8、83.0、83.2及83.40 s，画面仍为固定起点远景，终点与机器人双脚均无法辨认；近处黑色拱架是起点，不能把它当成终点证据。"
+     },
+     {
+      "t": 83.4,
+      "log_step": 224,
+      "text_zh": "推断：交付回放的8341控制步×0.01 s=仿真83.41 s与视频83.44 s匹配，起滑及首门处也已核对同一时钟；故finish事件约为视频83.4 s。按本次裁判成功结果，全部前序门完成后双脚在终点规定范围内过线且被接受；成功为锁存事件，无需停稳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频82.4–83.40 s的固定远景不能显示终点附近机器人、足部、雪板或雪面接触；没有状态接触日志，实际接触方式未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "gates",
+   "unit": "count",
+   "threshold": 32,
+   "direction": "higher_better",
+   "value": 32.0
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 5.35
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 79.058
+  }
+ ],
+ "failure": null,
+ "summary_zh": "交付轨迹自行起滑，依次通过32道旗门并越过终点，33/33节点最终达成；交付文件两次新进程回放成功且终态哈希一致，最终评分器确认32门、34个原生阶段及无摔倒，故无失败断点。逐门时间采用log step 224交付回放的裁判事件，利用8341控制步对应仿真83.41 s与视频83.44 s的时长及起滑、首门画面核对，终点约视频83.4 s，裁判净比赛用时79.058 s。已看完整段抽帧、各过门事件附近密集帧和视频最后一秒，并比较成功参考录像；没有状态日志，固定远景无法逐点辨认四点过门，后段接触不可见处保留未知，不把会话搜索中的摔倒当成本次失败。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行（评分器 32 门、34 阶段、未摔倒），全部 33 个节点达成、无失败断点，与评分器一致；控制步→视频时间映射（8341 步=83.41 s≈视频 83.44 s）有说明并已在起滑与首门核对；固定远景下逐门接触标未知合理。",
+    "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": "2026-10-29T10:04:56Z",
+  "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/embodied-olympics-fun-alpine-slalom-i00-privileged--ev2gd7x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ev2gd7x/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7b11adfb402406d898f9cf4311d4640bfe743a16443044c843d2405922d38150",
+   "video_sha256": "f4624b71b383accd420070c7fd58f1b23db22676944ec17fd4f5ba3a29187250",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--m7dzy5z.json

@@ -0,0 +1,614 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--m7dzy5z",
+ "taskKey": "embodied-olympics-fun/alpine_slalom",
+ "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 2000,
+   "sim_steps": 4123,
+   "calls": 126,
+   "rows": 4120,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1893.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "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": 1.106,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--m7dzy5z/replay.mp4",
+  "duration_s": 20.04,
+  "fps": 25.0,
+  "frames": 501,
+  "sha256": "9717439cee76f977b72066149e9313c20dc1eac8768413869bf36df923707d05"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 33,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gate_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 100,
+      "text_zh": "观察：视频0.0 s机器人双脚及雪板在起点红线前；视频约2.4–4.8 s机器人躯干逐渐向下坡方向前倾，双脚仍在红线上坡侧，未滑向第1道旗门。log step 100的起滑代码命令踝关节前倾并摆动双臂。"
+     },
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "观察：视频19.0–19.96 s逐帧检查，机器人仍以前倾姿势停在起点红线上坡侧，双脚没有全部越线。log step 101所执行的最终episode 6从服务返回outcome=\"did not start\"、stages_reached=0、stages_total=34；该阶段计数包含起点、32门和终点。log step 103确认本回合2000个控制步且done=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–19.96 s机器人双脚经固定雪板支承在起点平台，腿和躯干前倾尝试起滑；雪板及双脚没有离开起点区域，双臂仅在空中摆动。"
+     }
+    ]
+   },
+   "gate_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第2道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第3道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第4道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第5道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第6道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_7_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第7道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_8_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第8道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_9_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第9道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_10_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第10道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_11_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第11道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_12_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第12道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_13_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第13道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_14_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第14道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_15_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第15道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_16_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器���始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第16道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_17_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第17道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_18_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第18道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_19_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第19道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_20_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第20道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_21_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第21道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_22_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第22道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_23_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第23道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_24_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第24道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_25_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第25道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_26_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第26道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_27_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第27道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_28_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第28道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_29_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第29道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_30_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第30道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_31_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第31道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "gate_32_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过第32道旗门；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 101,
+      "text_zh": "推断：受评视频0.0–19.96 s中机器人始终留在起点平台，末秒仍未以双脚跨过起点红线，故没有到达或通过终点；按DAG的顺序验收此前置也未成立。log step 101的最终episode 6服务裁判报告did not start及0/34原生阶段，与视频一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "gates",
+   "unit": "count",
+   "threshold": 32,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gate_1_passed",
+   "t": 3.0,
+   "log_step": 101,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约2.4–4.8 s机器人执行起滑动作，躯干明显前倾但双脚未越起点红线；视频19.0–19.96 s仍停在原处，首门的起滑验收始终未完成。log step 101最终episode 6服务裁判报告did not start、0/34阶段，log step 103确认回合终结；首门节点包含自行起滑，因此断点为gate_1_passed。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 3.0,
+    "log_step": 101,
+    "evidence_zh": "观察：视频约2.4–4.8 s机器人由直立转为明显前倾，雪板只在起点附近小幅变化，未形成离开平台的前进；视频19.0–19.96 s双脚仍在红线上坡侧，机器人保持该姿势，没有出现倒地过程。log step 101服务裁判以did not start终结。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / agent 自述 / 视频",
+    "evidence_zh": "推断：agent为水平平台选择了“前倾使雪板滑动，再进入下坡滑行”的起滑策略，但该策略未产生所需位移。log step 98脚本说明明确依赖lean forward to slip off the platform；log step 100的实际修改仍是加大踝前倾及空中摆臂，并允许起滑阶段经过7秒后直接切到GLIDE，而非确认双脚过起点。视频3.0–19.96 s显示前倾后双脚始终未出发，log step 101服务返回did not start；log step 56的先前测试曾用walk获得1/34阶段，说明此前已有可越起点的会话证据，但受评起滑方案未采用它。agent在log step 118自述错误假定平台会让雪板滑动；此处归因为起滑方案及阶段切换设计错误，不将其“高摩擦”解释当作已测得的环境参数。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；固定远景可判断双脚未越起点，但不能独立测定雪板接触力、平台摩擦系数或踝关节饱和机理。log step 113为agent对保存本体数据的后处理，不作为独立状态日志；根因细节因此保留为结合代码与画面的推断。DAG的gates、speed_m_s和time_s均未作为该次reward字段报告，native_metrics的value置null。",
+  "unmet": {
+   "gate_1_passed": false,
+   "gate_2_passed": false,
+   "gate_3_passed": false,
+   "gate_4_passed": false,
+   "gate_5_passed": false,
+   "gate_6_passed": false,
+   "gate_7_passed": false,
+   "gate_8_passed": false,
+   "gate_9_passed": false,
+   "gate_10_passed": false,
+   "gate_11_passed": false,
+   "gate_12_passed": false,
+   "gate_13_passed": false,
+   "gate_14_passed": false,
+   "gate_15_passed": false,
+   "gate_16_passed": false,
+   "gate_17_passed": false,
+   "gate_18_passed": false,
+   "gate_19_passed": false,
+   "gate_20_passed": false,
+   "gate_21_passed": false,
+   "gate_22_passed": false,
+   "gate_23_passed": false,
+   "gate_24_passed": false,
+   "gate_25_passed": false,
+   "gate_26_passed": false,
+   "gate_27_passed": false,
+   "gate_28_passed": false,
+   "gate_29_passed": false,
+   "gate_30_passed": false,
+   "gate_31_passed": false,
+   "gate_32_passed": false,
+   "finish_crossed": false
+  }
+ },
+ "summary_zh": "受评的是log step 101运行的最终episode 6：机器人尝试前倾起滑，却始终未以双脚越过起点红线，32道旗门及终点均未达到，节点进度为0/33。视频约3.0 s起可见前倾而不前进，末秒仍未恢复，服务裁判报告did not start、0/34原生阶段；脚本依赖前倾滑出平台且按经过时间切换阶段，支持起滑策略与阶段设计错误。缺少逐帧状态及接触力证据，平台高摩擦的具体物理解释仅为agent自述，未独立验证。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "受评episode 6 的起滑失败：视频全程机器人停在起点红线上坡侧，服务裁判 did not start、0/34，33个节点全为 false，断点 gate_1_passed、阶段/根因与 log step 98/100/101/118 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": "2026-10-29T10:04:00Z",
+  "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/embodied-olympics-fun-alpine-slalom-i00-standard--m7dzy5z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--m7dzy5z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e645351e336c06d9d28160118b2f9fc03988ffd9f72594e19fbb981e4e0aa64a",
+   "video_sha256": "9717439cee76f977b72066149e9313c20dc1eac8768413869bf36df923707d05",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/badminton_serve/task_dag.json

@@ -0,0 +1,302 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/badminton_serve",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-badminton-serve-i00",
+ "title_zh": "羽毛球合法发球",
+ "summary_zh": "机器人从己方右发球区合法放球并用右手球拍击球，使羽毛球越网后首次落在对角接发球区且无裁判违例。",
+ "embodiment_zh": "两模式均为 Unitree G1 双足人形机器人（29 个本体关节，约 1.32 m、35 kg），双臂各装 Unitree Dex3-1 三指灵巧手；初始左手握羽毛球羽毛、右手靠摩擦握自由球拍拍柄，非腕部固定工具，双腿在球场支撑，无轮式底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-badminton-serve-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "serve_in_target",
+    "zh": "合法发球入区",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地远景中，机器人在近侧右发球区左手放开白色羽毛球、右手挥拍将其向上击出，球从黑色球网上方两柱之间进入远侧对角、淡黄色标示的接发球区，首次触地接触点须满足 x∈[4.43,9.15] m、y∈[0.43,3.04] m（线内含；原点为初始骨盆正下方、+x 朝网、+y 向左），至此才完成；只放球、击球、过网而尚未合法落地，或落点错误均未完成。必须按 release→hit→over the net→in 依次验收：放球前球在左手且随后脱离机器人接触满 0.03 s，首次击球为球托先触拍、全球最高处 <1.15 m、入拍前速 ≤4.0 m/s、拍头有效向网前挥（>0.5 m/s 开始、<0.1 m/s 停止，放球后才开始的前挥不得在击球前停止），击球结束后 0.03 s 球速大于入拍前速且仍上升；接触相隔 <0.03 s 算一击且接触持续 ≤0.02 s，过网参考点在 x=2.45 m 处满足 |y−0.45|≤3.05 m、z>1.524+0.026((y−0.45)/3.05)^2 m，同时从发球开始到击球双脚不踩己方发球区界线、离地间隙 ≤0.02 s、水平位移 ≤0.03 m，右手始终握拍（间隙 ≤0.05 s）且全程无所列违例；远景不能分辨的球托初触、瞬时速度和接触时长须以裁判事件及指标核实。",
+    "step": {
+     "cat": "动态",
+     "item": "击打"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：击打；右手握持的球拍拍面瞬时击打羽毛球球托，现有接触方式没有击打，不能用推/扫或压/擦代替；握拍链路不重复标注。",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚同时支撑球场地面，在发球开始至击球期间保持原地站立。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-5",
+     "inputs/task/standard/instruction.md:3-8",
+     "inputs/task/privileged/tests/rfo_task.py:404-412",
+     "inputs/task/privileged/tests/rfo_task.py:483-491",
+     "inputs/task/privileged/tests/rfo_task.py:542-564",
+     "inputs/task/privileged/tests/rfo_task.py:617-744",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178",
+     "inputs/oracle/replay.mp4:0.00-2.96 s",
+     "inputs/oracle/run.json:reward; steps[191].out.text"
+    ],
+    "conf": 6,
+    "note_zh": "按 S10，一次发球的放球、击球、过网、首次落地无法在中间暂停后继续，四个原生阶段合成一个事件目标；击球过程与落点判定成功后锁存，无终态静置窗口。左手此前握住羽毛球羽毛并张开放球，右手随后经球拍击打，二者先后发生而不增加同时接触条目；左右手初始已分别持球、持拍，无工具拾取前置步骤。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fell",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "尝试尚未成功时，骨盆高度低于 0.35 m，或双脚以外的机器人部位接触地面；视频可见身体下坠、手膝或躯干撑地。通用裁判在控制步末检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-282",
+     "inputs/task/privileged/tests/rfo_task.py:478-480"
+    ]
+   },
+   {
+    "id": "racket_lost",
+    "zh": "球拍脱手触地",
+    "never": null,
+    "criterion_zh": "右手未以手指与拇指或手掌共同接触球拍，且离开有效握持超过 0.05 s，或球拍任何时候触地，均判失败；视频可见球拍脱离右手或落到地面。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:527-531",
+     "inputs/task/privileged/tests/rfo_task.py:623-628"
+    ]
+   },
+   {
+    "id": "net_or_post_contact",
+    "zh": "人体球拍触网",
+    "never": null,
+    "criterion_zh": "机器人任一部位或球拍接触球网或网柱即失败；羽毛球在合法击球后擦网本身允许，但触网柱不允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:617-622",
+     "inputs/task/privileged/tests/rfo_task.py:693-698"
+    ]
+   },
+   {
+    "id": "service_feet_fault",
+    "zh": "发球脚步违例",
+    "never": null,
+    "criterion_zh": "从放球与导致击球的前挥开始两者较早时刻到击球，双脚接地点必须严格在己方发球区内部：-4.21 < x < 0.43 m、-2.10 < y < 0.43 m，不踩线；每只脚离地间隙不得超过 0.02 s，脚部位置相对发球开始的最大水平位移不得超过 0.03 m。脚踩线、出区、持续离地或明显移步为失败，裁判在击球时追溯该段历史。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:483-491",
+     "inputs/task/privileged/tests/rfo_task.py:601-615",
+     "inputs/task/privileged/tests/rfo_task.py:632-648",
+     "inputs/task/privileged/tests/rfo_task.py:735-741",
+     "inputs/task/privileged/tests/rfo_task.py:405-412"
+    ]
+   },
+   {
+    "id": "shuttle_contact_fault",
+    "zh": "羽球接触违例",
+    "never": null,
+    "criterion_zh": "羽毛球尚未脱离机器人接触满 0.03 s 前，球拍不得触球；确认放球后，羽毛球不得再碰机器人。合法击球后不得二次击球或持球：相隔至少 0.03 s 的球拍接触另计一击，同一次接触持续超过 0.02 s 判持球，羽毛球触网柱也失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:649-668",
+     "inputs/task/privileged/tests/rfo_task.py:679-696",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:304-347"
+    ]
+   },
+   {
+    "id": "service_stroke_fault",
+    "zh": "发球击打违例",
+    "never": null,
+    "criterion_zh": "放球后的拍头前挥以向网速度超过 0.5 m/s 开始、低于 0.1 m/s 停止，开始后若在击球前停止即失败；首次击球必须球托接触球拍（羽毛可同时接触）、全球最高处严格低于 1.15 m、入拍前速度不超过 4.0 m/s，且拍头仍处在有效前挥中。击球最后一次接触后 0.03 s 验收时，羽毛球速度须大于入拍前速度且竖直速度大于 0；任一条件不满足即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:632-643",
+     "inputs/task/privileged/tests/rfo_task.py:684-692",
+     "inputs/task/privileged/tests/rfo_task.py:720-744",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:325-347"
+    ]
+   },
+   {
+    "id": "serve_path_fault",
+    "zh": "羽球飞行落点错",
+    "never": null,
+    "criterion_zh": "未击球前羽毛球触地、触网或穿越网面即失败；击球后越过网面时须在两柱之间且参考点高于该横向位置的网顶，首次触地接触点须在接发球区内。从网下、柱外通过，或落在己方、对方其他区域、场外均失败；落点判界线内含，合法击球后擦网允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:672-677",
+     "inputs/task/privileged/tests/rfo_task.py:695-718"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "badminton_serve_in",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178; inputs/task/privileged/tests/rfo_task.py:699-744; 需逐帧记录原生 ref.stages、ref.success、ref.failed 及球拍/球接触事件；当前无状态日志，未绑定任何路径。"
+   },
+   {
+    "atom": "robot_fell",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-282; inputs/task/privileged/tests/rfo_task.py:478-480; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "racket_lost",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:527-531; inputs/task/privileged/tests/rfo_task.py:623-628; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "net_or_post_contact",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:617-622; inputs/task/privileged/tests/rfo_task.py:693-698; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "service_feet_fault",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:483-491; inputs/task/privileged/tests/rfo_task.py:601-615; inputs/task/privileged/tests/rfo_task.py:632-648; inputs/task/privileged/tests/rfo_task.py:735-741; inputs/task/privileged/tests/rfo_task.py:405-412; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "shuttle_contact_fault",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:649-668; inputs/task/privileged/tests/rfo_task.py:679-696; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:304-347; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "service_stroke_fault",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:632-643; inputs/task/privileged/tests/rfo_task.py:684-692; inputs/task/privileged/tests/rfo_task.py:720-744; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:325-347; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   },
+   {
+    "atom": "serve_path_fault",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:672-677; inputs/task/privileged/tests/rfo_task.py:695-718; 需记录原生裁判失败原因及对应接触、脚步和历史跟踪量，当前无状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "hit_height_m",
+   "unit": "m",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "note_zh": "严格小于；全球最高点，来源：inputs/task/privileged/tests/rfo_task.py:723-743"
+  },
+  {
+   "name": "shuttle_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "击球结束时速度须严格大于本次入拍前速度，无固定下限；入拍前另限 ≤4.0 m/s。来源：inputs/task/privileged/tests/rfo_task.py:665,684-692,731-732"
+  },
+  {
+   "name": "shuttle_angle_deg",
+   "unit": "deg",
+   "threshold": 0,
+   "direction": "higher_better",
+   "note_zh": "击球结束时由速度计算的仰角，裁判实际检查竖直速度 >0。来源：inputs/task/privileged/tests/rfo_task.py:684-692"
+  },
+  {
+   "name": "landing_x_m",
+   "unit": "m",
+   "threshold": [
+    4.43,
+    9.15
+   ],
+   "direction": "target",
+   "note_zh": "首次触地接触点，闭区间，按实例参数计算；来源：inputs/task/privileged/tests/rfo_task.py:483-491,708-718"
+  },
+  {
+   "name": "landing_y_m",
+   "unit": "m",
+   "threshold": [
+    0.43,
+    3.04
+   ],
+   "direction": "target",
+   "note_zh": "首次触地接触点，闭区间；来源：inputs/task/privileged/tests/rfo_task.py:483-491,708-718"
+  }
+ ],
+ "open_questions_zh": [
+  "状态证据缺口：inputs/states/index.json 的 logs 为空，成功参考也无状态日志；按 P8，节点 when、约束 never 与 success 均为 null，atoms 仅列需补录的原生裁判量，不能据源码字段假装已绑定。",
+  "视频证据限制：参考远景可见放球、挥拍和白色羽毛球向远侧飞行，但球很小，无法核实毫秒级球托初触、接触持续、脚部位移与瞬时速度。渲染每 4 个控制步采样一次（inputs/grader/efe_embodied-olympics-fun-files/rcb_rfo.py:216-241）；末帧对应约 2.96 s，早于参考裁判首次落地 2.973 s，因此落地成功同时参考 run.json 的 reward 和最终交付回放输出，不声称末帧已直接拍到触地。",
+  "模式验收差异：任务规则代码在 privileged tests、privileged environment 和 standard sim 中逐字相同；privileged 另要求同一提交在两个新进程中都成功且末态哈希相同（inputs/grader/efe_embodied-olympics-fun-files/grade.py:94-110），standard 评分最后一次实时尝试（inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。交付、复现和基础设施有效性不是世界状态，不增加节点；无日志时 success 不能自动覆盖这些交付检查。",
+  "工具前置核对（D2）：文本与评分器都要求右手用球拍发球，且右手握拍须贯穿尝试（inputs/task/privileged/tests/rfo_task.py:527-531,623-628）；reset 已将球拍置于右手并闭合灵巧手（同文件:542-564），所以不增设拿起球拍节点。",
+  "粒度采用 S10 与 D11 的连续投击阅读：四个原生阶段仅验收一次完整合法发球，不形成四个语义步骤；15 s / 1500 控制步是时限而非约束（P21）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "一个连续发球步骤直接来自文本，阈值、初始持物、两模式共同裁判与成功回放均已核对；没有状态日志，视频也不能核验精细接触和最终落地瞬间，故保留空条件并降低置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单个连续发球步骤（放球→击球→过网→入区）符合 S10：球放开后不能停下再继续，过网和落地是飞行结果而非机器人可暂停的步骤；task_class=atomic 与之一致。无状态日志，按 P8 when/never/success 为 null，已在 open_questions_zh 说明；约束均为立即终止，来源行号与指令文本一致，未发现多余或缺失的节点、边、阈值。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['serve_in_target']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:48:37Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__badminton_serve/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__badminton_serve/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "248bafc839e43a1099e3fe8b69440a1b297b88b48d3dd2395d36809406933a28",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/badminton_serve/trajectories/embodied-olympics-fun-badminton-serve-i00-privileged--xh7w7ov.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-badminton-serve-i00-privileged--xh7w7ov",
+ "taskKey": "embodied-olympics-fun/badminton_serve",
+ "dag_sha256": "e5772140aff5f054a271f90fd295419869c755e083b6526601e08a99bee573e1",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 225,
+   "sim_steps": 225,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 8.1,
+   "bad_trajectory": 0,
+   "metric_hit_height_m": 0.6018,
+   "metric_landing_x_m": 5.731,
+   "metric_landing_y_m": 1.47,
+   "metric_shuttle_angle_deg": 44.55,
+   "metric_shuttle_speed_m_s": 11.7617,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 44,
+   "agent_resets": 154,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.745,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-badminton-serve-i00-privileged--xh7w7ov/replay.mp4",
+  "duration_s": 2.28,
+  "fps": 25.0,
+  "frames": 57,
+  "sha256": "54506ffab73c0dee841aef7a658e2d1b2b08c4e146d7fa750edc06f5b8838d3d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "serve_in_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 95,
+      "text_zh": "观察：逐帧检查视频 0.00–1.24 s，机器人在近侧站立准备，左臂随后抬开，右手球拍于视频约 0.84–0.92 s 向前上方挥出；视频 0.92–1.24 s 可见白色羽毛球离开机器人向球网上方飞行。log step 95 的最终交付回放由基准裁判报告 release、hit、over the net、in 四阶段全部完成，failed=null；该裁判是仿真任务的规则检查器。"
+     },
+     {
+      "t": 2.24,
+      "log_step": 95,
+      "text_zh": "观察：逐帧检查视频 1.24–2.24 s（含末秒全部帧），机器人双脚保持支撑、右手球拍仍在，羽毛球飞向远侧区域后变小并受球网遮挡，末帧不能辨清首次触地。inputs/run.json 的 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=4；击球高度 0.6018 m、出球速度 11.7617 m/s、仰角 44.55°，首次落点 (5.731, 1.470) m 位于任务规定目标区内。"
+     },
+     {
+      "t": 2.25,
+      "log_step": 95,
+      "text_zh": "推断：log step 94 执行最终生成脚本并回放交付文件，log step 95 报告该文件执行 225 个控制步、仿真时长 2.25 s，生成脚本（log step 92）注明 60 步为仿真 0.60 s，故控制率为 100 Hz；225/100=2.25 s 与视频总长 2.28 s 相合，且裁判仿真 0.862 s 击球事件已在视频 0.84–0.92 s 的挥拍与出球处核对。按此近似映射，裁判仿真 2.247 s 的 in/success 对应视频约 2.25 s，作为节点达成锚点；该时刻略晚于视频 2.24 s 末帧，成功及合法首次落点由交付回放裁判与最终评分字段共同确认，并非声称末帧直接拍到触地。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：击打；视频约 0.84–0.92 s 机器人右手持拍前上挥，随后白色羽毛球向上飞出，结合 log step 95 交付回放裁判的 hit 事件，判定实际发生球拍对羽毛球的击打；现有方式无击打，推/扫或压/擦均不适用。此前左手持球后放开并撤离，右手握拍链路不重复标注。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 0.00–2.24 s 可见机器人双脚在近侧球场承重支撑，准备及挥拍过程中保持站立，未见跌倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hit_height_m",
+   "value": 0.6018,
+   "unit": "m",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "shuttle_speed_m_s",
+   "value": 11.7617,
+   "unit": "m/s",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "shuttle_angle_deg",
+   "value": 44.55,
+   "unit": "deg",
+   "threshold": 0,
+   "direction": "higher_better"
+  },
+  {
+   "name": "landing_x_m",
+   "value": 5.731,
+   "unit": "m",
+   "threshold": [
+    4.43,
+    9.15
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "landing_y_m",
+   "value": 1.47,
+   "unit": "m",
+   "threshold": [
+    0.43,
+    3.04
+   ],
+   "direction": "target"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成放球、右手持拍向前上方击球及越网，最终交付回放裁判和评分器均确认合法发球入区，节点完成 1/1，首次落点为 (5.731, 1.470) m。节点达成标在视频约 2.25 s，由交付文件控制步与裁判事件映射，已用视频约 0.84–0.92 s 的挥拍出球核对；成功参考视频也呈现同类站立发球与越网过程。无状态日志，远景不能核实毫秒级接触和脚步阈值，且视频 2.24 s 末帧略早于裁判落地事件，相关合法性与最终触地依靠本次交付回放及评分字段确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，单节点 serve_in_target 达成，时间锚点、接触标注（击打=其他、腿/躯干支撑）和裁判字段一致，无失败层，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:33Z",
+  "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/embodied-olympics-fun-badminton-serve-i00-privileged--xh7w7ov/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-badminton-serve-i00-privileged--xh7w7ov/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8be181675f60a981106b1f79f3ea6321f2ddaf304100c9a6f52e1b2947cf7399",
+   "video_sha256": "54506ffab73c0dee841aef7a658e2d1b2b08c4e146d7fa750edc06f5b8838d3d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/badminton_serve/trajectories/embodied-olympics-fun-badminton-serve-i00-standard--dearvde.json

@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-badminton-serve-i00-standard--dearvde",
+ "taskKey": "embodied-olympics-fun/badminton_serve",
+ "dag_sha256": "e5772140aff5f054a271f90fd295419869c755e083b6526601e08a99bee573e1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 271,
+   "sim_steps": 532,
+   "calls": 5,
+   "rows": 532,
+   "resets": 1,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6444.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.219,
+   "peak_processes": 11,
+   "peak_disk_gb": 2.597,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-badminton-serve-i00-standard--dearvde/replay.mp4",
+  "duration_s": 2.72,
+  "fps": 25.0,
+  "frames": 68,
+  "sha256": "6b7231cc3ead0806d6fb281686b711be780321c4c17319709116a5d13abc8f44"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "serve_in_target": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 140,
+      "text_zh": "观察：视频 0.00–2.20 s 中机器人站在近侧发球区，左手带着白色羽球抬到身前，右手握拍后摆准备；log step 140 显示 agent 重置后提交 a2，episode=2，是最后一次实时尝试。此前 a1 的结果不用于本节点判定。"
+     },
+     {
+      "t": 2.48,
+      "log_step": 141,
+      "text_zh": "观察：视频 2.36–2.68 s 中白色羽球离开左手后从身前持续下落，右臂挥拍，但没有出现羽球向上击出并飞向远侧接发球区的轨迹。log step 141 读取 a2 的服务裁判结果：stages_reached=1/4，outcome 为“the racket's forward movement stopped before the hit”，done=True；服务只确认放球，未确认击球。"
+     },
+     {
+      "t": 2.68,
+      "log_step": 141,
+      "text_zh": "推断：本次视频末段的下落羽球与 log step 141 的未击球判定一致，合法击球、过网、入区这条验收链没有完成，因此该事件节点全程未达到；不是仅由 success=0 推定。成功参考视频 1.76–1.96 s 可见羽球上升飞离机器人，本次视频没有该表现；参考只用于识别可见线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.00–2.20 s 的准备阶段，机器人左手持羽球、右手握球拍拍柄，两臂配合移动到放球和挥拍位置；随后左手释放，右手继续持拍挥动。实际持物接触限于手与各自物体，log step 141 未确认球拍击中羽球，因此不标手持工具的击打接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.68 s 中机器人两脚支撑球场地面，身体保持站立完成准备、放球和挥拍尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hit_height_m",
+   "unit": "m",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "shuttle_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "shuttle_angle_deg",
+   "unit": "deg",
+   "threshold": 0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "landing_x_m",
+   "unit": "m",
+   "threshold": [
+    4.43,
+    9.15
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "landing_y_m",
+   "unit": "m",
+   "threshold": [
+    0.43,
+    3.04
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "serve_in_target",
+   "t": 2.56,
+   "log_step": 141,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.36–2.68 s 中机器人左手放球后右手挥拍，羽球持续下落而未被击出，视频 2.52–2.60 s 已降至右手附近及其下方。log step 141 的 a2 服务裁判报告“球拍前挥在击球前停止”、只达到放球阶段；该次发球未修复，断点为正在尝试的合法发球入区步骤，视频 2.56 s 为挥空过程的近似导航锚点。"
+  },
+  "unmet": {
+   "serve_in_target": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.56,
+    "log_step": 141,
+    "evidence_zh": "观察：视频 2.36–2.68 s 中下落的羽球经过机器人身前，右手球拍挥动后羽球仍向下，没有转成上升向网的飞行；log step 141 的裁判结果确认击球前前挥已停止。推断：机器人放球后的挥拍没有与运动中的羽球形成有效拦截，属于动态目标的击球配合失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的脚本在 log step 123 将放球、挥拍及随挥编成一次提交的开环 stand 指令序列，log step 129 写入关节目标，log step 139 修改接触姿态，log step 140 用 H2 姿态及固定时序提交最终 a2；视频 2.36–2.68 s 的实际羽球下落和挥拍未形成击球，log step 141 确认前挥先停止。证据支持放球与球拍运动的控制配合失效，但不能进一步区分接触几何、关节跟踪或时序参数的具体责任，保留在控制大类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志；本次视频仅有远景，25 fps 的画面不能分辨球托初触、毫秒级接触持续、拍头瞬时前向速度及精确三维错失距离。a2 的服务裁判结果支持未击球和前挥停止，但不足以把控制根因细分；DAG 的五项原生指标未在评分字段中报告，均填 null。视频末帧为视频 2.68 s，log step 141 报告终止于仿真 2.71 s，不能声称末帧直接显示裁判终止瞬间。"
+ },
+ "summary_zh": "评分采用 log step 140 重置后的第二次实时尝试 a2；机器人保持站立、完成放球并挥拍，但合法发球入区节点未达到，最终进度为 0/1。视频 2.36–2.68 s 可见羽球下落而未被击出，log step 141 裁判只确认放球并判定击球前前挥停止，断点为发球操作中的动态时机失败，根因保留为控制。缺少状态日志和足够近的接触画面，无法细分具体控制误差，原生击球与落点指标也未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 serve_in_target 未达到、最终 0/1、断点在发球操作中、现象为动态时机（接球目标为运动中的羽球，对应 CASES 431 的同类判例）、根因为控制，均与视频帧和 log step 140/141 的服务裁判结果（stages 1/4，球拍前挥在击球前停止）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": "2026-10-29T10:05:22Z",
+  "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/embodied-olympics-fun-badminton-serve-i00-standard--dearvde/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-badminton-serve-i00-standard--dearvde/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ad66578dc2b91db748a6fa2fed1cf26d7824d5c55b84f37c8b3330803ef9a99c",
+   "video_sha256": "6b7231cc3ead0806d6fb281686b711be780321c4c17319709116a5d13abc8f44",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/bowling/task_dag.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/bowling",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-bowling-i00",
+ "title_zh": "保龄球全中",
+ "summary_zh": "在犯规线后合法送出一球，首次有效碰瓶满五秒的点数时十只球瓶全部倒下，且未触发犯规、入沟、非法触球或跌倒失败。",
+ "embodiment_zh": "两模式均为 Unitree H1-2 双足人形机器人，27 个关节，双臂末端各为无工作手指的平橡胶掌垫，无有效抓握机构、夹爪或吸盘；开局球靠双掌夹压和摩擦保持，脚在助走区承重，无轮式底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-bowling-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "strike_completed",
+    "zh": "投球全中",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "机器人从犯规线后送出紫色球，球连续 0.05 秒不接触机器人后确认离手，球心越过犯规线（x > 0）并首次有效碰瓶，在该次碰瓶满 5.0 秒后的首次控制步点数时十瓶均倒下：每瓶的竖轴偏离世界竖直超过 20°，或瓶体原点已离开球道范围（|y| > 0.52705 米、x < 0 或 x > 19.157 米、或 z <= 0.09 米）。球瓶视角应见十只白色红颈球瓶全部倾倒或离开木质瓶台；只有球离手、途中碰瓶、部分瓶倒下或尚未到点数时刻均未完成，点数前球瓶恢复直立且回到球道内也不算倒瓶，并须至点数时未触发犯规、入沟、非法触球或跌倒失败。",
+    "step": {
+     "cat": "动态",
+     "item": "击打"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选：夹持；左右平掌垫从两侧夹压保龄球并送出，两手没有能闭合的手指，不能标抓握（D12）；随后球离手，由球与球瓶及球瓶之间的碰撞完成倒瓶。",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚接触助走区支撑身体，配合双掌夹压送出保龄球。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "左右平掌垫从球的下后方共同承托并送出保龄球；开局先由两掌侧向夹压，随后转成承托，二者依次发生；成功参考采用此方案。",
+      "plan": 2
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚接触助走区支撑身体，配合双掌承托送出保龄球。",
+      "plan": 2
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "一只平掌垫在开局双掌夹球之后承托并送出保龄球；规则允许离手前球仅接触一只手，不要求始终双手共同送球。",
+      "plan": 3
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚接触助走区支撑身体，配合单掌承托送出保龄球。",
+      "plan": 3
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/tests/rfo_task.py:149-179",
+     "task/privileged/tests/rfo_task.py:269-294",
+     "task/privileged/tests/rfo_task.py:310-368",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178",
+     "task/standard/environment/sim/rfo_task.py:310-368",
+     "oracle/replay.mp4 @ 0.0, 0.5, 1.0, 4.5, 5.0, 9.64 s",
+     "oracle/run.json: reward; steps[id=83,84,87]"
+    ],
+    "conf": 6,
+    "note_zh": "一次合法投球造成全中，delivery、pins、strike 只作为本步的有序验收，不拆蓄力、离手、飞行、碰瓶、等待步骤，也不强制参考轨迹的静止站位、下手式摆臂或双手出球。逐瓶判定的十项是同一次动作的连锁结果；此粒度取舍见疑问。5 秒是首次碰瓶后的点数延迟，不是要求十瓶连续倒下 5 秒，因此 hold_s 为 0；点数以前倒瓶不提前记完成。远景录像中球瓶很小，无法精确量倾角或数清遮挡球瓶时应参考球瓶相机或原生逐瓶状态，不能凭球飞走推断全中。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "foul_contact",
+    "zh": "越线触碰",
+    "never": null,
+    "criterion_zh": "整次尝试中，机器人任一部位与球及机器人自身以外的物体产生接触，且任一接触点位于犯规线或其前方（场景坐标 x >= 0），立即犯规；人在空中越线但没有接触不等同犯规。录像看机器人是否接触线前球道、沟槽或其他场物，细微接触需接触记录确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/tests/rfo_task.py:322-327"
+    ]
+   },
+   {
+    "id": "pre_release_body_touch",
+    "zh": "出手前碰身",
+    "never": null,
+    "criterion_zh": "��开局至确认离手前，球不得接触左右手以外的机器人部位；手包括掌垫和归为手的腕部。球碰到前臂、髋部或躯干即违规，确认离手要求连续 0.05 秒不接触机器人，离手时刻回记为最后手部接触时刻。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/tests/rfo_task.py:156",
+     "task/privileged/tests/rfo_task.py:330-339",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:25-43"
+    ]
+   },
+   {
+    "id": "post_release_ball_touch",
+    "zh": "出手后触球",
+    "never": null,
+    "criterion_zh": "确认离手以后、首次有效碰瓶以前，球再次接触机器人任一部位即违规；录像可见已分离的球又碰到掌垫、腕部或其他身体部位。任务文字禁止出手后全程再碰球，但代码在首次碰瓶后跳过此检查，差异见疑问。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/tests/rfo_task.py:328-342"
+    ]
+   },
+   {
+    "id": "gutter_before_pins",
+    "zh": "碰瓶前入沟",
+    "never": null,
+    "criterion_zh": "确认离手后、首次有效碰瓶以前，球一旦与左右沟槽发生接触即失败；仅靠近沟边不算，首次有效碰瓶后球进入沟槽不受这一检查否决。录像表现为球沿木质球道外的灰色沟槽运动，边界擦碰需接触记录确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/tests/rfo_task.py:303",
+     "task/privileged/tests/rfo_task.py:328-350"
+    ]
+   },
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "点数结束前，骨盆世界高度低于 0.60 米（助走区表面高 0.10 米，阈值为其上 0.50 米），或左右脚以外的部位接触助走区或建筑地板，即跌倒失败；录像看髋部明显下坠或手、膝、躯干触地，单纯身体摇晃不算。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/tests/rfo_task.py:33",
+     "task/privileged/tests/rfo_task.py:152-156",
+     "task/privileged/tests/rfo_task.py:211-223",
+     "grader/efe_embodied-olympics-fun-files/rfo/task.py:20-22",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "pins_down",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:310-320,370-375; log Task.privileged(w)[\"pins_down\"] as ten per-pin booleans"
+   },
+   {
+    "atom": "legal_delivery",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:330-356; log trackers.released and referee stages delivery,pins"
+   },
+   {
+    "atom": "pin_count_due",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:305,358-368; log trackers.t_pins and referee time; compare elapsed >= params.settle_s"
+   },
+   {
+    "atom": "foul_contact",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:324-327; log robot-external contact point x, excluding ball"
+   },
+   {
+    "atom": "pre_release_body_touch",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:330-339; log ball contact robot parts and trackers.released,last_touch"
+   },
+   {
+    "atom": "post_release_ball_touch",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:328-342; log ball-robot contact and trackers.released,t_pins"
+   },
+   {
+    "atom": "gutter_before_pins",
+    "level": "new_code",
+    "source": "task/privileged/tests/rfo_task.py:328-350; log ball-gutter contacts and trackers.released,t_pins"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "grader/efe_embodied-olympics-fun-files/rfo/referee.py:276-282; log pelvis world z and parts_touching(ground)"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "pins_down",
+   "unit": "个",
+   "threshold": 10,
+   "direction": "higher_better",
+   "sources": [
+    "task/privileged/tests/rfo_task.py:310-320",
+    "task/privileged/tests/rfo_task.py:358-368"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；按 P8，所有节点的 when、所有约束的 never 和 success 均为 null，不能安全绑定未提供的逐帧字段；atoms 列出后续适配器须记录的世界状态。无状态回放可用于自动 reach-all 或 success==grader 检查。",
+  "粒度边界（S5、S10、D6）：文本要求一球击倒十瓶，评分逐瓶计算真假再求和，但十瓶倒下是一次不可暂停后继续的送球动作产生的连锁目标，按 Step 3.7 的一次动作产生多个目标与 S10 合为一个投球全中节点，task_class 在文字步骤复核中定为 atomic；不把它解释为十次独立击倒操作。若将 S5 对所有计数目标无条件优先，则会得到十个计数节点；这一规则边界仍有疑义。",
+  "任务设计问题：文本说离手后任何部位不得再触球；但 task/privileged/tests/rfo_task.py:328-329 在首次有效碰瓶后直接��回，跳过再次触球和入沟检查（341-347）。DAG 的约束按代码注明检查区间，success 对应实际裁判，不能额外否决代码允许的碰瓶后触球。",
+  "文字与代码边界：文本称球碰瓶前入沟无效；代码仅在确认离手后检测沟槽（task/privileged/tests/rfo_task.py:330-347），持续手触球时提前返回。犯规线检查始终运行，但过线阶段仅检验确认离手后球心 x > 0，并不检查一次从线后的跨越事件（344-345）。不另造过线步骤。",
+  "两模式的任务模块逐字相同、参数和冻结初始骨盆位置相同，使用同一物理裁判；交付评分不同：privileged 额外要求两次独立回放成功且终态哈希相同（grader/efe_embodied-olympics-fun-files/grade.py:101-115），standard 判最后一次在线尝试的裁判结果（grader/efe_embodied-olympics-fun-files/standard/server.py:157-178）。回放确定性及文件有效性不作为世界状态节点，当前 success 无日志可表达而为 null；INDEX 所列 standard 通用 grade.py 未实际包含在本目录中，外层评分仅能由服务端代码及说明核对。",
+  "接触词汇缺口 D12：无手指双掌夹压球使用双臂协作×其他，候选夹持；参考动作先夹压再转为双掌承托，后者为托/舀；文本允许一手或双手触球，故同时保留单掌承托的替代方案，不把双手共同出球规定为必经。",
+  "成功参考仅提供 640×360 场地远景视频，0 秒见双掌持球，约 1 秒球已离手，约 4.7 秒抵达瓶区，结束仍双脚站立；远端球瓶过小，不能逐瓶可靠量角或辨认全部十瓶。全中及三阶段顺序由该参考的原生回放记录佐证（oracle/run.json 的 reward 与 steps[id=83]），不由远景强推十个逐瓶完成时刻。",
+  "release_speed_m_s、entry_speed_m_s、entry_y_m、entry_angle_deg 为原生记录指标（task/privileged/tests/rfo_task.py:340,353-355），没有成功阈值，不作为步骤或约束；参考的 5.7 米每秒离手速度、4.25 米每秒入瓶速度和偏移仅属该策略。",
+  "40 秒或 4000 控制步是尝试时限，按 P21 不列为约束；5 秒点数延迟包含在全中验收中，不能误设为倒瓶持续保持五秒。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "目标、初态、逐瓶阈值和终止规则有源码依据，标准与特权物理裁判一致，参考回放记录确认全中；无状态日志且远景不能逐瓶复核，单球多瓶的 S5/S10 粒度边界以及文本与代码的触球检查区间差异降低置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点“投球全中”（动态·击打）与指令“一球击倒十瓶”及 bowling_realgrasp 先例（STEP-8）一致，十瓶是一次不可暂停的送球产生的连锁目标，按 S10 合并可接受；约束覆盖犯规、碰身、出手后触球、入沟、跌倒，阈值（20°、0.60 m）与文字及代码一致；无状态日志故 when/never/success 为 null 合规，且 open_questions_zh 已列出文字与代码差异。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['strike_completed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:46:11Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__bowling/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__bowling/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "9ab0ee6133c1dc9c14f4f92ddb61e9415fea366cb83c83bb8ffed700012b8d04",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/bowling/trajectories/embodied-olympics-fun-bowling-i00-privileged--nd6fgot.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-bowling-i00-privileged--nd6fgot",
+ "taskKey": "embodied-olympics-fun/bowling",
+ "dag_sha256": "958dbc6f1b15aea49b7fbb6f67f6fe11ebb2ebd0b8c66ca9ec74face659152c2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1022,
+   "sim_steps": 1022,
+   "horizon": 4000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 15.85,
+   "bad_trajectory": 0,
+   "metric_entry_angle_deg": -0.47,
+   "metric_entry_speed_m_s": 3.83,
+   "metric_entry_y_m": -0.12,
+   "metric_pins_down": 10.0,
+   "metric_release_speed_m_s": 5.06,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1026,
+   "agent_resets": 10967,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 10.398,
+   "peak_processes": 24,
+   "peak_disk_gb": 1.384,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-bowling-i00-privileged--nd6fgot/replay.mp4",
+  "duration_s": 10.24,
+  "fps": 25.0,
+  "frames": 256,
+  "sha256": "e82225205977aa60b0585d7e8557180a4c97994e0d0709718c9a9b653f913dc3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "strike_completed": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.22,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.8 s，机器人双脚站在犯规线后的助走区，两只平掌垫在髋前两侧夹压紫色保龄球；视频 0.88–0.92 s 双臂向前送球，视频 0.96–1.12 s 球已与掌垫分离并向球道前方运动。"
+     },
+     {
+      "t": 5.28,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–5.2 s 紫色球沿木质球道抵近球瓶，视频 5.28–6.0 s 瓶阵开始散开和倾倒；视频 8.0 s 及 9.2–10.2 s 瓶台上的白色瓶体呈倒伏状，机器人始终双脚支撑站立。远景无法逐瓶精确测量倾角或排除重叠遮挡。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 148,
+      "text_zh": "观察：inputs/run.json 的 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=3、metric_pins_down=10、fell=0。log step 133 的脚本将已通过两次独立回放的 1022 行动作保存为交付文件；log step 148 输出交付动作数组与该候选完全一致，两次回放均由仿真裁判报告 delivery、pins、strike 三阶段及十瓶全倒，终态哈希相同，故这些回放对应本次交付。"
+     },
+     {
+      "t": 10.22,
+      "log_step": 148,
+      "text_zh": "推断：节点在视频约 10.22 s 点数完成时才成立。log step 6 的工具说明记载每控制步为 0.01 s；本次交付回放在 log step 148 执行 1022 步，即仿真 10.22 s，与视频 10.24 s 总时长及最后一帧视频 10.20 s 一致。该回放事件的仿真 0.97 s 过线、5.212 s 首次碰瓶，已分别用视频 0.96–1.12 s 球脱手前行和 5.20–5.36 s 瓶阵开始变化核对，采用视频时间约等于控制步数乘 0.01 s 的映射；首次碰瓶后五秒的 strike 事件为仿真 10.22 s，评分器十瓶全倒及成功判定支持节点终值为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选：夹持。观察：视频 0.0–0.88 s，机器人两只平掌垫从两侧夹压紫色保龄球，随后两臂前送，视频 0.96 s 球已离手；没有手指闭合或夹爪包围，故不标抓握。背后远景不能可靠细分离手瞬间各掌的接触点，不据成功参考另加承托接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.12 s 投球过程中，机器人双脚接触犯规线后木质助走区承重；视频 1.5–10.2 s 仍站立支撑，等待球瓶倒伏及点数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pins_down",
+   "value": 10.0,
+   "unit": "个",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在犯规线后用双掌夹压持球并向前送出，球于视频约 5.2 s 碰瓶；首次碰瓶后的五秒点数结束时，投球全中节点在视频约 10.22 s 达成，终态为 1/1，评分器记录十瓶全倒及确定性回放成功。视频检查至最后一帧视频 10.20 s，机器人仍站立；没有失败断点。无状态日志，远景与成功参考一样不足以逐瓶精确量角，十瓶验收及合法投球由本次交付的裁判结果佐证，离手瞬间各掌接触点仍受遮挡。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频和评分器结果一致：球在约 1 s 离手，约 5.3 s 碰瓶，success=1、十瓶全倒，节点终值为真；时钟映射有核对，接触标注合理，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:03:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-bowling-i00-privileged--nd6fgot/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-bowling-i00-privileged--nd6fgot/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "956bd427ba7710d554847f224ff07596f196a21a23391716dae3d2b7e17cd6f7",
+   "video_sha256": "e82225205977aa60b0585d7e8557180a4c97994e0d0709718c9a9b653f913dc3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/bowling/trajectories/embodied-olympics-fun-bowling-i00-standard--gtnmg2p.json

@@ -0,0 +1,197 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-bowling-i00-standard--gtnmg2p",
+ "taskKey": "embodied-olympics-fun/bowling",
+ "dag_sha256": "958dbc6f1b15aea49b7fbb6f67f6fe11ebb2ebd0b8c66ca9ec74face659152c2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1635,
+   "sim_steps": 25065,
+   "calls": 190,
+   "rows": 9411,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 1462.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.512,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.167,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-bowling-i00-standard--gtnmg2p/replay.mp4",
+  "duration_s": 16.36,
+  "fps": 25.0,
+  "frames": 409,
+  "sha256": "c392fbe49c9c92b56d321e02d66fa7b4b205cfb0fd7a862bc6bd5b3c805f39ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "strike_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.52 s，机器人双脚站在犯规线后的助走区，两只平掌垫夹压紫色球；视频 0.64–0.80 s 双臂向前上方摆动，掌垫转到球的下侧，视频 0.88–1.00 s 球与双掌分离。完成送球动作本身尚不满足投球全中。"
+     },
+     {
+      "t": 16.32,
+      "log_step": 146,
+      "text_zh": "观察：视频 8.00–16.32 s，紫色球沿球道向远端运动并逐渐靠近画面左侧沟边；视频 15.52、15.84、16.08、16.32 s 球仍在球瓶前方的边缘位置，远端球瓶保持直立排列，没有碰瓶后倒瓶过程。log step 146 的机器人服务端最终观测返回 done=True、reason=failed、outcome=a gutter ball；log step 144 确认这是最后的 episode 51，重置次数剩余为零。"
+     },
+     {
+      "t": 16.32,
+      "log_step": 138,
+      "text_zh": "推断：log step 136 发起的最后一组测试以 p0.11 为末次投球，log step 138 返回该次 a gutter ball、stages=1/3，随后 log step 142 重置被拒绝，故这次评分仅有送球阶段，未进入有效碰瓶和全中验收。成功参考在参考视频 4.80 s 出现球瓶受撞运动、参考视频 9.68 s 瓶台上球瓶倒伏，本次视频没有相应变化；结合本次服务端入沟判定，投球全中始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0.00–0.52 s，左右无手指平掌垫从两侧夹压紫色保龄球。候选：夹持；两掌之间夹压，单手没有合拢包住球，不符合抓握，现有方式无准确对应项。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：在初始侧向夹压之后，视频 0.64–0.80 s，机器人双掌位于球的下侧，配合向前上方摆臂承托送球；视频约 0.9 s 球离手。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–16.32 s，机器人双脚接触助走区承重，配合双臂持球和送球，之后仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pins_down",
+   "value": null,
+   "unit": "个",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "strike_completed",
+   "t": 16.0,
+   "log_step": 146,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在本步中已送出球，但视频 15.52–16.32 s 球沿画面左侧球道边缘接近瓶区，未碰到仍直立的球瓶；log step 146 的服务端最终观测明确给出 a gutter ball，log step 144 确认末次 episode 51 已失败。断点锚定在视频约 16 s 的贴沟边运动，确切沟槽接触点在远景中无法辨认。"
+  },
+  "unmet": {
+   "strike_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 16.0,
+    "log_step": 146,
+    "evidence_zh": "观察：视频 2.00–16.32 s，机器人送出的紫色球没有沿能撞到球瓶的位置保持球路，而是逐步逼近画面左侧沟边；末段球仍位于瓶阵前侧边缘，球瓶保持直立，log step 146 的服务端结果�� a gutter ball。目标球瓶静止，偏离的是送球方向及后续球路。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 120 的投球脚本固定左右肩俯仰摆动，并通过 torso 目标改变瞄准方向；log step 136 以相同摆臂方案依次试 torso=0.05、0.08、0.11，log step 138 三次均返回 a gutter ball，末次即最终评分回合。视频 0.64–1.00 s 机器人实际摆臂送出球，视频 8.00–16.32 s 球路持续偏向沟边，支持送球控制未能产生通向瓶阵的球路。没有足够数据区分掌垫接触、释放状态、关节跟踪或瞄准参数中的具体机制，保留控制大类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或球—沟槽接触记录，远景无法精确定位首次入沟接触，断点时间仅为视频约 16 s 的导航锚点。未提供末次投球的力、释放速度及完整关节跟踪数据，无法进一步确定控制子类；run.json 的 reward 未报告 pins_down，原生指标保留 null。agent 在 log step 188 自述球向机器人右侧偏，但本标注仅按本次画面描述为画面左侧沟边，不将其自述方向或摩擦推测作为事实。"
+ },
+ "summary_zh": "本次评分对应最后的在线回合 episode 51：机器人双掌夹球后承托向前送出，约视频 0.9 s 离手并持续站立，但投球全中节点始终未达到，最终为 0/1。球路逐渐偏向画面左侧沟边，视频末段尚未碰瓶，服务端明确判为入沟；现象为位姿不准，根因保留控制大类。缺少接触及释放状态记录，无法精确定位入沟瞬间或细分控制机制，评分字段也未报告倒瓶数。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 strike_completed 未达成（服务端 a gutter ball、末段球贴左沟边、瓶全部直立）与视频一致；断点、位姿不准现象、控制根因均有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:53Z",
+  "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/embodied-olympics-fun-bowling-i00-standard--gtnmg2p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-bowling-i00-standard--gtnmg2p/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bc5ffd991a4beb980c9cb85f3d1c5863f40542d44fd4256cb1e8db65f410cc54",
+   "video_sha256": "c392fbe49c9c92b56d321e02d66fa7b4b205cfb0fd7a862bc6bd5b3c805f39ab",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/box_jump/task_dag.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-box-jump-i00",
+ "title_zh": "双脚跳箱并站直",
+ "summary_zh": "机器人按合规双脚起跳和箱顶落地规则完成一次跳箱，并在箱顶双脚支撑、伸直站稳达到连续站立窗口。",
+ "embodiment_zh": "两种模式均为 Unitree H1-2 双足人形机器人，27 个关节，身高约 1.78 m、质量约 67 kg；双臂腕端为不可抓取的固定拳垫，无可动手指，本任务由双腿和躯干完成，双脚支撑，无轮式底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-box-jump-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "box_jump_stood",
+    "zh": "跳上箱并站直",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 1.99,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地侧视中，机器人从棕色箱前的地面双脚蹬起，未经触箱先有至少 0.10 s 的完全腾空（各脚在起跳前 0.10 s 内触地，骨盆较离地时上升至少 0.10 m），首次落地接触后的 0.50 s 内只许脚接触箱顶且窗口结束时双脚均在顶面，每处脚箱接触的箱体局部高度不低于顶面减 0.02 m、法线偏离顶面外法线不超过 20°，之后双脚留在顶面、无其他身体部位触地或触箱，伸直双腿使骨盆高于箱顶至少 1.00 m、躯干偏离竖直不超过 20°、骨盆速度不超过 0.35 m/s，连续保持 200 个 0.01 s 控制步才完成。箱前深蹲、空中收腿或箱顶蹲伏都尚未完成；站直后若失去上述支撑、姿态或速度条件即不再满足，站立计数重置，触地或非脚触箱则立即判负。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "机器人左右脚在地面蹬起，并以左右脚落到箱顶承重、站直；中间腾空无外部接触，手臂可摆动但不接触箱子。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task.json:10",
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/task/privileged/environment/rfo_task.py:35-42",
+     "inputs/task/privileged/environment/rfo_task.py:72-84",
+     "inputs/task/privileged/environment/rfo_task.py:103-175",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:291-301",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:353-389",
+     "inputs/oracle/replay.mp4:0.00-4.12s"
+    ],
+    "conf": 6,
+    "note_zh": "按 S10 合并一次连续跳跃的起跳、落地和站直，裁判 take-off → landing → stand 仅作验收顺序；不因原生三阶段而拆节点。hold_s=1.99 来自 D31：(200-1)×0.01 s，文本称保持 2.0 s；when 为 null，实际由视频及裁判记录核实整个历史和保持窗口，不额外等待 1.99 s。箱子可移动，顶面条件随箱体当前位姿计算，不固定为世界 z=0.61 m。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "prejump_fall",
+    "zh": "起跳前跌倒",
+    "never": null,
+    "criterion_zh": "有效起跳阶段尚未成立时，脚以外的任一身体部位接触地面即失败；深蹲和骨盆低不单独算跌倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:126-128",
+     "inputs/task/privileged/environment/rfo_task.py:37"
+    ]
+   },
+   {
+    "id": "box_touched_before_jump",
+    "zh": "跳前触箱",
+    "never": null,
+    "criterion_zh": "首个至少腾空 0.10 s 的飞行结束前，机器人任何部位接触箱子即失败，不能踏上或攀爬箱子。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:132-144"
+    ]
+   },
+   {
+    "id": "invalid_takeoff",
+    "zh": "起跳不合规",
+    "never": null,
+    "criterion_zh": "首个有效飞行结束时，若任一脚在离地前 0.10 s 内没有接触地面，或飞行顶点骨盆相对起跳时上升不足 0.10 m，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:134-141",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:368-389"
+    ]
+   },
+   {
+    "id": "invalid_landing",
+    "zh": "落地不合规",
+    "never": null,
+    "criterion_zh": "起跳阶段确认后至落地确认前，任何部位触地、脚以外部位触箱或脚接触箱侧面均立即失败；首次接触后满 0.50 s 时若没有双脚同时接触合规箱顶，也立即失败，脚接触的局部高度须不低于顶面减 0.02 m，接触法线与箱顶向��法线夹角须不超过 20°。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:103-120",
+     "inputs/task/privileged/environment/rfo_task.py:147-161"
+    ]
+   },
+   {
+    "id": "forbidden_contact_after_landing",
+    "zh": "落地后非法接触",
+    "never": null,
+    "criterion_zh": "落地阶段确认后，机器人任一部位接触地面，或脚以外任一部位接触箱子，即立即失败；站立姿态或速度短暂不达标只重置站立计数，不单独触发此约束。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:147-152",
+     "inputs/task/privileged/environment/rfo_task.py:163-175",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184"
+    ]
+   },
+   {
+    "id": "simulation_unstable",
+    "zh": "仿真发散",
+    "never": null,
+    "criterion_zh": "物理步出现 MuJoCo 加速度异常警告、非有限位置，或机器人或道具任一被检查的线速度分量绝对值超过 150 m/s，判为仿真发散并结束失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108-109",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:866-885"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "dyn.box_jump_legal_stand",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:103-175; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184,291-301; 待逐控制步记录合规起跳与落地历史、当前双脚顶面接触、骨盆高度与速度、躯干竖直条件，并记录原生站立计数；当前没有状态日志，不能绑定。"
+   },
+   {
+    "atom": "dyn.prejump_fall",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:126-128; inputs/task/privileged/environment/rfo_task.py:37; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   },
+   {
+    "atom": "dyn.box_touched_before_jump",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:132-144; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   },
+   {
+    "atom": "dyn.invalid_takeoff",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:134-141; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:368-389; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   },
+   {
+    "atom": "dyn.invalid_landing",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:103-120; inputs/task/privileged/environment/rfo_task.py:147-161; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   },
+   {
+    "atom": "dyn.forbidden_contact_after_landing",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:147-152; inputs/task/privileged/environment/rfo_task.py:163-175; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   },
+   {
+    "atom": "dyn.simulation_unstable",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108-109; inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:866-885; 待记录该违规的逐步布尔量，当前没有状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:383-389",
+    "inputs/task/privileged/environment/rfo_task.py:40",
+    "inputs/task/privileged/environment/rfo_task.py:135"
+   ]
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:134-140"
+   ]
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:168-170"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；依 P8，唯一节点 when、所有约束 never 和 success 均为 null。成功视频可核对跳上箱、蹲伏到站直和站立保持，但毫米级接触高度、法线角度及精确速度须依裁判或新增逐帧日志，不能从画面安全绑定。",
+  "模式差异：运动判据和实例参数一致，但 privileged 用两次新进程重放均成功且最终状态哈希相同作为交付验收（inputs/grader/efe_embodied-olympics-fun-files/grade.py:105-115），standard 采用最后一次实时回合的裁判结果，重放仅生成视频（inputs/grader/efe_embodied-olympics-fun-files/standard/server.py:6-12,157-178）。这些交付与有效性检查不构造世界状态节点；本文件 success 因无状态日志留空。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本、两模式同源任务代码、初态与成功视频一致，按 S10 保留一个连续跳跃步骤，所有数值来自评分器；缺少状态日志，精确接触、速度、历史阶段与保持窗口尚不能逐帧验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点“跳上箱并站直”（本体·跳跃，atomic）与描述、裁判阶段（起跳→落地→站立）及 backflip/pole_vault 的 S10 先例一致；阈值（0.10 s、0.10 m、0.02 m、20°、1.00 m、0.35 m/s、2.0 s）与 rfo_task.py 参数一致；无状态日志，when/never/success 为 null 合规，约束均为立即终止，open_questions_zh 已写明模式差异与无日志。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['box_jump_stood']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:49:46Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__box_jump/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__box_jump/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c44a30d05d724b3bf97601b77cb608da868b77bb8075bfbd85cb1bbec2c31164",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--gdqaf9u.json

@@ -0,0 +1,201 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--gdqaf9u",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 354,
+   "sim_steps": 17514,
+   "calls": 208,
+   "rows": 17514,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3696.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.068,
+   "peak_processes": 12,
+   "peak_disk_gb": 2.935,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--gdqaf9u/replay.mp4",
+  "duration_s": 3.56,
+  "fps": 25.0,
+  "frames": 89,
+  "sha256": "6330fe4f801d088934002d5f0bf4be21696b2710cdf732e3dbb6508645a29d6e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.68 s，机器人在棕色箱前地面走近并保持站立，尚未到箱顶；视频 2.96–3.24 s 下蹲，视频 3.28–3.52 s 蹬伸、离地并开始收腿，末帧脚仍低于箱顶且位于箱前缘旁，未出现箱顶双脚支撑和站直保持。"
+     },
+     {
+      "t": 3.52,
+      "log_step": 574,
+      "text_zh": "观察：log step 574 明确执行最后的第 51 回合，机器人服务返回 failed、outcome=\"landed on the side of the box\"、stages_reached=1/3、仿真 3.54 s；log step 580 确认该回合已结束、control_steps=354。该回合先走近、站定再起跳的顺序与视频一致，合规起跳阶段通过，但合规落箱与站立未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.40 s，机器人以左右脚接触地面完成走近、站定、下蹲及蹬地起跳；未建立箱顶双脚支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“非预期侧碰”。视频 3.48–3.52 s，机器人收腿时脚位于箱前侧且低于箱顶，结合 log step 574 裁判报告 landed on the side of the box，可判定脚与箱侧面发生接触。该碰触不是承重支撑、推扫或有意击打，现有方式无准确对应；不能确定先触箱的是哪只脚。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 3.52,
+   "log_step": 574,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.48–3.52 s，机器人正向箱子起跳收腿，脚仍在箱顶以下、贴近箱前缘；log step 574 的最后第 51 回合返回“landed on the side of the box”，只通过起跳阶段即终止。机器人未完成跳上箱并站直，此失败在该评分回合内没有修复。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 3.52,
+    "log_step": 574,
+    "evidence_zh": "观察：视频 3.48–3.52 s，机器人脚在接近箱体时仍低于顶面，没有越过箱前缘形成箱顶落脚；log step 574 中该回合裁判明确报告脚落在箱侧面并结束失败。脚与箱侧面的错误接触阻断了合规落箱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 573 的最终脚本预先按时间生成髋、膝、踝目标，并将整段 A_jump 一次提交给 joints 模式；其目标是蹬地、收腿、箱顶落脚和站直。视频 3.48–3.52 s 的实际抬脚未能在接近箱前缘时获得箱顶净空，log step 574 也确认侧面落脚，说明这段腿部运动控制未实现所需清障与落脚。现���证据不足以把问题细分为目标轨迹不当、关节跟踪误差或具体参数错误。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；视频只有场地侧视，末帧为视频 3.52 s，裁判在仿真 3.54 s 终止，无法逐控制步核实先触箱的脚、接触高度和法线，也无法区分目标轨迹与实际跟踪误差。评分器及最后回合输出未报告 air_s、pelvis_rise_m、pelvis_above_box_m 的数值，原生指标留 null。"
+ },
+ "summary_zh": "机器人在最后第 51 回合完成走近、下蹲和起跳，但未完成“跳上箱并站直”，节点最终 0/1。视频 3.48–3.52 s 显示脚尚低于箱顶，log step 574 的该回合裁判报告落在箱侧面，仅通过起跳阶段；失败归于跳跃控制未实现清障与落脚。缺少状态日志，无法确认精确接触几何及控制误差的具体来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 box_jump_stood、被挡/碰撞与控制根因均与视频末段（脚低于箱顶、收腿贴箱前缘）及 log step 574 裁判“landed on the side of the box”一致；时钟和证据标注无误。",
+    "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": "2026-10-29T10:07:28Z",
+  "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/embodied-olympics-fun-box-jump-i00-standard--gdqaf9u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--gdqaf9u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "18c9a5fad4935832649a9c33ab806d60f3b285424ea9a43d8dda9f0a7809cf52",
+   "video_sha256": "6330fe4f801d088934002d5f0bf4be21696b2710cdf732e3dbb6508645a29d6e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--o6qchzm.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--o6qchzm",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 509,
+   "sim_steps": 1374,
+   "calls": 1337,
+   "rows": 1374,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 3925.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 7.697,
+   "peak_processes": 19,
+   "peak_disk_gb": 2.012,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--o6qchzm/replay.mp4",
+  "duration_s": 5.12,
+  "fps": 25.0,
+  "frames": 128,
+  "sha256": "5d4cb8df8131d32379f0dd6008ee26c1afae1901c6dfc89c7b09e95d5279fe4d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.09,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人双脚站在棕色箱前地面，尚未跳上箱；视频 0.32–0.68 s 机器人屈髋屈膝下蹲后伸腿蹬地。"
+     },
+     {
+      "t": 0.84,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.68–1.28 s；视频 0.84–1.00 s 机器人双脚均离开地面，向前上方腾空并收腿，视频约 1.04–1.12 s 脚落到箱顶，随后双脚在顶面承重。画面未见手臂或躯干触箱。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.28–4.32 s 机器人双脚留在箱顶，由屈膝姿态逐渐伸腿抬高骨盆、挺直躯干；视频 4.40–5.08 s 的逐帧画面持续显示箱顶双脚支撑和近直立姿态，未见跌落。"
+     },
+     {
+      "t": 5.08,
+      "log_step": 131,
+      "text_zh": "观察：log step 131 的机器人实时服务返回 episode=6、control_steps=509、sim_time_s=5.09、done=true、reason=success、stages_reached=3、stages_total=3；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、finalized=1，表明该最后回合是评分回合。视频 5.08 s 机器人仍直立在箱顶。"
+     },
+     {
+      "t": 5.09,
+      "log_step": 131,
+      "text_zh": "推断：log step 3 的服务协议给出 control_dt=0.01 s，log step 131 最后评分回合的 509 个控制步对应视频约 509×0.01=5.09 s，与视频总长 5.12 s 相符；同一脚本输出的落地时刻仿真 1.15 s 已与视频 1.04–1.20 s 的箱顶落地画面交叉核对。故以视频约 5.09 s 为整个合规跳跃及连续站立窗口通过的时刻（帧间精度约 0.04 s），不是刚触箱时即算完成；精确接触高度、法线、骨盆速度和连续计数依据裁判成功判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人左右脚先在地面承重并蹬地起跳，腾空后以双脚落在棕色箱顶，持续支撑身体并逐渐伸腿站直；见视频 0.00–1.28 s 与视频 2.56–5.08 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分采用最后第 6 次实时回合：机器人双脚从地面蹬起、腾空后落在箱顶，再逐渐站直，唯一节点“跳上箱并站直”于视频约 5.09 s 完成，终态为 1/1。log step 131 的服务裁判返回三阶段全部通过且成功，与视频末尾的箱顶站立一致；会话前五次测试不属于这段评分视频。没有状态日志，毫米级脚箱接触位置、法线、精确速度与连续站立计数无法从侧视画面逐项测量，依本次裁判成功结果确认，三个原生指标未报告数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点“跳上箱并站直”于视频约 5.09 s 达成、终态 1/1，与帧和 log 的服务读数（control_steps=509、stages_reached=3）一致；contact_actual（腿/躯干·支撑）与观察一致；成功运行 failure 为 null 合规，未发现需要修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:47Z",
+  "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/embodied-olympics-fun-box-jump-i00-standard--o6qchzm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--o6qchzm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7b1324dc1477ae3ee1d56dd6f22d3a7eaf96a98ad044a67b53a7ae7b53ddb748",
+   "video_sha256": "5d4cb8df8131d32379f0dd6008ee26c1afae1901c6dfc89c7b09e95d5279fe4d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/boxing/task_dag.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/boxing",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-boxing-i00",
+ "title_zh": "击袋后护架站稳",
+ "summary_zh": "右拳拳峰在白色标记带完成一次冲量至少 12.0 N·s、接触不超过 0.10 s 的击打，随后收拳至右肩附近并站稳连续 2.0 s，期间无违规触袋或跌倒。",
+ "embodiment_zh": "两种模式均为双足 Unitree H1-2 人形机器人，27 个关节，双臂各七关节；末端是无可动手指的固定拳垫，非可抓握夹爪或灵巧手，右臂出拳，双腿和躯干支撑平衡，无轮式底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-boxing-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bag_struck",
+    "zh": "击中沙袋",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "场馆侧视可见右拳迅速打中红色沙袋的白色环带，沙袋随即摆离、拳袋分离至少 0.03 s 后才完成此步：首次接触须在带内，接触历时不超过 0.10 s，按挂钩角动量变化计算的有效冲量至少 12.0 N·s。仅伸手靠近、贴袋推挤或轻碰均未完成；摆动只是视觉线索，精确冲量须看裁判的 strike 事件及 impulse_n_s，指定拳峰和禁用其他部位见约束。",
+    "step": {
+     "cat": "动态",
+     "item": "击打"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "右手末端固定拳垫的拳峰击打沙袋白带；候选接触名为“击打”，现有怎么碰条目没有短促冲击，不能用抓握或推/扫替代。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "左右脚与地面接触支承机器人出拳，腿和躯干维持站立。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4",
+     "task/privileged/environment/rfo_task.py:94-98",
+     "task/privileged/environment/rfo_task.py:147-190",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159"
+    ],
+    "conf": 6,
+    "note_zh": "一个有效击打结果；击中、接触结束和冲量结算是一击的验收，不拆节点。event 保留已完成的一击，后续再次触袋由约束判失败。右拳拳峰是文本和评分器共同限定的手段，不另设准备或握拳步骤。"
+   },
+   {
+    "id": "guard_held",
+    "zh": "护架站稳",
+    "mode": "final",
+    "when": null,
+    "after": [
+     "bag_struck"
+    ],
+    "hold_s": 1.99,
+    "drop_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "有效击打后，场馆侧视可见右肘弯曲、右拳从袋前收回右肩附近，身体直立、仅脚接地且基本不平移；右掌至右肩关节距离须不超过 0.35 m，躯干竖直方向余弦至少 0.94，骨盆三维速度不超过 0.35 m/s，连续满足 200 个 0.01 s 控制步才完成。仍向袋伸拳、明显倾斜或移动、护架保持不足，或中途失去任一条件，都不能完成，连续计时须重新开始；全程还须满足禁再触袋及不跌倒约束。",
+    "step": {
+     "cat": "本体",
+     "item": "保持平衡"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "左右脚支撑地面，腿和躯干使机器人收回右拳后直立站稳；右手收至右肩附近且不接触沙袋。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:27-31",
+     "task/privileged/environment/rfo_task.py:192-199",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301",
+     "grader/efe_embodied-olympics-fun-files/rfo/world.py:1103-1105"
+    ],
+    "conf": 7,
+    "note_zh": "文本独立要求击打后的护架站立状态，击打完成与收拳保持之间可以停顿，故为第二步；并非机器人回到开局关节角。final 从有效击打后才验收，不在开局计分；200 步按 D31 对应首末采样跨度 1.99 s，criterion 仍以原生 2.0 s 计数为准。drop_s=0 对应 ref.hold 任一控制步不满足即清零。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "wrong_bag_contact",
+    "zh": "违规部位触袋",
+    "never": null,
+    "criterion_zh": "机器人任何非右拳拳垫部位触及沙袋，或右拳接触点沿前臂距腕安装点不足 0.07 m（不在拳垫末端 0.03 m 的拳峰区），即违规；录像中左手、前臂或躯干碰袋也属此项。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:138-164"
+    ]
+   },
+   {
+    "id": "hit_outside_band",
+    "zh": "击中带外",
+    "never": null,
+    "criterion_zh": "首次击袋接触点的平均位置不在白色环带内即违规；代码用接触点在沙袋自身轴向距挂钩的深度判断，合法深度为 0.65 至 1.05 m（静止沙袋对应离地 1.20 至 1.60 m）。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:96-98",
+     "task/privileged/environment/rfo_task.py:165-171",
+     "task/privileged/environment/rfo_task.py:50-53"
+    ]
+   },
+   {
+    "id": "bag_pushed",
+    "zh": "推袋超时",
+    "never": null,
+    "criterion_zh": "首次击袋尚未结束时，从第一次接触起经过超过 0.10 s 仍与袋接触，即判为推袋；持续贴住白带向前推而不迅速分离即违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:177-179"
+    ]
+   },
+   {
+    "id": "punch_too_weak",
+    "zh": "击打过弱",
+    "never": null,
+    "criterion_zh": "拳袋最后接触后连续分离至少 0.03 s 时结算：沙袋绕挂钩角动量变化的水平分量模长除以此次接触的最大轴向深度，所得冲量小于 12.0 N·s 即失败；沙袋轻摆不能证明冲量达标。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:173-188"
+    ]
+   },
+   {
+    "id": "bag_touched_again",
+    "zh": "再次触袋",
+    "never": null,
+    "criterion_zh": "首次击打结算后，机器人任何部位再次触及沙袋即失败，包含沙袋摆回后撞到仍伸出的手；结算前不足 0.03 s 的接触间断仍属于同一次击打。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:149-153",
+     "task/privileged/environment/rfo_task.py:180-190"
+    ]
+   },
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "骨盆离地低于 0.50 m，或除左右脚以外的任一机器人部位接触地面，即跌倒并终止；录像中膝、手、躯干落地均属违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/privileged/environment/rfo_task.py:95-98",
+     "grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289",
+     "grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "bag_struck",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:180-190; 需记录 ref.stages 中 strike、trackers 的接触起止与深度以及 ref.metrics.impulse_n_s；现无状态日志。"
+   },
+   {
+    "atom": "guard_held",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:196-199; grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184,292-301; 需记录 ref._hold.guard、右掌至右肩距离、standing 及组成条件；现无状态日志。"
+   },
+   {
+    "atom": "wrong_bag_contact",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:138-164; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   },
+   {
+    "atom": "hit_outside_band",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:96-98; task/privileged/environment/rfo_task.py:165-171; task/privileged/environment/rfo_task.py:50-53; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   },
+   {
+    "atom": "bag_pushed",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:177-179; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   },
+   {
+    "atom": "punch_too_weak",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:173-188; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   },
+   {
+    "atom": "bag_touched_again",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:149-153; task/privileged/environment/rfo_task.py:180-190; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "task/privileged/environment/rfo_task.py:95-98; grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289; grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23; 需记录对应接触、冲量或跌倒判据及 ref.failed；现无状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "impulse_n_s",
+   "unit": "N*s",
+   "threshold": 12.0,
+   "direction": "higher_better"
+  },
+  {
+   "name": "contact_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hit_height_m",
+   "unit": "m",
+   "threshold": [
+    1.2,
+    1.6
+   ],
+   "direction": "target"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功录像亦无状态日志；按 P8 所有 when、never 和 success 均为 null，不能执行状态条件与评分器的一致性验证，所列 new_code 仅说明需要补记的状态，未虚构已有字段。录像可判击中、摆动和护架，不能单凭摆幅精确验证 12.0 N·s 或拳垫末端 0.03 m。",
+  "按 S10 将有效击袋和护架站稳分为两步：击打结算后可暂停再收拳；护架不是击打在途的一帧，也不是开局站立的评估日程。护架用 final 防止开局提前计分。",
+  "任务设计问题：评分器强制只许右拳拳峰触袋，其他部位即使产生同样冲量也立即失败（rfo_task.py:155-164）；文本亦明确限定该手段。此限制放入违规触袋约束，不增加手段节点，success 因无状态日志为 null。",
+  "contact_impulse_n_s 是法向接触力积分的记录值，不是通过阈值；实际判断使用沙袋挂钩角动量变化计算的 impulse_n_s（rfo_task.py:173-190），故不把接触力积分设为约束或目标。hit_height_m 只报告首次接触点平均世界高度；带内判定实际使用沙袋局部轴向深度，静止时对应 1.20 至 1.60 m。",
+  "两种模式的实例与任务模块逐字一致，语义判据共用同一裁判；privileged 外层还要求两次新进程重放成功且终态哈希相同（grader/efe_embodied-olympics-fun-files/grade.py:106-115），standard 接受最后一次现场裁判结果（grader/efe_standard-files/v2_1/grade.py:93-100）。重放确定性、文件有效性和仿真数值发散不作为世界状态步骤；15 s 为回合时限而非约束。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两步均直接来自文本，顺序、阈值、连续保持和终止条件都有源码依据，两模式同规则；成功录像与奖励记录相符，但没有状态日志，精确冲量及接触点只能借助裁判记录而不能从录像独立测定。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "文本步骤为“右拳拳峰击打白带≥12 N·s、接触≤0.1 s”→“收拳护架站稳2 s”，两步与DAG一致；护架判据（0.35 m、20°、0.35 m/s、2.0 s）与文本一致，final+after击打可避免开局计分；约束对应评分器全部失败条件且均为立即终止；无状态日志故when/success为null并已在open_questions_zh说明。局限：未逐行核对评分器与录像帧，仅依据说明文本与DAG自洽性审查。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bag_struck', 'guard_held']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:47:56Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__boxing/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__boxing/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "9cbefe669fd5177b532a04291683bdd79e35e6072067cbcd5ee27c64a52e1537",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/boxing/trajectories/embodied-olympics-fun-boxing-i00-privileged--os2vhh2.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-boxing-i00-privileged--os2vhh2",
+ "taskKey": "embodied-olympics-fun/boxing",
+ "dag_sha256": "5fe95f4fd88e6dbc49fa1e5ba7230e5fd61571eeb504fd1c0835f0ca7840e98d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 332,
+   "sim_steps": 332,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 3.68,
+   "bad_trajectory": 0,
+   "metric_contact_impulse_n_s": 14.26,
+   "metric_contact_s": 0.091,
+   "metric_hit_height_m": 1.273,
+   "metric_impulse_n_s": 14.78,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 97,
+   "agent_resets": 15,
+   "agent_replays": 12,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.103,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-boxing-i00-privileged--os2vhh2/replay.mp4",
+  "duration_s": 3.36,
+  "fps": 25.0,
+  "frames": 84,
+  "sha256": "cf2dfbe8fccbc51f067f9b0011e0732294430d769176085267c827269b00e8a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bag_struck": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": null,
+      "text_zh": "观察：视频 0.80–0.92 s，机器人右臂向前出拳，右手末端在红色沙袋白色环带下部接触袋面；视频 1.00–1.24 s 沙袋逐渐摆离，拳袋间距增大，机器人双脚仍支撑地面。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 154,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 metric_impulse_n_s=14.78、metric_contact_s=0.091、metric_hit_height_m=1.273，stages_reached=2、replay_success=1；log step 154 对交付文件的两次重放均由裁判返回 strike、guard 两阶段及相同指标。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频中短促接触、沙袋摆离及评分器通过结果，将有效击打结算锚定在视频约 1.00 s，时间约有 0.1 s 误差；录像不足以独立测出冲量、精确接触历时及拳峰末端区域，精确验收依赖评分器字段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 0.80–0.92 s，机器人右手末端固定拳垫击打沙袋白带；候选接触名为“击打”。现有怎么碰条目没有短促冲击，故用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.24 s，机器人左右脚接地支撑出拳，双腿与躯干维持站立。"
+     }
+    ]
+   },
+   "guard_held": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.32,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": null,
+      "text_zh": "观察：视频 1.16–1.44 s，机器人右肘弯曲、右拳从袋前收至肩侧；视频 1.44–3.32 s，机器人保持右拳靠近肩部的姿态，双脚接地，身体基本留在原位。已逐帧检查视频 2.36–3.32 s，未见跌倒或再次触袋。"
+     },
+     {
+      "t": 3.32,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 是交付轨迹文件的裁判重放输出，两次均记录 steps=332、time_s=3.32、stages=[strike, guard]、success=true，终态哈希相同；最终评分器同时报告 deterministic=1、stages_reached=2、fell=0。"
+     },
+     {
+      "t": 3.32,
+      "log_step": 154,
+      "text_zh": "推断：护架节点要求连续保持达标，不能从开始收拳时计为完成；以已检查的末帧视频 3.32 s 为完成锚点，结合 log step 154 交付文件在第 332 个控制步完成两阶段的结果，判为最终完成。此处控制步为仿真控制计数而非 agent 时间，332×0.01 s=3.32 s，与视频 3.32 s 的站立护架末帧核对；连续计数及速度、躯干方向余弦阈值依赖裁判通过结果，完成时刻约有一帧误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.16–3.32 s，机器人左右脚在地面支撑身体完成收拳及站稳，右拳收至肩侧后未再触袋。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "impulse_n_s",
+   "unit": "N*s",
+   "threshold": 12.0,
+   "direction": "higher_better",
+   "value": 14.78
+  },
+  {
+   "name": "contact_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.091
+  },
+  {
+   "name": "hit_height_m",
+   "unit": "m",
+   "threshold": [
+    1.2,
+    1.6
+   ],
+   "direction": "target",
+   "value": 1.273
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次交付重放完成击中沙袋和护架站稳两节点，最终为 2/2；视频约 0.80–0.92 s 右拳触及白带，随后沙袋摆离、机器人收拳并直立至视频 3.32 s。观察：评分器记录有效冲量 14.78 N·s、接触时长 0.091 s、击中高度 1.273 m，两阶段均通过，交付文件两次重放成功且终态哈希一致（log step 154）。推断：击打完成约在视频 1.00 s、护架连续保持完成约在视频 3.32 s；无状态日志，精确拳峰接触区域、连续保持计数及数值阈值由裁判结果补足，时间为帧级近似。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两节点均达成（击打约视频 1.0 s，护架约视频 3.32 s），与帧及评分器字段一致；contact_actual 合理（击打用其他，脚支撑），无失败标签，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": "2026-10-29T10:04:33Z",
+  "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/embodied-olympics-fun-boxing-i00-privileged--os2vhh2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-boxing-i00-privileged--os2vhh2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2d13ecb4ad05033f1bf9319205a091d770f3fc7117ef0f1a530e4a4eb7cff1dd",
+   "video_sha256": "cf2dfbe8fccbc51f067f9b0011e0732294430d769176085267c827269b00e8a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/boxing/trajectories/embodied-olympics-fun-boxing-i00-standard--cyq2qzc.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-boxing-i00-standard--cyq2qzc",
+ "taskKey": "embodied-olympics-fun/boxing",
+ "dag_sha256": "5fe95f4fd88e6dbc49fa1e5ba7230e5fd61571eeb504fd1c0835f0ca7840e98d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 158,
+   "sim_steps": 1127,
+   "calls": 59,
+   "rows": 1127,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 824.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.326,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.837,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-boxing-i00-standard--cyq2qzc/replay.mp4",
+  "duration_s": 1.6,
+  "fps": 25.0,
+  "frames": 40,
+  "sha256": "940724b6216597751b83774bc50d4ec75c853ae563acc1509ee5ea00be21a0a4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bag_struck": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.56,
+      "log_step": 97,
+      "text_zh": "观察：视频 0.00–0.52 s 机器人双脚支撑、右前臂朝向袋前；视频 0.56–1.04 s 右手向下收回。log step 95 重置后，log step 96–97 的脚本先保持零肩肘目标，再令右肘目标为 0.9 rad，此动作顺序与录像一致，所标为最后一回合，不包含早先重置前的试验。"
+     },
+     {
+      "t": 1.12,
+      "log_step": 100,
+      "text_zh": "观察：视频 1.08–1.20 s 机器人抬起右臂，右手末端在侧视投影中抵近白带下方的红色袋身；视频 1.24–1.56 s 右手仍处袋前低位，没有出现白带处短促击中后沙袋明显摆离、右拳撤回的完整过程。"
+     },
+     {
+      "t": 1.56,
+      "log_step": 106,
+      "text_zh": "推断：本回合未完成有效击袋。视频 0.00–1.56 s 未见白带上的有效击打过程；agent 在 log step 104、106 自述裁判判为非右拳拳峰触袋且阶段为 0/2，与所见低位抬手过程一致；run.json 的 live_success=0、graded_by_live=1 支持最终失败，但不据零分单独推断节点未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "推断：视频 1.08–1.56 s 右手末端抬向沙袋并在红色袋身边缘发生误触，结合 agent 在 log step 104、106 所述非拳峰触袋判罚；精确接触点无法从侧视分辨。候选接触名“误触”，未见抓握、持续推扫或压擦，也未形成有效的拳峰击打。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.56 s 机器人以双脚接地支撑抬臂和收肘，身体保持站立，未见跌倒。"
+     }
+    ]
+   },
+   "guard_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.56,
+      "log_step": 106,
+      "text_zh": "观察：视频 0.00–1.56 s 只有击袋准备中的收肘、抬臂，末帧右手仍在袋前，未见有效击打后将右拳收至右肩并连续保持 2.0 s 的阶段；整个录像时长也只有 1.60 s。"
+     },
+     {
+      "t": 1.56,
+      "log_step": 103,
+      "text_zh": "推断：护架站稳未达，且尚未开始该后续步骤；前置有效击打未达，log step 95–103 的最后一回合动作只到抬肩准备，随后 agent 在 log step 104 报告该回合已判负。开局站立不计为击打后的护架。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "impulse_n_s",
+   "unit": "N*s",
+   "threshold": 12.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "contact_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hit_height_m",
+   "unit": "m",
+   "threshold": [
+    1.2,
+    1.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bag_struck",
+   "t": 1.5,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.08–1.56 s 机器人在击袋准备中抬起右臂，右手位于白带下方的袋身前，录像止于袋前手位，未完成有效��打。log step 103 的脚本在右肘目标 0.9 rad 下把右肩目标继续调到 -0.8 rad；agent 在 log step 104 自述此次抬肩触发非拳峰触袋判罚，后续没有重置或修复。视频约 1.5 s 为末次抬肩失败的粗略导航锚点，非精确碰撞时刻。"
+  },
+  "unmet": {
+   "bag_struck": false,
+   "guard_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.5,
+    "log_step": 103,
+    "evidence_zh": "观察：视频 1.08–1.56 s 机器人右手抬起后落在白带下方红色袋身前，末端未对准白带完成规定的拳峰击打；没有随后收拳护架的过程。agent 在 log step 104、106 自述裁判判为非右拳拳峰触袋，该自述作为补充，不能单独确认具体触碰部位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 1.5,
+    "log_step": 103,
+    "source_zh": "日志",
+    "evidence_zh": "推断：击袋准备时的右臂运动控制未把手端引至合法击打位姿。log step 97、100、103 的脚本先设右肘目标 0.9 rad，再将右肩目标依次设为 -0.45、-0.8 rad；视频 0.56–1.56 s 与收肘后向袋身低位抬手的顺序相符，未执行出对准白带的有效拳峰击打。log step 104 的 agent 自述称回合在继续抬肩时判负。缺少末回合原始关节反馈和接触记录，不细分为参数、跟踪或接触设计问题。"
+   }
+  ],
+  "gap_zh": "无状态日志；侧视可以判右臂运动及未完成击打后护架，但不能精确区分右手拳峰与其他部位的接触点，也不能测定冲量与接触历时。log step 95–104 的服务调用原始输出为空，末回合“非右拳拳峰触袋、0/2”的具体判词仅见 agent 自述及其写入笔记的文本，不能当作直接服务读数；log step 89、93 的原始带外判罚属于更早回合，未用于本回合判罚。评分字段未报告 impulse_n_s、contact_s、hit_height_m，故原生指标均置 null。"
+ },
+ "summary_zh": "本次评分录像对应最后一次重置后的收肘、抬肩准备过程，未完成有效击袋，护架站稳也未开始，终态为 0/2。机器人在视频约 1.5 s 仍以低位右手接近袋身，断在“击中沙袋”；动作控制未达合法击打位姿，agent 自述最终因非拳峰触袋被判负。缺少末回合原始接触读数和冲量指标，不能独立核实精确违规部位或进一步细分控制根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频仅 1.6 s，为最后一回合；两节点均未达、断点 bag_struck/操作中、位姿不准 + 控制根因都与可见画面和 log 一致，未发现需改内容的错误。末回合判词仅为 agent 自述，标注已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:05:18Z",
+  "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/embodied-olympics-fun-boxing-i00-standard--cyq2qzc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-boxing-i00-standard--cyq2qzc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7a100bd2647b2ea8176c561a8304a546e0d183598c7eed116899439b1fbeb7a3",
+   "video_sha256": "940724b6216597751b83774bc50d4ec75c853ae563acc1509ee5ea00be21a0a4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/catch/task_dag.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/catch",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-catch-i00",
+ "title_zh": "单手接稳飞球",
+ "summary_zh": "在飞球过顶且未落地或碰到禁触身体部位前用任一只裸手包住棒球，并由该手单独控制满规定的一秒窗口，全程不摔倒。",
+ "embodiment_zh": "三个模式均为Unitree H1-2人形机器人，27个本体关节、双臂，各臂末端为Inspire五指灵巧手（每手六个驱动、单一闭合指令），双足移动，无轮式底盘；任一手可接球，无手套或承接工具。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-catch-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fly_ball_caught",
+    "zh": "接稳飞球",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "drop_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地远景中白色小球从空中下降到伸出的裸手，并留在该手随手移动；须已过最高点，在首次触身后0.5秒内由任一只手的四指组与拇指或掌部组同时从相对两侧接触球（两组平均接触方向夹角至少90°），随后同手包住球满100个10毫秒控制步，包围接触每次中断不超过0.02秒，期间球不接触该手以外的物体且机器人不摔倒。仅碰到球、球躺在张开的掌上或持球未满窗口均未完成，球脱手超过0.02秒、转到另一只手或碰到身体和地面即失去；远景不能精确分辨接触夹角和毫秒中断，需原生裁判记录佐证。",
+    "step": {
+     "cat": "动态",
+     "item": "接住"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左手或右手的四指与拇指或掌部从相对两侧合拢包住棒球；接球手任选，另一手不能在接稳阶段触球。",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与腿在场地地面支撑身体，移动至棒球落点附近并在同手持球期间保持不摔倒。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-27",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:749-770",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:799-807",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:852-882",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:884-947",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289",
+     "inputs/task/privileged/environment/instance.json:4-27",
+     "inputs/oracle/replay.mp4:3.6-4.92s",
+     "inputs/oracle/run.json:steps[id=57,60,62]"
+    ],
+    "conf": 6,
+    "note_zh": "一个接球步骤，catch和hold是其先后验收阶段；伸手、走到落点、闭手及持球计时不拆为节点。初态站立、双手张开且尚未接球；成功录像使用右手，但左手同样合法。hold_s为0，因为完成判据已包含原生100步保持计数，不重复施加等待；裁判在接住当个控制步开始计数，首末采样相差0.99秒。drop_s为0，对应脱手或禁触违规即终止的规则；freeze_held为false，因为验收要求球被手握住。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "ball_ground_before_catch",
+    "zh": "接住前球落地",
+    "never": null,
+    "criterion_zh": "球离开发球机后、尚未被任一只手包住时，球接触场地地面即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:894-908"
+    ]
+   },
+   {
+    "id": "ball_body_before_catch",
+    "zh": "接住前球碰身体",
+    "never": null,
+    "criterion_zh": "接住前棒球接触双手和双前臂以外的任何机器人部位即失败；不能靠胸口等部位夹停球。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:745",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:869-879",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:909-911"
+    ]
+   },
+   {
+    "id": "ball_touched_before_apex",
+    "zh": "过顶前触球",
+    "never": null,
+    "criterion_zh": "发射后、球尚未过最高点时，任意机器人部位接触球即失败；过顶由球竖直速度曾小于零判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:901-902",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:912-918"
+    ]
+   },
+   {
+    "id": "catch_window_expired",
+    "zh": "触球后未及时握住",
+    "never": null,
+    "criterion_zh": "球首次接触机器人后超过0.5秒仍未被任一只手从相对两侧包住即失败；球随后离开机器人也继续计时。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:805-806",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:912-930"
+    ]
+   },
+   {
+    "id": "ball_left_catching_hand",
+    "zh": "接住后球脱手",
+    "never": null,
+    "criterion_zh": "接住后，同一只接球手不再满足包围接触，且距上一次满足已超过0.02秒即失败；再接住不能补救。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:884-889",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:933-936"
+    ]
+   },
+   {
+    "id": "ball_touched_elsewhere_after_catch",
+    "zh": "接住后球碰他物",
+    "never": null,
+    "criterion_zh": "接住后，棒球碰到接球手以外的任意物体即失败，包括另一只手、任一前臂、躯干或地面。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:875-879",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:937-940"
+    ]
+   },
+   {
+    "id": "robot_fell",
+    "zh": "机器人摔倒",
+    "never": null,
+    "criterion_zh": "成功前骨盆高度低于0.50米，或双脚以外的机器人部位触地，即判摔倒并终止。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:802-806",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:852-855",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-282"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "dyn.catch_hold_complete",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:884-947 与 inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184；需逐帧导出原生接住标记、接球手、包围接触和容许中断后的hold计数（100个控制步），作为接稳完成条件；目前没有状态日志。"
+   },
+   {
+    "atom": "dyn.ball_ground_before_catch",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:894-908；需记录球已发射、接住手标记及球与地面的逐物理步接触。"
+   },
+   {
+    "atom": "dyn.ball_body_before_catch",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:909-911；需记录接住前球与禁触身体部位的接触。"
+   },
+   {
+    "atom": "dyn.ball_touched_before_apex",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:901-918；需记录下降标记及机器人与球的接触。"
+   },
+   {
+    "atom": "dyn.catch_window_expired",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:912-930；需记录首次触球时刻、接住手标记和当前物理时间。"
+   },
+   {
+    "atom": "dyn.ball_left_catching_hand",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:933-936；需记录接球手、上次包围接触时刻及当前物理时间。"
+   },
+   {
+    "atom": "dyn.ball_touched_elsewhere_after_catch",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch.py:937-940；需记录球与接球手以外几何体的逐物理步接触。"
+   },
+   {
+    "atom": "dyn.robot_fell",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:276-282；需记录骨盆高度和非足部触地，或原生摔倒标记。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "catch_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null
+  },
+  {
+   "name": "catch_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null
+  },
+  {
+   "name": "landed_from_start_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json中没有状态日志，按DECISIONS.md P8所有节点when、约束never及success均为null；atoms列出需要新增记录的原生世界状态，不能用交付或复现有效性替代。无法进行状态日志的到达率和评分一致性实证核对。",
+  "录像为640×360、25帧每秒的场地远景，约3.9秒可见小白球到达机器人伸出的右手，此后留在手边至片尾；无法从这些帧精确判断90°接触夹角或0.02秒中断，后续应结合原生接触及裁判计数，不能仅凭手靠近球判完成。",
+  "模式差异：接球模块、阈值和冻结初态相同；privileged评分要求两个新进程重放均成功且末态哈希一致（inputs/grader/efe_embodied-olympics-fun-files/grade.py:106-115），standard及standard-realtime使用最后一次现场尝试的裁判结论（inputs/grader/efe_embodied-olympics-fun-files/standard/server.py:3-12；inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这些交付和运行有效性检查不建世界状态节点。",
+  "文本与评分器的时间离散化：文本说接住后保持1.0秒，评分器每个10毫秒控制步将hold计数加一，100次即通过，首个和最后一个采样间隔为0.99秒（catch.py:942-947；referee.py:180-184）。采用原生计数验收，不额外延后或按录像调阈值。",
+  "原生catch_height_m、catch_speed_m_s及失败时的landed_from_start_m仅记录数值，没有成功阈值或优化方向（catch.py:905-908、927-929），故native_metrics的threshold和direction均为null；场地所述落点距初位3米内不是另一项得分要求。",
+  "成功运行记录的早期任务文本写手指10牛、拇指15牛，当前三个模式文本写20牛、30牛；这提示手部模型版本可能不同，现有材料不足以验证全部动力学一致性。该录像仅用于接球状态及视角参考，不据此改变当前规则阈值或限定接球手（inputs/oracle/run.json:steps[id=2]；inputs/task/privileged/instruction.md:18）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单一接球步骤、接触类型、初态及全部失败规则均有文本和代码支持，三个模式共享规则，成功录像与原生阶段报告相符；但无状态日志，远景不能验证微观接触及保持计数，且成功运行的手部力参数存在版本差异。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "文本只描述一个步骤（接住飞球并保持），catch→hold是同一连续动作的裁判阶段，单节点atomic合理；七个失败条件与catch.py/referee.py逐条对应（0.5秒窗口、0.02秒中断、90°、骨盆0.50米、过顶判定），均为立即终止。无状态日志，按P8 when/never/success为null并以atoms列出，符合规则；open_questions已列出文本/评分器的1.0秒与100步离散差异及无日志限制。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fly_ball_caught']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:48:34Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__catch/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__catch/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "7d5a1601296682cc28ab86385b1caa097778e4661db249ad6e1f96ecbf0fa2cd",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/catch/trajectories/embodied-olympics-fun-catch-i00-privileged--bnvu2kt.json

@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-i00-privileged--bnvu2kt",
+ "taskKey": "embodied-olympics-fun/catch",
+ "dag_sha256": "61132849363e640170264bbd47c4c4cebc23f7ecfe683cae11a4abb07d10d44b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 497,
+   "sim_steps": 497,
+   "horizon": 900,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 6.34,
+   "bad_trajectory": 0,
+   "metric_catch_height_m": 0.955,
+   "metric_catch_speed_m_s": 9.612,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 93,
+   "agent_resets": 3045,
+   "agent_replays": 17,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-i00-privileged--bnvu2kt/replay.mp4",
+  "duration_s": 5.0,
+  "fps": 25.0,
+  "frames": 125,
+  "sha256": "45ed1e5fa236164ac3aab0f467bd6b855e9ab14b49d3fe7b98d94562cafa07a4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fly_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人站在场地上，手中尚无白球；视频 0.40–3.60 s 机器人迈步调整位置并伸出右手准备接球。"
+     },
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.88–3.96 s 白色小球向机器人伸出的右手下降；视频 4.00 s 小球到达右手位置，逐帧检查视频 4.00–4.96 s 可见白点留在该手边随手移动，没有继续落到地面，机器人保持站立。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 164,
+      "text_zh": "观察：log step 164 读取交付文件的新进程重放结果，原生裁判报告 success=true、executed_rows=497、failed=null，仿真 3.974 s 进入 catch 阶段且 hand=right，仿真 4.97 s 进入 hold 阶段并成功；log step 171 的交付一致性检查显示动作校验和匹配、两次新进程重放均成功且末态相同。inputs/run.json 的最终评分字段亦为 success=1、replay_success=1、deterministic=1、sim_steps=497、stages_reached=2、fell=0。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 164,
+      "text_zh": "推断：交付重放的 497 个控制步乘以每步 0.01 秒为仿真 4.97 s，与视频总长 5.00 s 相差不足一帧；仿真 3.974 s 的接球事件已在视频 3.96–4.00 s 球到手处核对，因此把原生 hold 成功定位到视频约 4.96 s 的末帧，时间精度约 0.04 秒。该节点包含规定保持窗口，首次球到手尚不算完成；成功裁判结果佐证同一右手包围接触满足原生窗口，节点完成后持续至片尾。无逐帧状态日志，远景本身不能分辨接触夹角和毫秒级中断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手接住棒球并持有；视频 4.00–4.96 s 白球留在伸出的右手边，结合 log step 164 原生裁判的 right-hand catch 和 hold 成功，推断右手手指与拇指或掌部形成包围抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与腿在场地地面支撑身体，视频 0.40–3.60 s 迈步调整接球位置，视频 4.00–4.96 s 持球期间继续保持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 0.955
+  },
+  {
+   "name": "catch_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 9.612
+  },
+  {
+   "name": "landed_from_start_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人迈步调整位置并以右手接住下降的白球，视频 4.00–4.96 s 球留在右手边且机器人保持站立，包含保持窗口的“接稳飞球”节点约在视频 4.96 s 完成，最终为 1/1。交付文件的原生重放报告接球与保持均通过，最终评分 success=1 且确定性重放成功。无状态日志，远景无法独立核验接触夹角和毫秒级中断，微观接触及保持窗口依据本次交付的原��裁判结果，完成时刻取末帧附近的近似值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功任务，节点时间 4.96 s（497 步×0.01 s≈片尾）与 log step 164 的原生裁判结果一致，接触和推断标注合理，failure 为空正确。",
+    "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": "2026-10-29T10:06:13Z",
+  "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/embodied-olympics-fun-catch-i00-privileged--bnvu2kt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-i00-privileged--bnvu2kt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "651873f3d14c35a227d4e4f99f8e3638e628dc6fc0c51dd182e1f600d7841c73",
+   "video_sha256": "45ed1e5fa236164ac3aab0f467bd6b855e9ab14b49d3fe7b98d94562cafa07a4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/catch/trajectories/embodied-olympics-fun-catch-i00-standard-realtime--y3yz63f.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-i00-standard-realtime--y3yz63f",
+ "taskKey": "embodied-olympics-fun/catch",
+ "dag_sha256": "61132849363e640170264bbd47c4c4cebc23f7ecfe683cae11a4abb07d10d44b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 396,
+   "sim_steps": 2390,
+   "calls": 17,
+   "rows": 2410,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2233.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 23.895,
+   "max_lag_s": 0.2227,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 374,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.495,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-i00-standard-realtime--y3yz63f/replay.mp4",
+  "duration_s": 4.0,
+  "fps": 25.0,
+  "frames": 100,
+  "sha256": "620bb5fe1668a65508d74e0b8069e8d18aefe41236fae4ad595f641ac536e89d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fly_ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人站在场地内，双手未持球；视频 0.00–2.88 s 机器人随后向画面右侧移动，尚未出现接球。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 56,
+      "text_zh": "观察：逐帧检查视频 3.00–3.96 s，机器人移动并抬起右臂；视频 3.80–3.96 s 小白球下降到机器人上身附近，未见球在右手中停住并随手保持。log step 56 的现场机器人服务返回 episode 6 的裁判结果“the ball touched the body before it was caught”，stages 0/2、control steps 396；log step 57 确认该次尝试已结束。"
+     },
+     {
+      "t": 3.96,
+      "log_step": 57,
+      "text_zh": "推断：视频末段与 log step 56–57 的最后现场尝试相符；原生裁判在接住前碰身即终止，故本次未建立合法接住阶段，更未完成同手保持窗口，接稳飞球全程未达成。log step 6 给出控制周期 0.01 s，episode 6 的396步对应仿真 3.96 s，与视频 3.96 s 的最后画面核对相符；本标签的时间锚点取自视频帧，未用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.96 s 机器人双脚交替接触场地地面，支撑身体并向接球位置移动，片尾仍站立。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 56 的原生裁判记录球在接住前接触机器人身体；视频 3.92–3.96 s 球接近上身，但远景不能分清具体触球部位，也不能确认右手是否先有短暂接触；未观察到手指从相对两侧包住球，故不标抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "catch_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "landed_from_start_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fly_ball_caught",
+   "t": 3.92,
+   "log_step": 56,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.80–3.96 s 机器人正抬右臂迎接下降球，球到达身体附近而没有留在手中；log step 56 的机器人服务裁判报告接住前球碰身体、stages 0/2，并终止最后一次现场尝试。失败发生在接稳飞球操作中。"
+  },
+  "unmet": {
+   "fly_ball_caught": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 3.92,
+    "log_step": 56,
+    "evidence_zh": "观察：视频 3.60–3.96 s 机器人右臂保持抬起，下降小球接近上身时没有被该手截住并停留；log step 56 的服务裁判报告球在接住前碰到身体���推断：机器人接球手的迎球位置与下降球到达时刻未匹配；这是运动目标的漏接，未观察到曾持球后再脱手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.92,
+    "log_step": 56,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 56 中 agent 的脚本预先设定斜向步行、右臂关节姿态及闭手时序，并一次提交最后尝试；视频 3.00–3.96 s 机器人移动并抬臂，却没有让右手截住下降球，服务裁判记录接住前碰身。推断：这套步行、摆臂和闭手控制未将接球手与球轨迹协调到位；现有材料不能区分行走位移误差、臂姿误差或闭手时序误差，故保留上位项“控制”。"
+   }
+  ],
+  "gap_zh": "无状态日志或原生逐物理步接触记录，640×360远景不能核实具体禁触身体部位、手球短暂接触、接触夹角或毫秒级中断。log step 62–63 中 agent 将失败归于步行超调并自述位移约1.8米，这些尺度及胸肩碰撞位置未获独立三维证据核实，不据此细分控制根因；三项原生指标在评分器字段中均未报告。"
+ },
+ "summary_zh": "最后一次现场尝试（episode 6）中，机器人移动并抬右臂迎球，但未完成接稳飞球，节点终态为0/1。视频约3.92–3.96 s 球到达机器人上身附近，现场服务裁判记录接住前碰身、阶段0/2，表明迎球动作未匹配下降球，归因到控制。远景和缺少状态日志使具体触球部位及控制误差来源无法进一步核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log step 56/57 一致：最后一次现场尝试（episode 6，396 步=3.96 s）接住前球碰身，节点未达成，断点在 fly_ball_caught，时间为视频时钟，未换算 agent 时间；动态时机 + 控制证据有限但标注诚实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:06:04Z",
+  "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/embodied-olympics-fun-catch-i00-standard-realtime--y3yz63f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-i00-standard-realtime--y3yz63f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "96b0ffdba9865e4fdbf0d0573f185f749cab0df5272b4c0822f12146a96607fd",
+   "video_sha256": "620bb5fe1668a65508d74e0b8069e8d18aefe41236fae4ad595f641ac536e89d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/catch_and_shoot/task_dag.json

@@ -0,0 +1,335 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-catch-and-shoot-i00",
+ "title_zh": "双手接球后投篮",
+ "summary_zh": "双手在空中接住左翼来球后合法出手，使球从上方穿过篮圈并下降一球直径，期间无犯规或摔倒。",
+ "embodiment_zh": "三种模式均为 Unitree H1-2 人形机器人，27 个本体关节、双臂，左、右末端各为 Inspire RH56DFX 五指灵巧手，每手六个驱动由一个闭合量控制；双腿足式支撑，无轮式底盘，篮球仅靠真实接触与摩擦持握。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-catch-and-shoot-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "ball_caught",
+    "zh": "双手接住球",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地外部视角可见橙色篮球从机器人左侧传球机飞来，未先触地便被胸腹前两只手共同承接并控制；仅单手碰到、短暂拍过或球弹走均未完成。裁判要求两只手各自的有效接触同时连续保持至少 0.10 秒（每手自最后一次实际接触起不超过 0.03 秒仍算接触），完成后即记住该事件，投篮离手不取消接球进度。",
+    "step": {
+     "cat": "动态",
+     "item": "接住"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选：夹持；左掌与右掌从篮球两侧相向夹压，靠接触和摩擦承接、持住或加速篮球；单只手不合拢包住球，故不标抓握，现有接触条目没有双掌相向夹持（暂行：DECISIONS.md D12）。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左、右灵巧手的手指分别与拇指或掌面合拢夹住篮球两侧的局部球面，共同持球；对应任务明确允许的手指闭合包住球面的方式，区别于仅用两张开放手掌相向夹压。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:16-26",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1047-1053",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1116-1139",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1141-1144",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1152-1181",
+     "inputs/oracle/replay.mp4:2.4-3.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "接住后能持球暂停，再继续投篮，故与投篮分开；接触的 0.10 秒窗口由裁判在物理子步内累计，拟记录的是已完成的 catch 事件，hold_s=0 避免在事件之后重复等待。初态双手空、球在传球机中；无需额外准备节点。"
+   },
+   {
+    "id": "shot_through_ring",
+    "zh": "投篮命中",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "ball_caught"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地外部视角可见机器人将接住的橙色球投出，球与双手分离后飞向画面右侧篮板下的篮圈，从上方落入并继续下降到圈下；仅球已出手、接近篮筐、碰圈后弹开或从下方上穿都不算。按裁判顺序须先接球再释放（两手有效接触均消失），球心向下穿越高 3.05 米的圈面时距圈心小于 0.225 米，未向上回穿圈面，随后向下穿越高 2.811 米的平面时距圈心小于 0.3445 米，且触发成功前不得出现约束中的犯规或摔倒。",
+    "step": {
+     "cat": "动态",
+     "item": "抛/投"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选：夹持；左掌与右掌从篮球两侧相向夹压，靠接触和摩擦承接、持住或加速篮球；单只手不合拢包住球，故不标抓握，现有接触条目没有双掌相向夹持（暂行：DECISIONS.md D12）。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左、右灵巧手的手指分别与拇指或掌面合拢夹住篮球两侧的局部球面，共同持球；对应任务明确允许的手指闭合包住球面的方式，区别于仅用两张开放手掌相向夹压。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/instruction.md:26-30",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:744",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1047-1053",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1135-1139",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1182-1206",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:429-458",
+     "inputs/oracle/replay.mp4:4.4-6.6 s"
+    ],
+    "conf": 6,
+    "note_zh": "出手和飞行是投篮命中的连续过程，不单设球已离手节点；释放后能短暂再触球的裁判宽限另见约束与疑问。成功瞬间结束，穿圈作为事件锁存，不要求篮球永远停在篮筐里；接触标送球动作，离手后的无接触飞行记在本说明中。成功视频使用双手下手投篮，任务也允许其他投篮样式，不限制挥臂方向或轨迹。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "ball_touched_before_pass",
+    "zh": "提前触球",
+    "never": null,
+    "criterion_zh": "篮球尚未离开传球机滚轮前，机器人任意部位碰到篮球即违规；场地视角可见机器人靠近传球机并碰到仍在机内的球。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1152-1158"
+    ]
+   },
+   {
+    "id": "nonhand_ball_contact",
+    "zh": "非手部触球",
+    "never": null,
+    "criterion_zh": "传球已离机且尚未被裁判记为释放时，篮球接触机器人除双手以外的部位即违规；手包括手指、拇指、掌和腕，球靠在胸腹、上臂、腿或脚上均不允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/instruction.md:18",
+     "inputs/task/privileged/instruction.md:26",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1131-1134",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1159-1165"
+    ]
+   },
+   {
+    "id": "ball_ground_before_goal",
+    "zh": "球提前触地",
+    "never": null,
+    "criterion_zh": "从传球离机到投篮成功前，篮球任何一次接触地板均判失败；包括来球先落地、接住后持球触地及出手后未进筐便落地，允许球碰篮圈或篮板。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1179-1180",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1190-1192",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1200-1206"
+    ]
+   },
+   {
+    "id": "travelling",
+    "zh": "走步",
+    "never": null,
+    "criterion_zh": "从接球成立到裁判记为释放检查脚步：双脚着地接球时，首次抬脚确定另一脚为轴心脚，轴心脚离地后出手前任何脚再落地即违规；双脚均未抬起前任一脚、之后轴心脚沿地滑移超过 0.20 米也违规。若接球时有脚离地，则最多两步且不得同脚连续两次落地，仍着地的脚不得从其锚点滑移超过 0.20 米；脚离地至少 0.03 秒后再接触地面算落地，异脚落地间隔不超过 0.03 秒合为一步，同脚重复落地在超过合并窗口或释放时确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:847-948",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1052",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1172-1175",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1187-1198"
+    ]
+   },
+   {
+    "id": "post_release_retouch",
+    "zh": "出手后再触球",
+    "never": null,
+    "criterion_zh": "裁判记为释放后超过 0.05 秒，机器人任意部位再次接触篮球即判失败；画面中球离手飞行后被手、躯干或腿重新碰到均属此项，释放时间按每手 0.03 秒接触宽限后的有效接触消失计算。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1052",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1141-1144",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1194-1201"
+    ]
+   },
+   {
+    "id": "upward_ring_entry",
+    "zh": "从下方穿篮",
+    "never": null,
+    "criterion_zh": "接球后篮球尚未登记向下入圈时，球心从下向上穿越高 3.05 米的篮圈平面，穿越点到圈心的水平距离小于 0.225 米，立即判违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1047",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1182-1186",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:400-423"
+    ]
+   },
+   {
+    "id": "robot_fell",
+    "zh": "机器人摔倒",
+    "never": null,
+    "criterion_zh": "投篮成功前，机器人骨盆高度低于 0.35 米，或双脚以外的身体部位接触地面，裁判判为摔倒并终止；外部视角可见躯干或手臂落地，单纯身体晃动但未满足这些条件不算。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1038-1040",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1053",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289"
+    ]
+   },
+   {
+    "id": "simulation_unstable",
+    "zh": "仿真失稳",
+    "never": null,
+    "criterion_zh": "物理积分出现坏加速度警告、非有限位姿，或机器人或自由物体的平移速度分量绝对值超过 150 米每秒时，模拟器以仿真失稳终止；视频可能突然跳变或停止，单凭视频停止不能确认，需查看该失败原因。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108-109",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:866-885"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "catch_completed",
+    "level": "new_code",
+    "source": "dyn.catch_completed <- ref.has(\"catch\"); inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1168-1175"
+   },
+   {
+    "atom": "shot_through_ring",
+    "level": "new_code",
+    "source": "dyn.shot_through_ring <- ref.has(\"through the ring\"); inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1182-1206"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "dyn.task_success <- world.ref.success (per-frame native checker flag); inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178"
+   },
+   {
+    "atom": "ball_touched_before_pass",
+    "level": "new_code",
+    "source": "dyn.ball_touched_before_pass <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1152-1158"
+   },
+   {
+    "atom": "nonhand_ball_contact",
+    "level": "new_code",
+    "source": "dyn.nonhand_ball_contact <- per-frame native rule predicate / latched ref.failed; inputs/task/privileged/instruction.md:18; inputs/task/privileged/instruction.md:26; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1131-1134; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1159-1165"
+   },
+   {
+    "atom": "ball_ground_before_goal",
+    "level": "new_code",
+    "source": "dyn.ball_ground_before_goal <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1179-1180; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1190-1192; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1200-1206"
+   },
+   {
+    "atom": "travelling",
+    "level": "new_code",
+    "source": "dyn.travelling <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:847-948; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1052; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1172-1175; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1187-1198"
+   },
+   {
+    "atom": "post_release_retouch",
+    "level": "new_code",
+    "source": "dyn.post_release_retouch <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1052; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1141-1144; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1194-1201"
+   },
+   {
+    "atom": "upward_ring_entry",
+    "level": "new_code",
+    "source": "dyn.upward_ring_entry <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1047; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1182-1186; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:400-423"
+   },
+   {
+    "atom": "robot_fell",
+    "level": "new_code",
+    "source": "dyn.robot_fell <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1038-1040; inputs/grader/efe_embodied-olympics-fun-files/rfo/tasks/catch_and_shoot.py:1053; inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289"
+   },
+   {
+    "atom": "simulation_unstable",
+    "level": "new_code",
+    "source": "dyn.simulation_unstable <- per-frame native rule predicate / latched ref.failed; inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108-109; inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:866-885"
+   }
+  ]
+ },
+ "native_metrics": [],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功示例也没有状态日志；依 DECISIONS.md P8，两节点 when、各约束 never 和 success 均为 null，不能据未记录的字段伪造绑定。atoms 列出应新增记录的原生事件与规则量；精确的接触时长、穿圈几何及全部约束不能仅靠远景逐帧可靠测量，当前只能结合视频和裁判代码判读。",
+  "接触词表缺口（DECISIONS.md D12、P14）：开放双掌相向夹球标双臂协作×其他，候选夹持；任务文字也允许手指合拢包住球面，单列抓握为替代方案，不把两种方案当作同时发生。",
+  "文本与代码差异：instruction.md 的规则偏离段说从传球直到进筐均禁止非手部触球，但详细失败列表及 catch_and_shoot.py:1159-1165 只在裁判释放前检查非手部触球，释放超过 0.05 秒才检查任意部位再触球（1200-1201）；释放又使用 0.03 秒的每手接触宽限。约束按实际裁判分段写出，不能将宽限内接触擅自当作代码已判失败。",
+  "原地投篮的文字未给位置容差；评分器仅以接球至释放期间的走步规则约束移动，不检查投篮位置距初始位置的独立半径。具体规则还允许接球时有脚离地的两步路线，故不添加始终双脚不动的条件或站立步骤（catch_and_shoot.py:872-948、1187-1198）。",
+  "模式差异：物理规则、参数和阶段顺序三模式相同；privileged 的 grade.py:87-115 另要求有效有限动作文件、两次成功重放且末态哈希相同，standard 与 standard-realtime 则由服务按最后一次现场尝试的裁判结果评分（standard/server.py:157-178；inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这些交付、复现和基础设施条件不是语义世界状态，不建节点，也无可用日志表达，故 success 保持 null。",
+  "仅记录不评分：catch_and_shoot.py:1208-1209 的 ball_height_m 只是当前球高，没有单独通过阈值或单调优化方向，故 native_metrics 为空，不增加约束；标准实时模式的时钟滞后与第一尝试统计也不改变成绩（inputs/grader/efe_standard-files/v2_1/grade.py:14-19）。15 秒是任务时限，不建约束（DECISIONS.md P21）。",
+  "依 DECISIONS.md D10 当前读法保留双手接住球与投篮命中两步；接球后能够持球暂停，符合 S10，裁判的 release 阶段仅作为投篮验收的一部分。成功视频是双手下手投篮，仅用于识别画面线索，不固定投篮样式。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两个步骤直接来自三模式一致的任务文字，顺序、时长、穿圈阈值与失败条件均有代码来源，初态和成功视频支持该拆分；但没有任何状态日志可绑定，远景不足以独立核实毫秒接触及精确穿圈位置，并存在文字触球范围与代码宽限的差异。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "接球→投篮命中两步与文本一致（catch→release→through the ring，release 并入投篮），约束与裁判代码分段（释放前非手触球、释放后0.05秒再触球、走步、触地、下方穿圈、摔倒、失稳）对应，无状态日志故 when/success 为 null 并已在 open_questions_zh 说明，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['ball_caught', 'shot_through_ring']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:49:09Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__catch_and_shoot/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__catch_and_shoot/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "968d604e21b2b8f1838c31f970e752fbcb7d46b357dd01f46af5dc12b84f56ba",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--qvqbash.json

@@ -0,0 +1,192 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--qvqbash",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 291,
+   "sim_steps": 278,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 5.19,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.106,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 81,
+   "agent_resets": 30,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.703,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--qvqbash/replay.mp4",
+  "duration_s": 2.8,
+  "fps": 25.0,
+  "frames": 70,
+  "sha256": "83025b898e21d2d74141fa5516b1fa6e8f7d7af300cb97e6dc502e1553da168b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.48,
+      "log_step": null,
+      "text_zh": "观察：本次视频 2.24–2.44 s 橙色篮球从画面左侧传球机飞到机器人胸前；视频 2.44–2.52 s 球短暂贴近右手并改变运动方向，左手未与右手共同把球留在胸腹前，随后球向右下方离开双手。"
+     },
+     {
+      "t": 2.76,
+      "log_step": 120,
+      "text_zh": "观察：本次视频 2.56–2.76 s 篮球持续降到地板附近，机器人没有重新接住；log step 120 对最终保存文件的新进程重放返回 stages=[]，失败原因为“the pass was not caught: the ball touched the floor”；log step 126 确认最终文件仍与已核验的 v41 动作逐元素相同，log step 127 再次重放结果相同。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "推断：本次视频没有成功示例在其视频 2.44–2.96 s 所显示的双手持续承接并控制球的画面线索；结合最终文件重放明确未接住的裁判结果，双手接住球事件未成立。成功示例仅用于辨认持球外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 2.44–2.52 s 机器人右手短暂挡碰篮球，球随后向右下方离开；未见右手包住球或左右手形成夹持。候选：击打（单手挡拍）；现有接触方式没有短促挡拍项，不按抓握记录。左手虽向球靠拢，但未见实际共同持球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.76,
+      "log_step": 120,
+      "text_zh": "观察：本次视频全段 0–2.76 s 机器人没有接住球后朝篮圈出手；视频末段球从胸前下降到机器人前方地板附近，篮圈处没有篮球穿越。log step 120 的最终文件重放阶段列表为空，接球前即因球触地结束，因此投篮命中未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.52,
+   "log_step": 120,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.44–2.52 s 机器人正在用双手迎接来球，右手短暂挡碰后，另一只手未及时合围；视频 2.56–2.76 s 球脱离双手向地板下降，接球再未完成。log step 120 对交付文件重放明确报“the pass was not caught: the ball touched the floor”，故断点属于双手接住球。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.52,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.44–2.68 s，机器人右手迎到运动中的篮球后向下追随，左手靠拢时球已从两手工作区域向右下方移走；机器人双手未及时共同截停来球。视频 2.76 s 球已接近地板，未出现双手持球阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 118 的交付说明记载 agent 的控制器先以右拳柔顺退让挡球，再让��手到预测落点合围；log step 126 确认最终交付仍为该 v41 动作。视频 2.44–2.68 s 显示机器人确实迎球并追球，但单手接触未接续成双手控制，表明接球动作的控制没有实现预期衔接；现有证据不能进一步区分接触布局、轨迹跟踪或控制增益问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频为单一远景，能判断来球未受双手持续控制及最后落地，但不能精确确认各指接触对、接触力或毫秒级接触窗口。log step 112 的生成期诊断属于会话实验，其球运动时间不能直接替代交付重放的视频时间；此处时间全部取自实际视频，根因只标到控制。"
+ },
+ "summary_zh": "机器人尝试接住左侧来球，右手短暂挡碰后未能与左手及时合围，球在视频 2.52–2.76 s 向右下方落地，双手接住球与投篮命中均未完成（0/2）。断点为双手接住球，现象为动态时机，根因保留为控制；最终交付文件多次重放均确认未接住，未把会话中其他试验算作进度。没有状态日志且手部画面较小，不能细分具体控制子因或精确接触时长。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 2.2–2.76 s 帧显示球飞到右手处被挡开后落地，未被双手持住；两节点均未达成、断点 ball_caught、动态时机 + 控制（停在“控制”）均有证据支持，接触标注保守合理。",
+    "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": "2026-10-29T10:06:39Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--qvqbash/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--qvqbash/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0f9dba51dbb2201097119c29c40842d815a465aac1625a667e4b3584c33e6f46",
+   "video_sha256": "83025b898e21d2d74141fa5516b1fa6e8f7d7af300cb97e6dc502e1553da168b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--sxevm8b.json

@@ -0,0 +1,194 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--sxevm8b",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 634,
+   "sim_steps": 634,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 6.53,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 2.78,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 158,
+   "agent_resets": 476,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.779,
+   "peak_processes": 44,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--sxevm8b/replay.mp4",
+  "duration_s": 6.36,
+  "fps": 25.0,
+  "frames": 159,
+  "sha256": "34e870c1dae576f99656fa7a1fa3aefe4315499020cf42ea7928eaa5dfe41bd8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.64,
+      "log_step": null,
+      "text_zh": "观察：视频 2.28–2.44 s，橙色篮球从机器人左侧飞向身前；视频 2.48–2.76 s，两手向球两侧收拢，球减速并留在双手之间，随后视频 2.80–4.40 s 持续随双手移动，未先落地。接球事件约标在视频 2.64 s，远景不能逐毫秒核实双手有效接触窗口。"
+     },
+     {
+      "t": null,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 对最终保存的 634 行动作文件运行官方重放器，返回 success=true、failed=null，stages 依次为 catch、release、through the ring；inputs/run.json 的评分字段也记录 replay_success=1、deterministic=1、stages_reached=3。该结果支持双手接球已通过原生裁判。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "推断：视频 2.48–2.96 s 双手在篮球两侧相向收拢，随后共同持球；按可见姿态标候选“夹持”（DECISIONS.md D12）。单只手是否形成指掌对向包握在远景中不可辨，不据手指闭合命令认定抓握；双手相向夹持没有对应的现有 how 条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.28–2.96 s 机器人以双脚接触地板，支撑站立接球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.32,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.04,
+      "log_step": null,
+      "text_zh": "观察：视频 3.00–4.40 s 机器人将球保持在双手之间，视频 4.48–4.88 s 双手持球下摆至髋前，随后向前上方送球；视频 5.04 s 球已与双手分离，向画面右侧篮筐飞行，机器人仍直立。"
+     },
+     {
+      "t": 6.32,
+      "log_step": null,
+      "text_zh": "观察：视频 5.36–5.72 s 篮球升至篮圈上方，视频 5.76–6.24 s 下降并对准篮圈，视频 6.28–6.32 s 球进入圈口并向圈下落去，未见向外弹开。投篮完成约标在视频 6.32 s；球与篮网局部重叠，精确的圈下验收高度由成功评分支持。"
+     },
+     {
+      "t": null,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 官方重放器对交付文件返回 success=true、stages=[catch, release, through the ring]、executed_rows=634、ball_height_m=2.78；log step 70 重新生成文件前后 MD5 相同，log step 75 再次重放仍为 success=true 且末态哈希与 log step 56 相同。inputs/run.json 的 success=1、replay_success=1 与视频末段入圈一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "推断：视频 3.00–4.96 s 双手从球两侧共同夹持、承托并作下手投篮，视频 5.04 s 已离手；候选“夹持”（DECISIONS.md D12），不能从远景确认单手包握，双掌相向夹持无对应的现有 how 条目。离手后的飞行与穿圈不再有手球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "���察：视频 3.00–6.32 s 机器人双脚留在地板上，站立支撑持球、摆臂和出手，末段仍直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人约在视频 2.64 s 双手接住左侧来球，持球调整后下摆蓄力，约在视频 5.0 s 出手，篮球约在视频 6.32 s 从上方穿入篮圈，两个事件节点均完成。官方交付重放与最终评分均为成功，未设失败断点；本次无状态日志，远景无法独立测量毫秒接触窗口、单手包握细节和精确穿圈几何，接触按双手相向夹持处理（DECISIONS.md D12），精确验收由原生成功结果支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点（接球约 2.64 s、投篮入圈约 6.32 s）与视频和成功评分一致，无失败断点，接触标注与 DAG plan 1 及实际相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:06:32Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--sxevm8b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--sxevm8b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ea96657bc579a1b9383dc46b38395085e4cf8b77aa7e028a777b9631d06afc8",
+   "video_sha256": "34e870c1dae576f99656fa7a1fa3aefe4315499020cf42ea7928eaa5dfe41bd8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/clean_and_jerk/task_dag.json

@@ -0,0 +1,361 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-clean-and-jerk-i00",
+ "title_zh": "挺举杠铃",
+ "summary_zh": "杠铃先在肩前稳定上肩，再由双手举至头顶上方，双臂双腿伸直、双脚并齐并保持稳定至下放信号，全程无裁判违规。",
+ "embodiment_zh": "两种模式均为Unitree H1-2双足人形机器人，27个本体关节；左右臂各装Inspire RH56DFX五指灵巧手，以接触和摩擦握持自由杠铃，双腿与躯干在举重台上支撑和平衡，无轮式底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-clean-and-jerk-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "when": null,
+    "optional": false,
+    "verify_zh": null,
+    "freeze_held": false,
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左右灵巧手各自握住杠铃握杆的一侧，双臂同时承载并抬升杠铃。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "双脚支撑在木色举重台上，双腿与躯干承受机器人和杠铃的重量。"
+     }
+    ],
+    "conf": 6,
+    "id": "bar_at_shoulders",
+    "zh": "杠铃上肩",
+    "mode": "event",
+    "after": [],
+    "hold_s": 0.49,
+    "goal": true,
+    "criterion_zh": "场馆斜前方视角可见银色杠铃已离开两只棕色支架，停在胸肩前方，机器人双手持杠、直立伸膝、双脚在木台上并齐：杠轴距两侧肩关节均不超过0.15米，双膝距伸直不超过10度，双脚中心沿垂直杠轴的水平方向错位不超过0.05米（杠轴偏离水平超过60度不合格），躯干直立余弦至少0.94、杠中心距两肩中点的水平距离不超过0.25米、杠轴俯视方向与肩线夹角不超过20度，杠铃和骨盆线速度均不超过0.1米/秒，全部条件连续满足50个控制步（名义0.5秒）。此前必须双手离架、杠中心至少到过台面以上0.48米且未违规回落；杠仍在低位、仅经过肩高未停稳或未站直均未完成，完成后上举离肩不撤销本事件。",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:103-114",
+     "inputs/task/privileged/tests/rfo_task.py:186-201",
+     "inputs/task/privileged/tests/rfo_task.py:230-260",
+     "inputs/task/privileged/tests/rfo_task.py:274-289",
+     "inputs/task/privileged/tests/rfo_task.py:314-348",
+     "inputs/task/privileged/tests/rfo_task.py:350-385",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184",
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/oracle/replay.mp4:16.0-18.5s"
+    ],
+    "note_zh": "上肩是文本单列、可停留后继续的中间目标，使用事件模式；成功要求曾完成上肩，故为目标节点。离架和过膝合入该步验收，不按四个原生阶段拆成四步；双手接触允许最多0.05秒间断。按D31，50个0.01秒控制步的首末采样间隔为0.49秒；无日志时不执行此条件。"
+   },
+   {
+    "when": null,
+    "optional": false,
+    "verify_zh": null,
+    "freeze_held": false,
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左右灵巧手各自握住杠铃握杆的一侧，双臂同时承载并抬升杠铃。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "双脚支撑在木色举重台上，双腿与躯干承受机器人和杠铃的重量。"
+     }
+    ],
+    "conf": 6,
+    "id": "bar_overhead",
+    "zh": "杠铃过顶",
+    "mode": "state",
+    "after": [
+     "bar_at_shoulders"
+    ],
+    "hold_s": 1.99,
+    "goal": true,
+    "criterion_zh": "完成上肩后，场馆视角可见银色杠铃举至头部上方、两手分握杠杆、双臂伸直，双腿伸直且双脚在木台上并齐：杠轴高度至少比头部中心高0.25米，双肘和双膝距伸直均不超过10度，脚沿垂直杠轴的水平方向错位不超过0.05米（杠轴偏离水平超过60度不合格），躯干直立余弦至少0.94、杠中心距两肩中点的水平距离不超过0.25米、杠轴俯视方向与肩线夹角不超过20度，杠铃与骨盆线速度均不超过0.1米/秒，全部条件连续满足200个控制步（名义2秒）直至裁判记录下放信号。仅把杠举高而屈肘、屈膝、摇晃或尚未保持满时长均未完成；杠降低、脱手或任一终态条件失去即不再成立，下放信号立即结束成功回合，无需再放下杠铃。",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:103-114",
+     "inputs/task/privileged/tests/rfo_task.py:249-289",
+     "inputs/task/privileged/tests/rfo_task.py:314-318",
+     "inputs/task/privileged/tests/rfo_task.py:350-393",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184",
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/oracle/replay.mp4:25.0-27.4s"
+    ],
+    "note_zh": "上举与稳定保持共同构成第二个语义步骤；不另列过顶瞬间、静止或下放信号。边来自文本先上肩再上举及裁判的阶段顺序；state本身不以after门控，视频还须核验上肩历史与全部约束。200个0.01秒控制步的首末采样间隔为1.99秒（D31）；两步均允许且要求持杠，禁用持物冻结。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "off_platform_contact",
+    "zh": "触及台外地面",
+    "never": null,
+    "criterion_zh": "机器人任一部位或杠铃任一部分接触木色举重台外的浅色地面；以实际接触判定，不按投影越界判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:323-326"
+    ]
+   },
+   {
+    "id": "nonfoot_platform_contact",
+    "zh": "非脚部触台",
+    "never": null,
+    "criterion_zh": "除双脚外的任何机器人部位接触木色举重台；深蹲本身不违规，也没有额外骨盆高度或倾角跌倒规则。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:106,327-329"
+    ]
+   },
+   {
+    "id": "robot_block_contact",
+    "zh": "身体触及支架",
+    "never": null,
+    "criterion_zh": "机器人任一部位接触两只棕色举重支架；双手抓杠时也不得碰到支架。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:330-331"
+    ]
+   },
+   {
+    "id": "one_hand_liftoff",
+    "zh": "非双手离架",
+    "never": null,
+    "criterion_zh": "在尝试尚未过膝时，杠轴高于静置高度超过0.03米且不足两只手持杠；手持按握杆与各手手指接触、允许最多0.05秒间断计算。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:314-318,332-348"
+    ]
+   },
+   {
+    "id": "bar_released_during_attempt",
+    "zh": "过膝后脱手",
+    "never": null,
+    "criterion_zh": "杠中心到过台面以上0.48米、尝试标记成立后，下放信号前任一只手脱离握杆超过0.05秒。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:314-318,337-348"
+    ]
+   },
+   {
+    "id": "bar_lowered_before_signal",
+    "zh": "提前回落触台",
+    "never": null,
+    "criterion_zh": "尝试过膝后、下放信号前，杠铃任一部分接触举重台或任一支架；初始搁在支架上不违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:337-348"
+    ]
+   },
+   {
+    "id": "overhead_without_clean",
+    "zh": "未上肩先过顶",
+    "never": null,
+    "criterion_zh": "上肩尚未通过时，杠轴达到头部中心以上至少0.25米；即使双臂已经伸直，也作为未完成上肩就过顶立即判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:350-385"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "clean_position_ok",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:350-385；需新增日志字段dyn.clean_position_ok，记录lift-off、attempt、双手、膝、脚、静止、在杠下及肩距条件的合取，不含保持计数。"
+   },
+   {
+    "atom": "clean_reached",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-158；需新增日志字段dyn.clean_reached，记录clean阶段锁存，用于核验上肩历史及上举先后。"
+   },
+   {
+    "atom": "overhead_position_ok",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:350-390；需新增日志字段dyn.overhead_position_ok，记录common、overhead、elbows的合取，不含保持计数。"
+   },
+   {
+    "atom": "down_signal_reached",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:390-393；需新增日志字段dyn.down_signal_reached，记录down signal阶段锁存。"
+   },
+   {
+    "atom": "checker_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178；需记录每帧裁判自身success和failed，不使用交付或复现有效性代替世界状态。"
+   },
+   {
+    "atom": "off_platform_contact",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:323-326；需新增日志字段dyn.off_platform_contact，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "nonfoot_platform_contact",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:106,327-329；需新增日志���段dyn.nonfoot_platform_contact，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "robot_block_contact",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:330-331；需新增日志字段dyn.robot_block_contact，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "one_hand_liftoff",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:314-318,332-348；需新增日志字段dyn.one_hand_liftoff，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "bar_released_during_attempt",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:314-318,337-348；需新增日志字段dyn.bar_released_during_attempt，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "bar_lowered_before_signal",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:337-348；需新增日志字段dyn.bar_lowered_before_signal，记录本约束对应的接触或几何违规条件。"
+   },
+   {
+    "atom": "overhead_without_clean",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:350-385；需新增日志字段dyn.overhead_without_clean，记录本约束对应的接触或几何违规条件。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "相对台面的杠中心高度；过顶阈值随头部中心高度变化，非固定绝对高度。",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:372-374"
+   ]
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "尝试中最大杠中心高度，不能单独表示上肩或成功。",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:373-375"
+   ]
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:112",
+    "inputs/task/privileged/tests/rfo_task.py:358,376"
+   ]
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:112",
+    "inputs/task/privileged/tests/rfo_task.py:357,377"
+   ]
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "note_zh": "成功时记录的回合耗时；60秒为回合时限，依P21不列约束。",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:103,392"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json为空，成功参照也无状态日志；依P8所有when、never和success均为null，无法进行状态条件覆盖及success与评分器一致性的回放自检。atoms仅列出需补记的字段，不将源码中可计算的量冒充已记录字段；视频可判断主要姿态，但无法精确测出全部距离、速度和0.05秒接触宽限。",
+  "文本与评分器边界差异（N1）：说明写杠铃及骨盆速度低于0.1米/秒，实际final_checks接受小于等于0.1；说明对未上肩先过顶写高出头部中心超过0.25米才失败，实际step复用overhead检查，达到0.25米即失败。本文判据均按实际裁判边界。",
+  "两模式共享相同任务模块与参数，物理成功条件一致；privileged的grade.py:106-115还要求两次新进程回放均成功且终态哈希一致，standard由服务记录最后一次现场回合的裁判结论（standard/server.py:157-177；efe_standard-files/v2_1/grade.py:93-99）。这些是复现或交付验收，不增加世界状态节点，也不是不同的独立任务场景。",
+  "本任务关闭通用跌倒判据（rfo_task.py:106），只按列出的接触规则判负；60秒属于回合时限，依P21不列约束。物理数值发散也会使回合失败（rfo/world.py:872-883），属于模拟运行有效性，未增造运动步骤或几何跌倒阈值。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两步及唯一依赖直接来自文本，所有验收阈值和接触禁例均有裁判源码依据，两模式参数及任务模块一致，成功视频展示了两步；缺少状态日志，细小几何阈值和保持计数不能独立核验。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "任务说明列出两步（挺到肩、举过顶并保持），DAG恰为这两个节点，边、阈值（0.15/0.25/0.94/0.1/10°/0.05/0.5s/2s）与说明一致，约束均为裁判失败条件且为立即终止；60秒为回合时限，按P21不列约束。无状态日志，when/success为null并已在open_questions_zh说明，文本与评分器边界差异也已列出。未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bar_at_shoulders', 'bar_overhead']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:48:15Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__clean_and_jerk/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__clean_and_jerk/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "78e64800f07070e7ab8a1655f4015342035a2f6c6f03347ac63570590d0bfc89",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--ukpfjx2.json

@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--ukpfjx2",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1878,
+   "sim_steps": 1878,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 36.08,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 2.108,
+   "metric_bar_max_height_m": 2.112,
+   "metric_elbow_flex_deg": 1.1,
+   "metric_knee_flex_deg": 3.0,
+   "metric_time_s": 18.78,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 193,
+   "agent_resets": 31,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--ukpfjx2/replay.mp4",
+  "duration_s": 18.8,
+  "fps": 25.0,
+  "frames": 470,
+  "sha256": "801b46eb0917a70f13a880efa0b347ee09931dc595571f636092124d7673ef93"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.4 s，机器人蹲身后两手分别合握银色杠杆的两侧；视频 2.8–5.0 s，杠铃随机器人起身离开两只棕色支架，原支承位置空出，双脚仍在木台上。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.4–9.6 s，机器人直立伸膝，两手持杠停留于胸肩前方，双脚并列支撑；视频 9.8–10.4 s 才继续向头顶上举。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "推断：结合胸肩前停留后继续上举的画面，以及评分器 success=1、replay_success=1、stages_reached=4/4，上肩事件已通过；达成时间估为视频 9.6 s，约有 0.5 s 不确定性。该事件完成后锁存，上举离肩不撤销；肩距、线速度及连续50个控制步无法由单视角画面精确复测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手各合握杠杆的一侧，共同将杠铃从棕色支架上抬离，起身并提至胸肩前。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚持续接触木色举重台，双腿从屈膝蹲身转为伸膝直立，承载本体及手中杠铃。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.76,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–11.6 s，机器人将杠铃由胸肩前举至头顶上方，两手始终分握杠杆；视频 11.6–17.2 s，机器人继续持杠过顶，双臂和双腿接近伸直，双脚保持在木台上。"
+     },
+     {
+      "t": 18.76,
+      "log_step": null,
+      "text_zh": "观察：视频 17.6、17.8、18.0、18.2、18.4、18.6 及末帧 18.76 s，杠铃仍在机器人头顶上方，双手未脱离杠杆，机器人直立、双脚并列支撑，未见放杠或倒地。评分器记录 success=1、replay_success=1、deterministic=1、stages_reached=4/4，终态杠高2.108米、肘屈曲1.1度、膝屈曲3.0度。"
+     },
+     {
+      "t": 18.76,
+      "log_step": null,
+      "text_zh": "推断：评分器成功结论与末段过顶姿态一致，说明完整过顶保持及下放信号验收已通过。视频 11.6 s 已出现过顶姿态，但不能据此认定速度阈值及连续200个控制步已满足；完整节点取成功终点附近的末帧视频 18.76 s 为近似达成锚点，终态为真，不把首次举高时刻当作完整达成时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手持续分别握住杠杆两侧，共同从胸肩前上举并在头顶上方承载杠铃至回合结束。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在木色举重台上并列支撑，双腿及躯干直立承载��过头顶的杠铃。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.108
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.112
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 1.1
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 3.0
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": 18.78
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成杠铃上肩及过顶两个目标：约视频 9.6 s 上肩停留后继续上举，视频 11.6 s 已见过顶姿态，并保持持杠至视频 18.76 s 末帧；评分器确认四个原生阶段全部通过，成功且可确定性复现，无失败断点。实际接触为双手分握杠杆、双脚支撑木台。无状态日志，单视角不能精确核验距离、速度及保持计数，因此上肩时间为近似值，过顶完整验收以成功终点为锚点；成功参照仅用于比较姿态，不用于推定本次接触或时间。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两节点均为真，终态与评分器（success=1，stages 4/4，time_s 18.78）一致；上肩约视频 9.6 s、过顶锚点取末帧，帧上相符，接触（双臂协作抓握+腿/躯干支撑）符合画面，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:37Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--ukpfjx2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--ukpfjx2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f15cbe96e8b260128c602383c7a51ccbc0939c381eddf9ec7d060804010a8550",
+   "video_sha256": "801b46eb0917a70f13a880efa0b347ee09931dc595571f636092124d7673ef93",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--xs9w6sr.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--xs9w6sr",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 197,
+   "sim_steps": 1478,
+   "calls": 28,
+   "rows": 1093,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1726.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.268,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.369,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--xs9w6sr/replay.mp4",
+  "duration_s": 2.0,
+  "fps": 25.0,
+  "frames": 50,
+  "sha256": "9d56149eb906b2f39bb1d612f95b3feb0b91c59db36d51b9cbc3982adbacef11"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人站在木台中央，双手空着，银色杠铃在两只棕色支架上，低于膝部。"
+     },
+     {
+      "t": 1.52,
+      "log_step": 143,
+      "text_zh": "观察：视频 1.28–1.96 s 机器人由站立逐渐向前倾倒，末段躯干接近水平；杠铃由支架处落向台面，未见双手合握或将杠铃抬至胸肩。log step 143 的最终现场回合只输出 squat fold 和首段 sq[1]，随后返回 failed，没有进入抓杠、站起或上肩保持阶段。"
+     },
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.96 s 机器人仍在前扑，杠铃处于台面低位；成功参考视频 17.00 s 则清楚显示机器人直立、双手持杠于肩前。本次完整视频未出现该上肩姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.52 s 双脚在木色举重台上承重；上肩准备过程中随后向前失去支撑并扑倒。全片未见双手闭合抓握杠铃。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": 143,
+      "text_zh": "观察：视频 0.00–1.96 s 杠铃始终在膝部附近或更低处，末段机器人扑倒，杠铃未被举到头顶上方；成功参考视频 27.36 s 可清楚看到双臂向上伸展持杠，本次未出现。log step 143 的最终回合在下蹲准备阶段结束，没有执行过顶阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 1.5,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.5 s 机器人在杠铃上肩的下蹲准备中明显向前倾倒，视频 1.88–1.96 s 躯干接近水平，杠铃落向台面，始终没有完成抓杠上肩。log step 143 显示 agent 的最终脚本进入 squat fold 后该回合即 failed；log step 144 的机器人服务状态为 episode=6、control_steps=197、done=true、reason=failed。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.5,
+    "log_step": 143,
+    "evidence_zh": "观察：视频 1.28–1.96 s 机器人上身持续前倾，脚部支撑姿态破坏，末段身体前扑至接近水平、双手落向台��，未恢复站立；杠铃未上肩。该现象来自本次最终回合画面，并非先前测试的跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 142 所写最终脚本以关节控制执行下蹲并依据骨盆 IMU 做姿态反馈；log step 143 显示该脚本在 squat fold 首段便结束，视频约 1.5–1.96 s 同时显示双脚未能维持直立支撑、机器人向前扑倒。因此本次上肩准备的本体稳定控制未奏效。没有足够记录区分轨迹、反馈律或参数的具体责任。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐步接触、关节力矩记录；log step 142 的脚本正文中间被截去，最终回合日志只保留首段下蹲输出及 failed，不能确定失稳的具体控制子因或裁判最后触发的接触条件。agent 在 log step 147、153 对 joints 模式自主倒塌或初始小腿碰杠的说法仍是待核实猜测，不据此归为任务或环境问题。评分器未报告 DAG 所列五项原生指标，其 value 均填 null。"
+ },
+ "summary_zh": "本次评分视频对应最后一次现场回合（log step 143–144），机器人在上肩准备时向前失稳，视频约 1.5–1.96 s 扑倒；杠铃未被双手举至肩前，也未过顶，两节点均未达到。现象为全身平衡失败，日志和画面支持归到控制，但缺少状态及接触记录，无法定位具体控制子因或裁判终止接触；前几次会话测试不计入本次进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频仅 2.0 s：约 1.2 s 前机器人直立，随后前倾扑倒，杠铃留在台面，两节点均未达成；断点 bar_at_shoulders、现象 平衡、根因 控制（未细分）与画面、log id 143–144 及服务状态一致，未发现需修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:55Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-standard--xs9w6sr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--xs9w6sr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1dbe4236d14e9d53869b4471a7f250646cfdecd74776d87052fb6177036fdb9",
+   "video_sha256": "9d56149eb906b2f39bb1d612f95b3feb0b91c59db36d51b9cbc3982adbacef11",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/discus/task_dag.json

@@ -0,0 +1,341 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/discus",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-discus-i00",
+ "title_zh": "掷铁饼并合法离圈",
+ "summary_zh": "铁饼从圈内右手掷出，首次落地在扇形界内且距圈内沿至少15米，机器人随后从后半圈合法离圈并站稳1秒，全程不犯规或跌倒。",
+ "embodiment_zh": "两种模式均为 Unitree H1-2 双足人形机器人，27个本体关节；右臂末端为 Inspire RH56DFX 五指灵巧手，六驱动、十二手指关节，以真实接触摩擦持饼；左臂末端为无工作手指的拳垫，不能持饼。腿和躯干支撑投掷、后退离圈与站立，无轮式底盘；privileged 可访问仿真状态，standard 通过服务获取相机与本体传感。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-discus-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "discus_landed_qualified",
+    "zh": "铁饼落区达标",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "右手投出的橙红色铁饼已首次触地，落点严格位于两条白色扇形边线之间（半角 17.46 度，压线无效），首次接触点距圈心的水平距离减圈内半径 1.25 米至少为 15.0 米；尚在空中、落在界外或首次落点过近都未完成。场地斜视画面可见铁饼脱离右手向扇形飞去，但远处首次触地点和精确距离可能出画，需结合扇形相机或裁判 landing 阶段及 distance_m；不能以滑滚后的停留位置代替落点。",
+    "step": {
+     "cat": "动态",
+     "item": "抛/投"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧五指灵巧手以手指和拇指或手掌持住铁饼，摆臂投出；飞行阶段随后无接触。",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚接触投掷圈内地面，腿和躯干支撑并带动右手投掷。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/environment/rfo_task.py:154-158",
+     "inputs/task/privileged/environment/rfo_task.py:220-227",
+     "inputs/task/privileged/environment/rfo_task.py:290-325",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-158"
+    ],
+    "conf": 6,
+    "note_zh": "按连续动作规则 S10，脱手与飞行不另建节点；release 是 landing 的原生前序阶段。结果取首次落地并锁存，即使铁饼后来滑出扇形也不撤回；接触手段限制及历史犯规保留在约束。"
+   },
+   {
+    "id": "rear_exit_stood",
+    "zh": "后圈离圈站稳",
+    "mode": "final",
+    "when": null,
+    "after": [
+     "discus_landed_qualified"
+    ],
+    "hold_s": 0.99,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "有效落地之后，机器人首次触及圈沿顶面或圈外地面的接触点在圈心横线后方（圈心坐标 x<0），且此前没有同时出现前半圈接触；随后连续 100 个 0.01 秒控制步只有脚接地、至少一脚接地，躯干竖直方向余弦不小于 0.94，骨盆三维速度不大于 0.35 米/秒。场地相机可见机器人向扇形反方向跨到灰色圆圈后侧绿色地台并保持直立低速；只投出铁饼、尚未后圈接地、仍在明显行走或尚未满足站稳窗口都未完成，窗口内失稳则重新计时。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚从圈内向后半圈的圈沿或圈外地台迈出，腿和躯干支撑身体，继而站稳。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:30-35",
+     "inputs/task/privileged/environment/rfo_task.py:248-275",
+     "inputs/task/privileged/environment/rfo_task.py:327-329",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:1103-1105"
+    ],
+    "conf": 7,
+    "note_zh": "按 DECISIONS.md D11 当前两步读法，站稳是合法离圈的验收，合并而不另列。final 在有效落地之后评估，初始站立不计分；hold_s=0.99 对应连续100次采样首末间隔，物理窗口仍为评分器所称1.0秒（D31）。exit 一旦锁存不要求全身出圈或持续在圈外，站稳可由单脚接地满足。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "fall",
+    "zh": "跌倒",
+    "never": null,
+    "criterion_zh": "骨盆世界高度低于 0.50 米���或除左右脚外的机器人部位接触地面，立即判负；录像中可见躯干倒地、手膝撑地等。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:153-158",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:276-282",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23"
+    ]
+   },
+   {
+    "id": "circle_foul",
+    "zh": "圈沿越界犯规",
+    "never": null,
+    "criterion_zh": "铁饼首次落地前，机器人任一部位接触圈沿顶面或圈外地面；或尚未合法离圈时出现前半圈接触点，立即判负。以圈心为原点，圈外地面接触点水平半径至少 1.25 米；圈沿地台接触高度至少 0.017 米算顶面，前半圈含 x=0，首次合法离圈后不再检查此项。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:154-158",
+     "inputs/task/privileged/environment/rfo_task.py:248-273"
+    ]
+   },
+   {
+    "id": "wrong_body_touch",
+    "zh": "非右手触饼",
+    "never": null,
+    "criterion_zh": "从开始到铁饼首次落地前，铁饼接触右手手指、手掌、手腕以外的机器人部位，立即判负；例如左手或前臂碰饼。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:276-280",
+     "inputs/task/privileged/environment/rfo_task.py:303-306",
+     "inputs/task/privileged/environment/rfo_task.py:274-275"
+    ]
+   },
+   {
+    "id": "unheld_carry",
+    "zh": "未握而托饼",
+    "never": null,
+    "criterion_zh": "尚未确认脱手时，铁饼仍接触右手但不满足原生持握（手指与拇指或手掌同时接触），从最后持握起超过 0.20 秒，立即判负；不能把长时间仅托在掌上当作有效持握。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:154-158",
+     "inputs/task/privileged/environment/rfo_task.py:281-288"
+    ]
+   },
+   {
+    "id": "regripped",
+    "zh": "脱手后再握",
+    "never": null,
+    "criterion_zh": "脱手确认后、首次落地前，右手再次形成对铁饼的持握即判负。脱手时间取最后一次持握时刻，需随后连续 0.03 秒完全不接触机器人才能确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:290-304"
+    ]
+   },
+   {
+    "id": "late_retouch",
+    "zh": "迟延触饼",
+    "never": null,
+    "criterion_zh": "脱手确认后至首次落地前，右手在距最后持握时刻超过 0.20 秒后再接触铁饼即判负；短暂擦碰仅在这段宽限内允许。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:154-158",
+     "inputs/task/privileged/environment/rfo_task.py:303-306"
+    ]
+   },
+   {
+    "id": "second_propulsion",
+    "zh": "脱手后再加速",
+    "never": null,
+    "criterion_zh": "脱手后允许的右手擦碰所产生接触冲量的模之和除以铁饼质量，累计大于 0.50 米/秒即判负；普通录像无法量出冲量，须看裁判接触记录，不能凭飞行外观推断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:41-58",
+     "inputs/task/privileged/environment/rfo_task.py:307-312"
+    ]
+   },
+   {
+    "id": "invalid_landing",
+    "zh": "落点不合格",
+    "never": null,
+    "criterion_zh": "铁饼第一次接地若在扇形界线外或界线上、距圈内沿不足 15.0 米，立即判负；扇形以初始朝向为中线、总角度 34.92 度，距离取首次地面接触点到圈心的水平距离减 1.25 米。后续弹跳或滑动达到距离不补救首次落点。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:154-158",
+     "inputs/task/privileged/environment/rfo_task.py:313-325"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "qualified_landing",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:290-325；需记录 ref.stages 的 release/landing、首次接地点和 ref.metrics.distance_m。"
+   },
+   {
+    "atom": "legal_rear_exit",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:248-273；需记录 task.trackers.exit、ref.stages.exit 和首次圈外接触点。"
+   },
+   {
+    "atom": "standing_after_exit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184,292-301；需记录 exit 后 ref.standing()、ref._hold.stand、脚部接地、躯干方向余弦与骨盆速度。"
+   },
+   {
+    "atom": "episode_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-184；需逐帧记录原生 ref.success、ref.failed 和 ref.stages；不可用离线交付判定替代。"
+   },
+   {
+    "atom": "fall",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:153-158；inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:276-282；inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "circle_foul",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:154-158；inputs/task/privileged/environment/rfo_task.py:248-273；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "wrong_body_touch",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:276-280；inputs/task/privileged/environment/rfo_task.py:303-306；inputs/task/privileged/environment/rfo_task.py:274-275；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "unheld_carry",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:154-158；inputs/task/privileged/environment/rfo_task.py:281-288；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "regripped",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:290-304；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "late_retouch",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:154-158；inputs/task/privileged/environment/rfo_task.py:303-306；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "second_propulsion",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:41-58；inputs/task/privileged/environment/rfo_task.py:307-312；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   },
+   {
+    "atom": "invalid_landing",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:154-158；inputs/task/privileged/environment/rfo_task.py:313-325；需记录此规则的逐帧原生接触/持握/落点判据或 ref.failed 的对应原因。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "distance_m",
+   "unit": "m",
+   "threshold": 15.0,
+   "direction": "higher_better",
+   "note_zh": "首次接地点到圈心的水平距离减1.25米；界内条件另验。",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:313-325"
+   ]
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "note_zh": "脱手后短时擦碰的累计冲量除以铁饼质量；超过阈值立即判负。",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:307-312"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，所有节点 when、约束 never 及 success 均为 null（暂行：DECISIONS.md P8）；所列 new_code 原子是所需补充日志，不能当作已存在字段。首次落点距离、0.03秒无接触间隙和接触冲量不能仅由此斜视录像精确量出。",
+  "投掷落地与离圈站稳的粒度仍属开放读法；按 DECISIONS.md D11 当前处理保留两步：铁饼有效落地达标 → 后半圈合法离圈并站稳，不拆脱手、飞行或另建站稳步骤。",
+  "文本与评分器边界：文本说离圈后站稳，代码只在落地后第一次后半圈圈沿或圈外接触时锁存 exit，不检查全身离圈，也不检查站稳时仍在圈外（rfo_task.py:248-275,327-329）；依评分器设置验收，不额外添加全身出圈条件。",
+  "文本与评分器边界：文本概括禁止脱手后再次持握或违规触饼，但任务 substep 在首次落地后直接返回，不再检查铁饼接触规则（rfo_task.py:274-275）；这些约束按实际检查窗口截至首次落地。",
+  "两种模式共用相同任务模块、冻结实例和原生裁判物理成功条件；privileged 另要求两个新进程重放均成功且末态哈希一致（grade.py:105-115），standard 直接评判最后一次实时试验（standard/server.py:165-180）。这些交付和复现条件不构成世界状态步骤，success 无日志时保持 null。",
+  "release_time_s、release_speed_m_s、release_height_m、release_tilt_deg、release_spin_rad_s 是原生诊断指标而无达标阈值（rfo_task.py:297-301）；不据成功录像的数值新增约束或调整投掷门槛。",
+  "成功参考录像长6.84秒；run.json 的最终生成/验证记录（steps id=193、200）与 reward 一致：首次落地16.267米、原生阶段齐全、最终683控制步成功。仅用于核对目标与画面，不将其摆臂姿势、步法或阶段时刻写成必需条件。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "任务文本、两种模式的同一任务代码和裁判支持两步及��要顺序，阈值均来自评分器；成功录像与最终记录相符。但没有状态日志，远处首次落点与接触细节不能逐帧独立核验，投掷项目的两步粒度仍按D11暂行。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两步（铁饼落区达标 → 后半圈离圈站稳）与文本一致；成功条件、各项失败约束与评分器相符；无状态日志故 when 均为 null（暂行 P8），criterion_zh 足以判读。60 秒限时属任务 horizon，按 P21 不列约束。未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['discus_landed_qualified', 'rear_exit_stood']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:43:04Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__discus/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__discus/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "d32f59528d475f7809d97847ab97c1d2cfd38d04bc47b55269a9e15d645ff903",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/discus/trajectories/embodied-olympics-fun-discus-i00-privileged--bk3sdpn.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-discus-i00-privileged--bk3sdpn",
+ "taskKey": "embodied-olympics-fun/discus",
+ "dag_sha256": "ffb63c003bdbc581b50872ffe890e6ce579309876e24b407597d79050cb48e95",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 775,
+   "sim_steps": 775,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 8.23,
+   "bad_trajectory": 0,
+   "metric_distance_m": 17.989,
+   "metric_release_height_m": 1.729,
+   "metric_release_speed_m_s": 13.51,
+   "metric_release_spin_rad_s": 14.8,
+   "metric_release_tilt_deg": 70.7,
+   "metric_release_time_s": 1.576,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 51,
+   "agent_resets": 1670,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.198,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.256,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-discus-i00-privileged--bk3sdpn/replay.mp4",
+  "duration_s": 7.76,
+  "fps": 25.0,
+  "frames": 194,
+  "sha256": "682b4086990dfb6e9b30e2a9eb53299d91357e91e7058093f98dd2b55e3a2eaf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "discus_landed_qualified": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00、0.20、0.60、1.00 s，橙红色铁饼随机器人的右手从身前摆至身体右后侧，双脚在灰色圈内支撑；右手始终贴住饼，左手未参与持饼。"
+     },
+     {
+      "t": 1.68,
+      "log_step": null,
+      "text_zh": "观察：视频 1.52–1.68 s，机器人转体、右臂向扇形方向挥出，视频 1.68 s 铁饼与右手明显分离并升空；视频 1.84–2.00 s 铁饼继续远离机器人。"
+     },
+     {
+      "t": 3.5,
+      "log_step": 52,
+      "text_zh": "观察：log step 52 的最终生成并保存记录中，模拟裁判报告 landing 事件在仿真 3.503 s、distance_m=17.989；log step 53 对该交付轨迹独立重放报告 success=true、release/landing/exit 齐全、775 个控制步、仿真 time_s=7.75，评分器 reward 的距离和阶段结果一致。视频 3.12–3.92 s 已检查，远处首次触地点太小，不能直接量出距离或判断是否压线。"
+     },
+     {
+      "t": 3.5,
+      "log_step": 53,
+      "text_zh": "推断：log step 28 的控制循环用每步 0.01 s，交付轨迹 775 步×0.01 s=7.75 s，与视频总长 7.76 s 相符；log step 52 的仿真脱手 1.576 s 与视频 1.60–1.68 s 脱手画面、仿真离圈 6.628 s 与视频 6.60–6.68 s 后圈接地画面相符，因此将该交付轨迹的仿真 landing 3.503 s 映射为视频约 3.50 s。结合原生落地阶段、17.989 米和成功判定，首次落地达标并锁存；不是以滑滚后的停留位置判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手持住橙红色铁饼随摆臂运动，随后张手投出（视频 0.00–1.68 s）。结合初始手指扣住饼沿的任务初态和无犯规的原生 release 判定，右手为掌指持握；没有双手协作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "投掷过程中双脚在圈内接地承重，腿和躯干支撑右臂摆动及转体，投出后仍直立（视频 0.00–3.92 s）。"
+     }
+    ]
+   },
+   "rear_exit_stood": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.68,
+      "log_step": 52,
+      "text_zh": "观察：视频约 5.60–6.68 s，机器人朝扇形反方向小步后退，视频 6.60–6.68 s 后侧脚踩到灰色圆圈后边缘及绿色地台交界；log step 52 的最终保存记录中，模拟裁判在仿真 6.628 s 锁存 exit。"
+     },
+     {
+      "t": 7.72,
+      "log_step": null,
+      "text_zh": "观察：已逐段检查视频 6.20–7.72 s，机器人在后圈边缘逐渐停住，视频 7.00–7.72 s 保持直立、脚部承重，未见手膝或躯干撑地；末帧仍在圈边，而非全身远离圆圈。成功参照同样展示向后离圈后站立，但其步幅不作为本次达标条件。"
+     },
+     {
+      "t": 7.75,
+      "log_step": 54,
+      "text_zh": "推断：沿用交付轨迹控制步×0.01 s 与视频的映射（775 步对应仿真 7.75 s，视频长 7.76 s；已用视频脱手及后圈接地核对），log step 52、54 的 success 事件在仿真 7.75 s，对应视频约 7.75 s 的站稳验收。log step 54 重新生成的 775 行动作与已验证文件逐行一致，log step 55 两次重放均成功且末态哈希一致；结合 reward.success=1、replay_success=1、deterministic=1，后圈离圈并站稳节点最终为真。精确速度、躯干余弦和连续 100 步窗口依赖原生裁判结果，不能由斜视画面独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚交替接地向后小步移动，后侧脚触及圈后边缘及绿色地台，随后以脚部支撑保持直立（视频约 5.60–7.72 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_m",
+   "unit": "m",
+   "threshold": 15.0,
+   "direction": "higher_better",
+   "value": 17.989
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付轨迹完成投掷有效落地与后圈离圈站稳两个节点：首次落地约在视频 3.50 s，原生距离为 17.989 米，约在视频 7.75 s 通过最终站稳验收。无状态日志，远处首次接地点、手指接触细节及精确站稳阈值不能仅凭画面独立核验，相关结论结合与交付文件一致的原生裁判记录及确定性成功重放。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "两个节点的值与时间（落地约 3.50 s，站稳约 7.75 s）与视频、评分器字段一致，接触标注合理；唯一问题是 summary_zh 中无依据的“任务设计问题”断言。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点（落地约视频 3.50 s、后圈离圈站稳约 7.75 s）与评分器字段（3/3 阶段、distance 17.989、fell 0）及视频一致，接触标注合理，时钟映射有核对；第 1 轮的 summary 问题已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:07:24Z",
+  "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/embodied-olympics-fun-discus-i00-privileged--bk3sdpn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-discus-i00-privileged--bk3sdpn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-discus-i00-privileged--bk3sdpn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-discus-i00-privileged--bk3sdpn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c9f5162643bb92536ebc00147d37d4cfe449aad3b9a203e3e6e207b407a69d9",
+   "video_sha256": "682b4086990dfb6e9b30e2a9eb53299d91357e91e7058093f98dd2b55e3a2eaf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/discus/trajectories/embodied-olympics-fun-discus-i00-privileged--p2mfyzi.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-discus-i00-privileged--p2mfyzi",
+ "taskKey": "embodied-olympics-fun/discus",
+ "dag_sha256": "ffb63c003bdbc581b50872ffe890e6ce579309876e24b407597d79050cb48e95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1998,
+   "sim_steps": 1998,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 0.3333,
+   "stages_reached": 1,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 14.03,
+   "bad_trajectory": 0,
+   "metric_distance_m": 10.729,
+   "metric_release_height_m": 1.832,
+   "metric_release_speed_m_s": 9.83,
+   "metric_release_spin_rad_s": 18.0,
+   "metric_release_tilt_deg": 83.0,
+   "metric_release_time_s": 18.592,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 356,
+   "agent_resets": 863,
+   "agent_replays": 13,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.48,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.842,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-discus-i00-privileged--p2mfyzi/replay.mp4",
+  "duration_s": 20.0,
+  "fps": 25.0,
+  "frames": 500,
+  "sha256": "44e97a43dd31fd7e922f3f76a7d026d56138cc22a4b408e1e95c2420682638ff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "discus_landed_qualified": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.72,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18.48 s 机器人右手持橙红色铁饼在圈内转向、移动；视频 18.56–18.72 s 机器人摆动右臂，铁饼离开右手飞向扇形。视频 19.04–19.96 s 机器人仍直立留在圈内，远处铁饼逐渐下降；该斜视画面不能精确量出首次接地点距离。"
+     },
+     {
+      "t": 19.96,
+      "log_step": 326,
+      "text_zh": "观察：log step 325 重新生成交付文件，共1998行动行；log step 326 对该文件的新进程重放由原生裁判报告 distance_m=10.729、stages=[release]，失败原因为投掷距离不足。log step 328 的第二次重放距离和末态哈希完全相同，与 run.json reward 的 metric_distance_m=10.729、deterministic=1 一致。"
+     },
+     {
+      "t": 19.96,
+      "log_step": 328,
+      "text_zh": "推断：交付文件的两次重放均只达到脱手阶段，首次落地10.729米小于15.0米门槛，且视频中确有对应的唯一投掷，因此铁饼落区达标节点从未成立。原生 progress=0.3333 计入脱手阶段，不代表本DAG的两个语义节点已完成一个。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 0–18.48 s 橙红色铁饼一直随右手移动，结合任务初态所述右手手指扣住饼缘、手掌承托及裁判认可 release，判为右手持握后摆臂投出；视频 18.72 s 铁饼已与右手分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–18.72 s 机器人双腿支撑圈内转身、挪步及投掷动作，双脚与圈内地面交替接触。"
+     }
+    ]
+   },
+   "rear_exit_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.96,
+      "log_step": 326,
+      "text_zh": "观察：视频 18.72–19.96 s 机器人投出后仍站在灰色圆圈内，未见向后跨到圈外绿色地台；log step 326、328 对交付文件的原生裁判输出均只有 release，没有 landing 或 exit 阶段。"
+     },
+     {
+      "t": 19.96,
+      "log_step": 328,
+      "text_zh": "推断：有效落地前置从未完成，视频结束前也未发生后圈离圈，故初始及投后圈内直立不计为离圈站稳，该节点未成立且未开始尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_m",
+   "unit": "m",
+   "threshold": 15.0,
+   "direction": "higher_better",
+   "value": 10.729
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "discus_landed_qualified",
+   "t": 18.7,
+   "log_step": 326,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.56–18.72 s 机器人在圈内摆右臂投出铁饼，视频 19.96 s 结束时仍在圈内；log step 326、328 对���际交付文件的裁判重放均以首次落地仅10.729米、投掷距离不足结束。推断：该次投掷未把铁饼送至15米合格落区，首次落地后不可补救，断点为铁饼落区达标；视频 18.7 s 是出手动作的粗略导航锚点。"
+  },
+  "unmet": {
+   "discus_landed_qualified": false,
+   "rear_exit_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 18.7,
+    "log_step": 326,
+    "evidence_zh": "观察：视频 18.56–18.72 s 铁饼从机器人右手向扇形飞出，视频末秒铁饼在远处下降；log step 326、328 的原生裁判均报告首次落地距离10.729米、未达到15米合格线。推断：这次抛投落点过近，未命中合格落区，属于投掷结果的位置偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "观察：log step 319 所示生成脚本用行走接近、短时转身及躯干和右臂的低层关节命令完成投掷；log step 324 将髋部扭矩脉冲更新为选中的候选，log step 325 重新生成交付文件。视频 18.56–18.72 s 机器人确实执行摆臂出手，log step 326、328 的文件重放均测得出手速度9.83米/秒、出手高度1.832米、首次落地10.729米。推断：所实现的投掷控制未产生足以到达合格落区的出手运动；证据可支持控制层面归因，但不能区分关节轨迹、跟踪、接触几何或某一参数的具体责任。"
+   }
+  ],
+  "gap_zh": "没有状态日志；远处铁饼的首次接地点和精确距离无法从该斜视视频独立量测，距离以交付文件两次一致重放的原生裁判结果及 reward 为据。手指接触细节分辨率有限，抓握结合初态、持饼连续画面和裁判认可脱手推断；缺少出手前逐步接触与关节跟踪记录，不能进一步定位控制子类。retouch_dv_m_s 未在评分字段报告，保留 null。"
+ },
+ "summary_zh": "机器人在圈内持饼转向并于视频约18.6秒摆臂投出；交付文件的两次独立重放均判首次落地10.729米，低于15米门槛，因此本DAG最终完成0/2节点。断点为铁饼落区达标，现象为投掷落点过近，根因归于投掷控制；视频结束前机器人仍留在圈内，后圈离圈未开始。无状态日志，精确落地距离依靠一致的原生裁判重放结果，具体控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与证据一致：视频 18.56–18.72 s 出手（与 release_time 18.592 对应），19.96 s 机器人仍在圈内，两节点均未达成，final=0，断点与现象有裁判数据（10.729 m < 15 m）支撑。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:00:10Z",
+  "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/embodied-olympics-fun-discus-i00-privileged--p2mfyzi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-discus-i00-privileged--p2mfyzi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c259d9b37f6fb27719c8150dbc7bf3e3a63a73551d4a64b5fdbc47f38f1896ae",
+   "video_sha256": "44e97a43dd31fd7e922f3f76a7d026d56138cc22a4b408e1e95c2420682638ff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dunk_between_legs/task_dag.json

@@ -0,0 +1,419 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-dunk-between-legs-i00",
+ "title_zh": "胯下运球后扣篮",
+ "summary_zh": "先完成一次合法胯下反弹并双手收球，再以至多两步把受手控制的篮球自上方扣穿篮圈，松手后落地站稳一秒且无有效违例。",
+ "embodiment_zh": "两种模式均为Unitree H1-2双足人形机器人，27个身体关节；左右臂各7关节，末端均为Inspire RH56DFX五指灵巧手，每手6驱动，接触与摩擦持球，无焊接；双足行走与蹬地落地，无轮式底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-dunk-between-legs-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "between_legs_bounce",
+    "zh": "胯下运球",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场馆侧视中篮球离开双手后触地反弹，球心在无手接触时穿过双脚足底与胯部构成且面积至少0.02平方米的三角门，穿越点不高于较低膝关节，球自身沿穿越方向的法向速度至少1.0米/秒；到下一次手触球时，球仍在上一次触球时所在平面的另一侧，且最后一次穿越须符合上述条件。仅在腿旁弹跳、手持球穿腿、机器人跨过原地球、穿过后又返回，或尚未再次触球确认，均未完成；合法运球的首次触地包含在本步内。",
+    "step": {
+     "cat": "动态",
+     "item": "运球"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一只灵巧手的手掌或手指把篮球推向地面；双手不可在运球中同时触球，左右手的先后接触不是同时的双臂协作",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双足支撑躯干，可站在原地或随篮球移动；与手掌推球同时出现",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "双腿与篮球保持无接触，让篮球从两腿间穿过",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/environment/rfo_task.py:266-311",
+     "inputs/task/privileged/environment/rfo_task.py:373-377",
+     "inputs/task/privileged/environment/rfo_task.py:574-584",
+     "inputs/task/privileged/environment/rfo_task.py:612-668",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159"
+    ],
+    "conf": 6,
+    "note_zh": "开始运球是胯下运球的起始阶段，不另列球离手或首次触地节点；完成后可在原地继续合法运球，再择时双手收球。原生阶段“between the legs”锁存，后续不要求持续胯下运球。"
+   },
+   {
+    "id": "ball_gathered",
+    "zh": "双手收球",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "between_legs_bounce"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少一次胯下反弹确认后，场馆侧视及头部视角可见左右手同时直接接触并接住篮球，球不再自由反弹，裁判进入收球后的持球阶段。开局的胸前双手持球不算本步，只有单手接触或尚未完成胯下反弹即双手接球均不算；本步按当时双手实际同时接触验收，之后允许换为单手控球，但球心入圈前不得完全脱手。",
+    "step": {
+     "cat": "动态",
+     "item": "接住"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持；左右张开的手掌从篮球两侧夹住球，单手未包住球，不宜标抓握，现有接触表没有双掌侧向夹持项",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "典型方案在双足支撑躯干时，双掌接住篮球",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "替代方案为左右手从下方及侧下方共同承接反弹的篮球，两手同时触球",
+      "plan": 2
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "典型托球方案中双足支撑躯干，与双手承接篮球同时出现",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/environment/rfo_task.py:656-662",
+     "inputs/task/privileged/environment/rfo_task.py:585-610"
+    ],
+    "conf": 6,
+    "note_zh": "双手收球是文字独立要求且裁判单独验收的接住状态，不是一般搬运前��抓取准备；可以持球停顿后再完成扣篮。用event锁存曾经合法收球，不能用开局持球或末帧持球代替。"
+   },
+   {
+    "id": "dunk_landed",
+    "zh": "扣篮落地站稳",
+    "mode": "final",
+    "when": null,
+    "after": [
+     "ball_gathered"
+    ],
+    "hold_s": 0.99,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场馆侧视中球由手控制从高2.39米、内半径0.225米的篮圈上方向下进入，入圈瞬间须双手在球上，或至少一手的最近接触点高于球心至少0.06米；入圈判定允许至多0.03秒接触间隙，球不向上退回并继续降至圈面下一个球直径0.239米处，那里球心距篮圈轴小于0.3445米，且在球心入圈后至站稳前曾出现完全离手记录。继而连续100个10毫秒控制步可见机器人已有脚着地、着地部位仅限双足、躯干倾斜余弦至少0.94、骨盆速度至多0.35米/秒，才算完成；只扣入尚未站稳、抛球入篮、仍未出现离手记录或落地跌倒均未完成，过程中必须遵守收球后步数及控球约束。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持；左右手从篮球两侧持续夹持并向下送球，单手没有包住球，现有表缺少双掌侧夹项",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双足在双掌持球助跑和蹬地时支撑躯干，落地后的足底承重见步骤说明",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "替代方案用一只灵巧手在篮球上方接触并向下压送，最近接触点高于球心至少0.06米",
+      "plan": 2
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双足在单手控球和起跳蹬地时支撑躯干，随后脚部完成落地承重",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:370-377",
+     "inputs/task/privileged/environment/rfo_task.py:585-610",
+     "inputs/task/privileged/environment/rfo_task.py:670-678",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:429-457"
+    ],
+    "conf": 6,
+    "note_zh": "按S10把扣篮、离手、落地与站稳视为一次连续动作的整体验收，不把空中入圈和落地拆开；腿脚着地支撑与松手后的站稳依次发生。球受手控制穿入圈而非离手后飞行命中，故按直接造成的容纳关系标关系·放入；双手或单手上压均是明文允许方案。final防止开局站立获分；100个控制采样的时间跨度为0.99秒，hold_s按D31填写，未来若直接记录原生保持计数则应比较计数而不重复保持。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "fell",
+    "zh": "跌倒",
+    "never": null,
+    "criterion_zh": "任意时刻骨盆高度低于0.35米，或除左右脚以外的机器人部位接触地面即失败；裁判在10毫秒控制步末检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:17",
+     "inputs/task/privileged/environment/rfo_task.py:367-377",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-282",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23"
+    ]
+   },
+   {
+    "id": "out_of_bounds",
+    "zh": "出界",
+    "never": null,
+    "criterion_zh": "篮球或机器人任意部位与地面的接触点落在端线或边线上及外侧即违禁；本场端线内沿为x=6.0米，边线内沿为y=正负7.5米。代码在扣穿阶段以前执行此检查，扣穿后提前返回而漏查，见开放问题。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:26",
+     "inputs/task/privileged/environment/rfo_task.py:105-106",
+     "inputs/task/privileged/environment/rfo_task.py:370-372",
+     "inputs/task/privileged/environment/rfo_task.py:509-510",
+     "inputs/task/privileged/environment/rfo_task.py:553-561"
+    ]
+   },
+   {
+    "id": "travelling",
+    "zh": "走步",
+    "never": null,
+    "criterion_zh": "开始运球前，未抬脚时任一脚或已选定的轴心脚不得滑动超过0.20米，球未脱手前轴心脚不得离地；收球后至球扣穿篮圈最多两步、同一脚不得连续落地两次且着地脚不得滑动超过0.20米。离地持续至少0.03秒后再触地算一步，两脚在0.03秒内落地合并为一步，扣穿之前第三次落地立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:112-213",
+     "inputs/task/privileged/environment/rfo_task.py:376",
+     "inputs/task/privileged/environment/rfo_task.py:551-571",
+     "inputs/task/privileged/environment/rfo_task.py:586-600",
+     "inputs/task/privileged/environment/rfo_task.py:659-660"
+    ]
+   },
+   {
+    "id": "illegal_dribble",
+    "zh": "运球违例",
+    "never": null,
+    "criterion_zh": "开始运球前篮球仍在手中却触地即失败；运球期间两次分离至少0.03秒的手触球之间必须触地，一段单手触球不得超过0.30秒，篮球不得碰到手以外的机器人部位，球心与骨盆的水平距离不得超过2.0米。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:373-376",
+     "inputs/task/privileged/environment/rfo_task.py:567-575",
+     "inputs/task/privileged/environment/rfo_task.py:612-623",
+     "inputs/task/privileged/environment/rfo_task.py:640-668",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:304-347"
+    ]
+   },
+   {
+    "id": "premature_gather",
+    "zh": "提前收球",
+    "never": null,
+    "criterion_zh": "尚未确认至少一次胯下反弹时左右手同时接触球、结束运球，立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:646-662"
+    ]
+   },
+   {
+    "id": "lost_after_gather",
+    "zh": "收球后失控",
+    "never": null,
+    "criterion_zh": "收球后到球心从上方进入篮圈前不得完全离手，收球后扣穿前不得触地；入圈后允许离手，但离手球若未扣穿就触地仍失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:585-610"
+    ]
+   },
+   {
+    "id": "illegal_basket",
+    "zh": "入篮方式违例",
+    "never": null,
+    "criterion_zh": "运球开始前进篮、运球中无手控球就进篮、球由下向上穿入篮圈，或扣穿时入圈记录显示既无双手触球也无从上方压球的单手，均失败；入圈单手最近接触点须至少高于球心0.06米。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:373",
+     "inputs/task/privileged/environment/rfo_task.py:562-569",
+     "inputs/task/privileged/environment/rfo_task.py:588-600",
+     "inputs/task/privileged/environment/rfo_task.py:614-615"
+    ]
+   },
+   {
+    "id": "basket_hanging",
+    "zh": "过久触篮架",
+    "never": null,
+    "criterion_zh": "机器人任何部位接触篮圈、连接板或篮板的累计物理步时间超过0.30秒即失败；这是累计接触而非单次连续接触。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:376",
+     "inputs/task/privileged/environment/rfo_task.py:487",
+     "inputs/task/privileged/environment/rfo_task.py:546-550"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "between_legs_bounce",
+    "level": "new_code",
+    "source": "需记录裁判ref.stages中的between the legs及Task.trackers的cross、floor_since_hand、between；inputs/task/privileged/environment/rfo_task.py:624-651"
+   },
+   {
+    "atom": "ball_gathered",
+    "level": "new_code",
+    "source": "需记录裁判ref.stages中的gather和当次左右手实际接触；inputs/task/privileged/environment/rfo_task.py:656-662"
+   },
+   {
+    "atom": "dunk_landed",
+    "level": "new_code",
+    "source": "需记录裁判ref.stages中的dunk、Task.trackers.let_go、Referee._hold[stand]及standing布尔值；inputs/task/privileged/environment/rfo_task.py:670-678；inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.success及Referee.failed，不能绑定外部交付或复现判决；inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178"
+   },
+   {
+    "atom": "fell",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:17；inputs/task/privileged/environment/rfo_task.py:367-377；inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-282；inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23"
+   },
+   {
+    "atom": "out_of_bounds",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:26；inputs/task/privileged/environment/rfo_task.py:105-106；inputs/task/privileged/environment/rfo_task.py:370-372；inputs/task/privileged/environment/rfo_task.py:509-510；inputs/task/privileged/environment/rfo_task.py:553-561"
+   },
+   {
+    "atom": "travelling",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:112-213；inputs/task/privileged/environment/rfo_task.py:376；inputs/task/privileged/environment/rfo_task.py:551-571；inputs/task/privileged/environment/rfo_task.py:586-600；inputs/task/privileged/environment/rfo_task.py:659-660"
+   },
+   {
+    "atom": "illegal_dribble",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:373-376；inputs/task/privileged/environment/rfo_task.py:567-575；inputs/task/privileged/environment/rfo_task.py:612-623；inputs/task/privileged/environment/rfo_task.py:640-668；inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:304-347"
+   },
+   {
+    "atom": "premature_gather",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:646-662"
+   },
+   {
+    "atom": "lost_after_gather",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:585-610"
+   },
+   {
+    "atom": "illegal_basket",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:373；inputs/task/privileged/environment/rfo_task.py:562-569；inputs/task/privileged/environment/rfo_task.py:588-600；inputs/task/privileged/environment/rfo_task.py:614-615"
+   },
+   {
+    "atom": "basket_hanging",
+    "level": "new_code",
+    "source": "需记录原生每帧Referee.failed及违规事件或其物理谓词；inputs/task/privileged/environment/rfo_task.py:376；inputs/task/privileged/environment/rfo_task.py:487；inputs/task/privileged/environment/rfo_task.py:546-550"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功参考轨迹：inputs/oracle_none.txt表明16次目录运行全失败；无录像可核验视觉判据，仅按文本、初态和裁判代码规划（N2、N8）。inputs/states/index.json为空，所有when、never及success置null，不假设任何字段已经写入日志（P8）；atoms列出需要补录的原生世界状态。",
+  "步骤粒度：开始运球与胯下反弹合为胯下运球，不单列离手或首次触地；完成后可原地继续运球再选择收球，双手收球可持球停顿，所以保留双手收球作为独立动态·接住步骤。扣篮与落地之间不可暂停，按S10合为一节点；原生五阶段不是五个语义节点。",
+  "类型边界：扣篮必须在球心入圈时保持手触球，不能以离手投篮替代；这里以受控篮球进入篮圈标关系·放入，而非飞行命中的动态·抛/投，落地站稳作为本步验收。未有成功录像核对，保留此类型判断供审阅。",
+  "接触词表缺口（D12）：文字及初态代码描述张开的左右手掌侧向挤持篮球，未包住球；此方案用双臂协作×其他，候选名双掌夹持。双手托接及单手上压是另列的接触方案，所有方案均不限定先用哪只手。",
+  "文本与评分器不一致：文本说扣篮后无手接触球并站立，但评分器只要求trackers.let_go曾被设置，重新接触球不清除此记录；最终criterion按曾完全离手加站稳描述，不额外发明持续松手步骤（rfo_task.py:553-556、603-605、674-678）。",
+  "文本与评分器不一致：出界写为全程禁止，代码在phase为dunked时提前返回，扣穿后直到站稳不再检查球或机器人出界（rfo_task.py:553-561）；保留文字禁止的出界约束并明确代码适用时段。",
+  "文本步骤未单独受评：文字要求扣篮后落地，评分器却没有起跳、双足离地或落地事件门控，只在扣穿后以standing检查脚接地与姿态；本节点不添加评分器没有的腾空门槛，落地与站稳仍留在同一文字步骤（rfo_task.py:670-678、referee.py:292-301）。",
+  "文本与评分器不一致：文本称骨盆速度小于0.35米/秒且在双脚上站稳，standing实际接受速度等于0.35米/秒，且只要求至少一只脚接地、所有接地部位属于左右脚，并不要求双脚同时接地；最终判据采用代码边界（referee.py:292-301）。",
+  "保持时长：原生hold在100个10毫秒控制采样上计满1.0秒；按D31，若未来绑定未计数的即时条件，应使用0.99秒跨度，现节点hold_s为0.99；若绑定原生保持计数或stand阶段则hold_s改为0，避免重复保持。",
+  "两模式任务模块与instance.json逐字一致，物理裁判相同；特权模式额外要求两次新进程回放均成功且末态哈希相同（grader/efe_embodied-olympics-fun-files/grade.py:106-115），标准模式评分最后一次实时尝试的原生裁判结果（grader/efe_embodied-olympics-fun-files/standard/server.py:157-177）。这些交付与复现要求不建语义节点，空日志也不能表达外部最终判决。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "描述、场景初态和两模式共用裁判支持三步与必要顺序，阈值均来自代码；没有状态日志或成功录像可复核绑定和可见性，扣篮类型及双掌夹持接触存在词表边界，且文本和代码有已列明差异。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三步（胯下运球、双手收球、扣篮落地站稳）与文本一致，扣篮与落地按S10合并；成功条件与评分器阶段一致，约束均为评分器失败条件且立即终止；无状态日志，when/never置null并在open_questions_zh中说明，文本与评分器差异均已列出。未发现需修改项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['between_legs_bounce', 'ball_gathered', 'dunk_landed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:46:03Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__dunk_between_legs/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__dunk_between_legs/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "8e88e97a13b00ea9c5bb9b60b804a5b3e078183bffb08a8eb2d83ae6810ffcf9",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--4wisuyu.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--4wisuyu",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
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+   "sim_steps": 10,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 1.99,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 1.105,
+   "metric_basket_touch_s": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.476,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.248,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--4wisuyu/replay.mp4",
+  "duration_s": 0.12,
+  "fps": 25.0,
+  "frames": 3,
+  "sha256": "68e58a8e2fe8670b3138563742b6ad0cde523449876c02d4e9c6c1f6b0228c2c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": 9,
+      "text_zh": "观察：已检查视频 0.00、0.04、0.08 s 的全部三帧；机器人始终原地站立，篮球停留在身前手部，没有离手触地、反弹或穿过双腿。log step 9 的交付生成脚本仅执行 s.hold() 对应动作 10 步后保存；评分器 n_actions=10、stages_reached=0，与录像一致。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": 9,
+      "text_zh": "观察：视频 0.00、0.04、0.08 s 只显示开局身前持球，未出现胯下反弹及反弹后的双手接球；开局持球按该节点判据不计为双手收球。log step 9 保存的是保持开局姿态的基线。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00、0.04、0.08 s 中机器人一直位于远离篮圈的开局位置，球仍在身前，未见起跳、球入圈或扣篮后落地；评分器 stages_reached=0、metric_basket_touch_s=0.0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 25,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 25 的最终消息明确为 Gemini 提供方过滤拦截；此前 log step 9 只保存了 10 步保持姿态基线，视频 0.00、0.04、0.08 s 均未开始运球。log step 19–24 是另建 Episode 的开发测试，没有保存替换交付轨迹；评分器 n_actions=10、episode_over=0、agent_replays=0。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次有录像，已逐帧检查全部三帧，但没有状态日志或成功参考录像。log step 25 出现模型提供方过滤中断；中断前仅有 log step 9 的初始保持姿态基线，未见完成任务后的保存和回放验证记录，评分器 agent_replays=0。推断：这是开发尚未完成时被外部过滤切断，按外部因素规则不标“没尝试”或机器人根因；log step 19–24 的测试结果不能作为评分录像的进度或失败现象，无法定位评分尝试中的物理失败时刻。",
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  }
+ },
+ "summary_zh": "评分录像的全部三帧（视频 0.00、0.04、0.08 s）均为原地持球，胯下运球、合法双手收球和扣篮落地站稳三个节点均未达到。log step 9 仅保存了 10 步保持姿态基线，后续开发测试未替换该交付，会话最后在 log step 25 被 Gemini 提供方过滤中断。中断前无完成交付及回放验证记录，按外部因素处理，断点记 unknown／首步前，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": "三帧录像（视频 0–0.08 s）确认机器人原地持球，三个节点均未达成；log step 25 为 Gemini 提供方过滤中断，此前仅保存 10 步保持姿态基线、无回放验证，按外部因素留空现象与根因、断点 unknown/首步前，标注合理。",
+    "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": "2026-10-29T10:02:55Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--4wisuyu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--4wisuyu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e5b587e2133e11009605fd36902498f3b26894523c23e47cacd62b1459299ec5",
+   "video_sha256": "68e58a8e2fe8670b3138563742b6ad0cde523449876c02d4e9c6c1f6b0228c2c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--wqrxnzk.json

@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--wqrxnzk",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 185,
+   "sim_steps": 2401,
+   "calls": 59,
+   "rows": 1716,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1606.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
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+   "peak_processes": 0.0,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--wqrxnzk/replay.mp4",
+  "duration_s": 1.88,
+  "fps": 25.0,
+  "frames": 47,
+  "sha256": "23b1d4c9da82406086ba62d7cbb084df20cb6f9fb7e5687bca170f355639ce5c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.72,
+      "log_step": 123,
+      "text_zh": "观察：视频 0.00–0.56 s 机器人在胸前双手持球；视频 0.60–0.92 s 双臂向下后方摆动并放球，篮球却沿机器人身前下降。"
+     },
+     {
+      "t": 1.28,
+      "log_step": 125,
+      "text_zh": "观察：逐帧检查视频 0.92–1.84 s，篮球在脚前约视频 0.96 s 触地，随后在身前反弹至膝部附近再落下，未见无手接触穿过两腿并在另一侧被手触球确认；log step 125 的服务裁判报告第 6 局 stages_reached=1、stages_total=5，仅开始运球，未达胯下运球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持。视频 0.00–0.60 s 左右手从两侧共同持住篮球，然后同步摆臂放球；未见单手合拢包住球，不标抓握，现有词表没有双掌侧夹项。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 0.00–1.84 s 机器人双足支撑地面，原地摆臂运球，没有轮式底盘移动。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 123,
+      "text_zh": "观察：视频 1.72–1.84 s 机器人双臂在腰后继续摆动，篮球仍在足前低处，没有被双手接住；log step 123 显示脚本在 control_steps=172 后执行首次 gather sweep，到 control_steps=185 被裁判终止。开局视频 0.00 s 的持球属于初态，不是胯下运球后的收球。"
+     },
+     {
+      "t": 1.84,
+      "log_step": 125,
+      "text_zh": "推断：视频全程没有完成前置胯下运球或后续双手收球，且 log step 125 的第 6 局裁判仅报告原生阶段 1/5，因此本事件未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 1.72–1.84 s 机器人原地以双足支撑，双臂执行后扫收球尝试；没有观察到手与篮球建立新的接球接触。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.84,
+      "log_step": 125,
+      "text_zh": "观察：视频 0.00–1.84 s 机器人始终在罚球线附近，篮球只在身前低处反弹，没有接近篮圈、受手控制扣穿或扣篮后落地动作；log step 125 确认第 6 局已判失败，阶段仅 1/5。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 0.8,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.60–1.40 s 机器人摆臂放球后，篮球落在脚前并在身前反弹，没有进入两腿之间；视频 1.72–1.84 s 后扫双臂仍未补成胯下穿越。log step 123、125 确认这是最终第 6 局，服务裁判因“the ball touched a part of you other than a hand”终止��原生阶段仅 1/5；最先未修复的是胯下运球。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 0.8,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 0.60–0.92 s 篮球离手后的下降球路在机器人身前，视频约 0.96 s 落在脚前，视频 1.08–1.44 s 又在身前反弹；球没有按胯下运球要求穿过腿间，后续也未纠正。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 123,
+    "evidence_zh": "推断：log step 123 的最终脚本保持腿部初态，将双肩 pitch 由约 -0.387 rad 改至 0.70 rad、双肘 pitch 改至 0.20 rad，以固定关节目标执行标为向后下方放球的动作，随后定时后扫收球，没有依据球的位置修改动作；视频 0.60–1.44 s 显示实际球路留在身前，而手臂已经摆到腰后。log step 160 中 agent 也自述摆臂放球方向错误。由脚本和视频可归因于未能控制出所需球路，但不足以细分为逆解、跟踪或增益问题。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，侧视分辨率不足以确定最后一次非手部接触的具体机器人链节及精确时刻。log step 125 的服务裁判确认发生非手部触球；agent 在 log step 160 自述是前臂击球，但视频 1.72–1.84 s 球靠近足部，不能据其自述认定前臂接触。评分器没有报告 basket_touch_s，原生指标留空；根因只标控制大类。"
+ },
+ "summary_zh": "最终评分对象为第 6 局：机器人原地摆臂放球，球在身前落地反弹，没有完成胯下运球；后续虽作收球后扫，仍未接住球，扣篮未启动，三个节点均未完成。断点是胯下运球，表现为球路位置不准；固定关节动作未能产生所需球路，随后裁判因非手部触球终止该局。没有状态日志，末次碰撞的具体链节不能从画面确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达成、断点为胯下运球与视频、log step 123/125 一致：视频 0.6–1.44 s 球落在脚前身前反弹，1.84 s 球仍在足前，服务裁判 stages 1/5、因球碰到手以外部位终止。现象“位姿不准”与根因“控制·控制”（固定关节脚本、未据球位修正）有日志与视频支持，且未越权细分；gap_zh 如实说明碰撞链节无法确认。未发现需修改项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:04:35Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-standard--wqrxnzk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--wqrxnzk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "566ae7a85384a6a4ab44e4db0d675451acfda0d7190daa5653a05bea4c18178b",
+   "video_sha256": "23b1d4c9da82406086ba62d7cbb084df20cb6f9fb7e5687bca170f355639ce5c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/free_throw/task_dag.json

@@ -0,0 +1,336 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/free_throw",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-free-throw-i00",
+ "title_zh": "篮球罚球",
+ "summary_zh": "机器人从罚球线后合法投出开局持有的篮球，使球心从上方穿过篮圈并继续降至圈下一个球直径处，裁判判定命中。",
+ "embodiment_zh": "特权与标准模式均为 Unitree H1-2 双足人形机器人：27 个身体关节、双臂，每臂末端为 Inspire RH56DFX 五指灵巧手（每手六驱动、接触摩擦持球），双腿与双脚支撑，无轮式底盘；两种模式的观测权限与交付方式不同，物理具身一致。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-free-throw-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "free_throw_scored",
+    "zh": "罚球命中",
+    "level": "semantic",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "场地固定视角中，橙色篮球离开机器人双手后飞向白色篮板下的橙色篮圈，球心从上向下穿过圈内并继续降至圈下一个球直径，才算罚球命中；只出手、飞到圈旁、碰圈后弹出或从下穿圈均未完成。精确验收为：先记录离手（双手接触各自允许 0.03 s 间断），球心向下越过 z=3.05 m 平面时距篮圈中心 (4.575,0) 的水平距离 < 0.225 m，期间不再向上穿回该平面，随后向下越过 z=2.811 m 平面且交点水平距离 < 0.3445 m；全过程未触发所列犯规，出手须满足 5.0 s 期限，并在 12 s 回合时限内命中，无额外静置或保持窗口。",
+    "step": {
+     "cat": "动态",
+     "item": "抛/投"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选：夹持；左、右张开的灵巧手以掌侧及拇指从篮球两侧相向夹持并共同送球，两手均未合拢包住球，抓握不适用，托/舀也不能完整描述相向夹紧。此为开局及典型双手投篮方案，离手后篮球自由飞行。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "机器人双脚在罚球线后半圆内支撑躯干，为双手送出篮球提供稳定站姿。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "plan": 2,
+      "note_zh": "一只灵巧手从下方托住并送出篮球，另一只灵巧手在球侧辅助定向；左右主辅手均可互换，不能由成功录像限定。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "机器人双脚接触罚球区地面支撑躯干，配合一手托球、另一手辅助投篮。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "plan": 3,
+      "note_zh": "一只灵巧手从下方托球后独立送出篮球；另一只手可先退出，规则允许任意手部投篮姿势，不要求出手前始终双手同时触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 3,
+      "note_zh": "机器人双脚在地面支撑躯干，配合单手将篮球投出。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-4",
+     "inputs/task/privileged/instruction.md:23-28",
+     "inputs/task/privileged/environment/rfo_task.py:119-148 开局球在两手之间",
+     "inputs/task/privileged/environment/rfo_task.py:178-186 原生阶段与参数",
+     "inputs/task/privileged/environment/rfo_task.py:229-239 场地与重置",
+     "inputs/task/privileged/environment/rfo_task.py:241-255 手部接触和穿圈跟踪",
+     "inputs/task/privileged/environment/rfo_task.py:270-308 离手、穿圈和违规",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:429-458 HoopPass",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178 阶段顺序与成功",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/scene.py:51 官方篮球半径 0.1195 m",
+     "inputs/oracle/replay.mp4 @ 0.00-1.12 s",
+     "inputs/oracle/run.json steps[id=428] 最终文件的两次重放均成功，release=0.17 s，through the ring=1.121 s（模拟时间）"
+    ],
+    "conf": 6,
+    "note_zh": "这是一次不可在离手与入篮之间暂停的投篮，依 S10 只建一个节点；release 与 through the ring 是同一步的原生验收阶段。命中是已发生并锁存的事件，不要求篮球在回合末静止留在网中；不另列拿球、抬球、松手或站立节点。双手初始相向夹持不是合指抓握，其他投篮姿势作为替代接触方案列出；同一方案中手部送球与双脚支撑同时成立，离手后的无接触飞行仅记于此。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "line_fault",
+    "zh": "踩线越线",
+    "never": null,
+    "criterion_zh": "球尚未触及篮圈或进入篮筐时，机器人任一部位与地面的接触点 x >= 0.35 m，即触及罚球线近边或其前方地面；空中越线而未触地本身不触发此项。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:231-232 篮圈中心 x=0.35+4.225=4.575 m",
+     "inputs/task/privileged/environment/rfo_task.py:61-63 罚球线近边 x=0.35 m",
+     "inputs/task/privileged/environment/rfo_task.py:257-275",
+     "inputs/task/privileged/environment/rfo_task.py:293-294"
+    ]
+   },
+   {
+    "id": "semicircle_fault",
+    "zh": "离开半圆",
+    "never": null,
+    "criterion_zh": "球尚未触及篮圈或进入篮筐时，机器人任一地面接触点到罚球线近边中点 (0.35,0) 的平面距离 > 1.80 m；外部场地视角可见脚或其他部位在白色罚球半圆外触地。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:183-186",
+     "inputs/task/privileged/environment/rfo_task.py:257-275",
+     "inputs/task/privileged/environment/rfo_task.py:293-294"
+    ]
+   },
+   {
+    "id": "nonhand_ball_contact",
+    "zh": "非法部位触球",
+    "never": null,
+    "criterion_zh": "裁判记录离手前，篮球接触机器人手以外的任何部位即失败；手包括手指、拇指、掌和腕，前臂、上臂、躯干或腿均不允许接球或夹球。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:243-246",
+     "inputs/task/privileged/environment/rfo_task.py:276-282",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:25-43"
+    ]
+   },
+   {
+    "id": "ball_retouch",
+    "zh": "离手后再触球",
+    "never": null,
+    "criterion_zh": "裁判记录离手后超过 0.05 s，篮球再次接触机器人任何部位即失败；手部接触间隔不超过 0.03 s 时仍按持续在手处理，离手不由通用 held 字段判断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:185-186",
+     "inputs/task/privileged/environment/rfo_task.py:252-255",
+     "inputs/task/privileged/environment/rfo_task.py:276-288",
+     "inputs/task/privileged/environment/rfo_task.py:297-298"
+    ]
+   },
+   {
+    "id": "ball_floor_contact",
+    "zh": "篮球触地",
+    "never": null,
+    "criterion_zh": "投篮成功前，篮球触及地面即失败，开局仍在手中时篮球触地也失败；场地视角可见橙球落地或反弹，不能算命中。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:283-285",
+     "inputs/task/privileged/environment/rfo_task.py:299-303"
+    ]
+   },
+   {
+    "id": "ball_up_through_ring",
+    "zh": "从下穿圈",
+    "never": null,
+    "criterion_zh": "离手后，尚未从上方进入篮圈的篮球，球心向上越过 z=3.05 m 平面且交点距篮圈中心的水平距离 < 0.225 m，即从下方穿圈并失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:183-186",
+     "inputs/task/privileged/environment/rfo_task.py:248-249",
+     "inputs/task/privileged/environment/rfo_task.py:289-296",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:413-423"
+    ]
+   },
+   {
+    "id": "robot_fell",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "命中前，在控制步末检查到骨盆高度 < 0.35 m，或除左右脚以外任一身体部位触地即失败；机器人明显倒伏、手膝撑地均属违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:180-186",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289"
+    ]
+   },
+   {
+    "id": "release_deadline",
+    "zh": "超时未出手",
+    "never": null,
+    "criterion_zh": "仍未被裁判记录为离手且控制步末时间超过 5.0 s（代码加 1e-9 数值容差）即失败；一直持球或只抬球不投出不能通过。此项是任务明确规定的出手犯规期限，不是 12 s 总时限。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:185-186",
+     "inputs/task/privileged/environment/rfo_task.py:305-308"
+    ]
+   },
+   {
+    "id": "simulation_unstable",
+    "zh": "物理失稳",
+    "never": null,
+    "criterion_zh": "控制过程中物理数值发散即判失败：出现异常加速度警告、非有限位置或超过平台 MAX_SPEED 的平移速度；若本控制步刚命中也可撤销成功，先前控制步已锁存的成功除外。录像异常跳变只能提示，精确判定需要平台数值及裁判失稳记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:867-885",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:166-172"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "free_throw_scored",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:276-303 + inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:429-458；需逐帧记录裁判原生 release、through the ring 阶段及 HoopPass 跟踪状态；当前没有状态日志，不能绑定。"
+   },
+   {
+    "atom": "line_fault",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:231-232 篮圈中心 x=0.35+4.225=4.575 m; inputs/task/privileged/environment/rfo_task.py:61-63 罚球线近边 x=0.35 m; inputs/task/privileged/environment/rfo_task.py:257-275; inputs/task/privileged/environment/rfo_task.py:293-294"
+   },
+   {
+    "atom": "semicircle_fault",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:183-186; inputs/task/privileged/environment/rfo_task.py:257-275; inputs/task/privileged/environment/rfo_task.py:293-294"
+   },
+   {
+    "atom": "nonhand_ball_contact",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:243-246; inputs/task/privileged/environment/rfo_task.py:276-282; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:25-43"
+   },
+   {
+    "atom": "ball_retouch",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:185-186; inputs/task/privileged/environment/rfo_task.py:252-255; inputs/task/privileged/environment/rfo_task.py:276-288; inputs/task/privileged/environment/rfo_task.py:297-298"
+   },
+   {
+    "atom": "ball_floor_contact",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:283-285; inputs/task/privileged/environment/rfo_task.py:299-303"
+   },
+   {
+    "atom": "ball_up_through_ring",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:183-186; inputs/task/privileged/environment/rfo_task.py:248-249; inputs/task/privileged/environment/rfo_task.py:289-296; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:413-423"
+   },
+   {
+    "atom": "robot_fell",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:180-186; inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289"
+   },
+   {
+    "atom": "release_deadline",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/task/privileged/environment/rfo_task.py:185-186; inputs/task/privileged/environment/rfo_task.py:305-308"
+   },
+   {
+    "atom": "simulation_unstable",
+    "level": "new_code",
+    "source": "需在回放适配器中逐帧记录此违规的原生裁判事件及所用接触/位置/时间量；依据 inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108; inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:867-885; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:166-172"
+   },
+   {
+    "atom": "episode_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178；需记录原生逐帧 ref.success、ref.failed 与物理失稳状态；当前不绑定交付或重放有效性字段。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "ball_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "note_zh": "inputs/task/privileged/environment/rfo_task.py:309 每控制步记录球心高度，精度 0.001 m；仅诊断，无单独合格阈值，也非越高越好，不能用终帧高度代替穿圈事件。"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功参考也无状态日志（inputs/oracle/oracle.json）；按 P8，全部节点 when、约束 never 与 success 均为 null。视频可见投篮和入圈，但无法核验毫秒级接触、精确穿圈交点或所有违规，需补记原生裁判状态；不得将代理叙述或离线总评分当作逐帧绑定。",
+  "接触词表边界（D12）：开局���只张开的手从篮球两侧夹持，未以手指包络抓握；典型方案用双臂协作 × 其他，候选“夹持”，单手托投及双手主辅托投另列替代方案，均不规定必须左右手同步出手。",
+  "模式差异：特权评分还要求轨迹有效且两次新进程重放成功、终态哈希一致（inputs/grader/efe_embodied-olympics-fun-files/grade.py:70-125）；标准模式采用最后一次现场回合的裁判结果（inputs/grader/efe_embodied-olympics-fun-files/standard/server.py:157-178；inputs/grader/efe_standard-files/v2_1/grade.py:83-110）。这些交付与基础设施检查不是世界状态或独立评测场景，DAG 保留共同物理目标，success=null，不伪造可绑定的重放确定性条件。",
+  "文本与实现的采样差异：特权说明称裁判每 1 ms 判断，但接触及穿圈在物理子步判断，跌倒、5.0 s 出手期限和总时限在 10 ms 控制步末判断（inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:266-289；inputs/task/privileged/environment/rfo_task.py:305-308）。节点与约束按实现写，不从低帧率录像推断毫秒级先后。",
+  "按 S10 与 D19，离手和篮球飞行合为一次罚球命中，进度为 0/1；原生球心高度仅作诊断。成功参考录像约 1.16 s，开局双手持球、随后上抛并在末段穿圈，与最终重放输出的两个原生阶段一致；其参数搜索和左右手动作不形成必经步骤。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "任务文本、场景重置和裁判代码共同支持一个投篮命中事件；几何阈值与违规均有源码依据，成功录像可见穿圈。没有状态日志，无法绑定或验证所有验收条件，夹持接触词表仍有缺口，因此置信度取 6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点原子任务（罚球命中），无状态日志故 when/never/success 为 null，符合 P8；离手与穿圈按 S10/D19 合为一步；阈值 0.225/0.3445/3.05/2.811 与 referee.py HoopPass 一致；约束均为评分器失败条件且为立即终止；open_questions_zh 已列文本/实现差异。未发现需修改项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['free_throw_scored']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:47:33Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__free_throw/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__free_throw/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "93cdd2fc632fd2f2887fa99abdf7563a855cf31e17693340798f0e2cb4561084",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}