Add 90 trajectories (phase 2, remaining runs; batch S13)

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3.json

@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 2051,
+   "executed_rows": 2051,
+   "sim_steps": 2051,
+   "physics_steps": 20510,
+   "sim_time_s": 20.51,
+   "phases_done": 6,
+   "valid": 1,
+   "replay_wall_s": 73.5,
+   "replay_timeout_s": 505.1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 5,
+   "agent_resets": 4,
+   "agent_sim_steps": 4102,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.103,
+   "peak_memory_gb": 1.757,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.827,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3/replay.mp4",
+  "duration_s": 20.56,
+  "fps": 25.0,
+  "frames": 514,
+  "sha256": "85c55f0415f58c648edcc2493bedb175d3699e88ccf46b456603ef52a6dc7a07"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频0.56、0.64、0.72 s，橙球从空中下落进入左臂固定安装的小蓝杯；视频0.88—1.28 s球留在杯内，左臂随后带球抬升。"
+     },
+     {
+      "t": 1.04,
+      "log_step": 27,
+      "text_zh": "推断：以视频1.04 s作为首次接稳的近似时刻；log step 27交付序列在control step 120已为phase=1，与视频1.20 s左杯留球一致，未将刚碰杯口算作接稳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂panda-0末端固定方杯从下方承接并托住橙球；夹爪未直接夹持球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.16,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.84,
+      "log_step": null,
+      "text_zh": "观察：视频5.76—6.00 s，左臂倾斜的小杯将橙球送出，球越过两杯间隙落入右臂的小杯；视频6.08—6.48 s球留在右杯，视频7.56—8.88 s又随右杯移动。"
+     },
+     {
+      "t": 6.16,
+      "log_step": 27,
+      "text_zh": "推断：接稳时刻约视频6.16 s，精度约0.2 s；log step 27在control step 620报告phase=3。运行文字要求右杯已离开起点，视频右杯确已从初位移到左杯下方；按本次执行规则认可接稳，不追溯套用当前DAG新增的入杯水平速度要求。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂固定方杯先托球并倾斜送出，球自由飞行后由右臂panda-1固定方杯从下方接住；两杯与球的接触先后发生。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频7.56—8.88 s，右臂的小杯持续载着橙球向第二交接位置移动，左臂同时把空杯移开；橙球没有留在原接球位置，视频8.88 s仍在右杯中。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 27,
+      "text_zh": "推断：第二交接区的边界在画面中未标出，以视频8.40 s附近作为到达锚点，误差约0.5 s；log step 27在control step 890报告phase=4、右杯位置约(0.1302,0.1500,0.2395)米，支持该段已完成持球进区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂panda-1固定方杯从下方托住橙球，带球移到第二交接区；左臂空杯移开，没有共同承托球。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.16,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.68,
+      "log_step": null,
+      "text_zh": "观察：视频13.36—13.60 s右臂小杯倾斜送出橙球，球经两杯间空隙下落；视频13.68—14.64 s球留在左臂小杯，随后视频15—17 s左杯带球移往轨道车厢。"
+     },
+     {
+      "t": 14.16,
+      "log_step": 28,
+      "text_zh": "推断：以视频14.16 s作为回接稳定事件的锚点；log step 28所打印交付序列的reverse_catch登记于仿真14.13 s。任务文字给出100 Hz控制率，log step 27的control step 620对应视频6.20 s右杯已接球，终点2051步对应仿真20.51 s且视频长20.56 s，故该事件时钟与视频近似一一对应；按本次成功验收版本认可回接。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂固定方杯先托球并倾斜回传，飞行后的橙球由左臂panda-0固定方杯从下方承接；没有直接夹爪抓球或两杯同时夹球。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.44,
+      "log_step": null,
+      "text_zh": "观察：视频18.64—19.28 s左臂在车厢上方倾杯，视频19.36 s橙球已离开小杯，视频19.44—19.68 s球进入大蓝车厢；左杯与车厢分离。视频19.84—20.52 s车厢沿轨道移动，球所在内底区域随后被近侧厢壁遮挡。"
+     },
+     {
+      "t": 20.52,
+      "log_step": 29,
+      "text_zh": "推断：最终稳定验收取最后已检查帧视频20.52 s；log step 29交付序列记录ball:cart接触及仿真20.505 s最终阶段通过。100 Hz控制率与视频接球锚点及终点时长相符，故不把视频19.44 s刚入厢当作完成连续稳定验收。"
+     },
+     {
+      "t": 20.52,
+      "log_step": 34,
+      "text_zh": "观察：评分器reward报告success=1、phases_done=6、valid=1、deterministic=1；log step 34的新进程重放报告success=true、phase=6、control_steps=2051。log step 35确认重新生成的2051行动与保存的成功序列逐行相同，log step 38确认两次新进程重放成功且末态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂panda-0固定方杯托球移到轨道车厢上方，倾杯释放橙球；其后车厢承接球，夹爪不直接触球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "左杯首次接球、传给右杯、右杯持球到第二交接区、回传左杯及球入移动车厢五步均完成，最终5/5；评分器成功且两次新进程重放末态一致（log step 34、38）。规则版本差异：运行文字要求右杯已离开起点，当前DAG另列入杯速度及回传释放区限制，本标签按本次执行时的成功验收规则判断，不将新增限制追溯为失败。没有独立状态日志，第二交接区到达时刻为视频8.40 s附近的估计，末段球被厢壁遮挡，精确速度及连续稳定验收由交付序列记录与评分结果补足；oracle实际为本次运行，未用作独立参考。",
+ "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，五个节点均到达，时间与视频帧一致（1.04/6.16/8.4/14.16 s 球在对应杯内，19.4 s 球入车厢，20.5 s 仍在）；contact_actual 为手持工具·托/舀合理；无失败层，无需���改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:29:22Z",
+  "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/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "578935fd7b305c435e78c7ca78ebf9aae2c0d988205c82e813055b0b5642cb1a",
+   "video_sha256": "85c55f0415f58c648edcc2493bedb175d3699e88ccf46b456603ef52a6dc7a07",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 2087,
+   "executed_rows": 2087,
+   "sim_steps": 2087,
+   "physics_steps": 20870,
+   "sim_time_s": 20.87,
+   "phases_done": 5,
+   "valid": 1,
+   "replay_wall_s": 72.9,
+   "replay_timeout_s": 508.7,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 97,
+   "agent_resets": 12,
+   "agent_sim_steps": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.048,
+   "peak_memory_gb": 0.69,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.833,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs/replay.mp4",
+  "duration_s": 20.88,
+  "fps": 25.0,
+  "frames": 522,
+  "sha256": "02631e2414f6e316c9d67c168074028ff9e5b1f4d564cd965070ec0076a9278c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–0.80 s 橙球下降进入左臂小蓝杯，视频 0.90–1.20 s 球留在杯内，随后随左杯上升；首次接稳时间按画面约为视频 1.0 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂固定安装的小蓝杯从下方承接并托住橙球；夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.80–8.96 s 球离开倾斜的左杯并自由下落，视频 9.04 s 进入已离开起点的右杯，视频 9.28–9.60 s 留在右杯并随其移动；接稳时间约为视频 9.3 s。"
+     },
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 task_text 要求右杯接球前已离开起点（must have moved from its start），评分器报告 phases_done=5。推断：按该轨迹执行时的旧版规则标接稳，不追加 DAG 当前版本的入杯瞬间水平速度门槛。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂小杯先托球并倾斜送出，球经空中落入右臂小杯，由右杯承接；两杯依次接触球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.60–10.60 s 右臂小杯带着可见的橙球向两臂之间移动，视频 10.60–11.00 s 到达中间交接位置后继续抬高。推断：对照成功参照视频 8.88 s 的交接位置，并结合评分器 phases_done=5，该节点已完成；视频 10.6 s 为约略到区时间，无法从像素精确复核三维距离阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂固定安装的小蓝杯从下方托住橙球，将装球杯带至两臂之间的交接位置。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.2,
+      "log_step": null,
+      "text_zh": "观察：视频 15.70–15.80 s 橙球离开右臂倾斜小杯并下落，视频 15.90–16.00 s 进入左臂小杯；视频 16.20–17.00 s 球留在左杯并随其向车厢方向移动。接稳时间约为视频 16.2 s，后续主动倒球不撤销这一历史事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂小杯先托球并倾斜回传，球飞行后由左臂小杯从下方承接；两杯依次作用于球。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.12,
+      "log_step": null,
+      "text_zh": "观察：视频 18.72–18.92 s 球仍在左臂倾斜小杯的下沿，视频 19.00–19.12 s 球离杯落入大蓝车厢；视频 19.16–19.28 s 球在车厢内移动，左杯已与球分离。落入车厢本身尚不满足连续稳定验收。"
+     },
+     {
+      "t": 20.84,
+      "log_step": null,
+      "text_zh": "观察：视频 19.28–19.92 s 球靠车厢内侧壁，视频 20.08–20.84 s 球又向画面右侧壁滚动，末帧仍在车厢内；评分器 success=0、phases_done=5、valid=1。推断：前四步完成而最终连续稳定交付未被接受，不能把入厢瞬间记作此节点达到。"
+     },
+     {
+      "t": null,
+      "log_step": 162,
+      "text_zh": "观察：agent 在 log step 162 自述“球接触车厢，但未完成要求的0.7秒车厢保持”，并说明已保存2087行轨迹；这是会话报告，最终判定同时依据视频中的入厢后滚动和评分器字段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂小蓝杯托球移向大蓝色移动车厢，倾杯后球离开小杯并落入车厢；释放后由车厢承接，夹爪不直接碰球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_settled_in_moving_cart",
+   "t": 19.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19.12 s 左臂倾杯释放的橙球进入移动车厢，随后在视频 19.16–19.28 s 移动，视频 20.08–20.84 s 仍向另一侧滚动；左臂停留在倒球后的姿态，未再调整球。评分器 success=0、phases_done=5，最终交付始终未通过。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": true,
+   "loaded_cup_in_second_region": true,
+   "left_cup_recaught": true,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 19.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.00–19.12 s 机器人左杯按交付动作释放球，球落入车厢；视频 19.16–19.28 s 球在车厢内移动，视频 20.08–20.84 s 又横向滚至另一侧壁，未呈现连续随厢稳定的结果。球已在目标容器内，失败表现是释放后的不稳定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 19.2,
+    "log_step": null,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 18.72–19.12 s 左臂通过倾杯完成释放，但视频 19.16–20.84 s 球入厢后仍存在明显相对运动，末段释放控制未形成可持续的稳定交付；视频 16.20–17.00 s 已成功回接并运球，故失效集中在最后的释放与落定控制。现有证据不能进一步区分释放轨迹、接触几何或具体参数。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法精确复核接球保持计时、交接区三维距离、球相对车厢速度和最终稳定计时器；部分时刻球被车厢壁遮挡，不能断言整个入厢后区间均超过速度阈值。评分器未报告逐项原生指标或具体失败原因；末段脚本修改在日志中多仅保留 patch 调用占位，无法据此确定哪个控制参数导致滚动，因此根因仅标到控制。节点时间来自视频估计，未把会话测试的仿真时间映射为评分��频时间。"
+ },
+ "summary_zh": "评分轨迹完成左杯首次接球、右杯接稳传球、持球到第二交接区及左杯接稳回球，共4/5节点；视频约19.1 s 球被倒入移动车厢，随后仍在厢内滚动，最终连续稳定交付未通过。失败集中于末段释放与落定控制，缺少状态日志和验收计时器，不能确定更细的控制原因。此运行的 task_text 使用右杯已离开起点的旧版规则，按执行时版本标注，不追加 DAG 当前版本的接球速度及回传释放区新门槛。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间与值与视频基本相符（前四步达成，末步球入厢后在厢内滚动、未满足0.7 s连续稳定），断点、现象（放后不稳）和根因（控制，已写明无法细分）有视频与评分器字段支撑；未发现需要改内容的错误。右杯接稳按旧版规则标注符合DAG的“旧版录像按执行时版本”说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:22:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f633a2908c0ed8642df3b601bc65ce405402f031dc77b7e8e7e8502c8f7b0cdc",
+   "video_sha256": "02631e2414f6e316c9d67c168074028ff9e5b1f4d564cd965070ec0076a9278c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb.json

@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1689,
+   "executed_rows": 1689,
+   "sim_steps": 1689,
+   "physics_steps": 16890,
+   "sim_time_s": 16.89,
+   "phases_done": 6,
+   "valid": 1,
+   "replay_wall_s": 63.0,
+   "replay_timeout_s": 468.9,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 57,
+   "agent_resets": 48,
+   "agent_sim_steps": 1689,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 0.802,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb/replay.mp4",
+  "duration_s": 16.96,
+  "fps": 25.0,
+  "frames": 424,
+  "sha256": "2938b3f0cfbe2ba87c2626bfc90dbd324fc594e8ae1c9af73fc8363b8d317e0a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.72,
+      "log_step": null,
+      "text_zh": "观察：视频0.64 s橙球在左臂小蓝杯上方下降，视频0.72–1.20 s球已在左杯内，随后视频1.5–3.5 s随左杯平移、抬高，未弹出。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 101,
+      "text_zh": "推断：结合入杯后的连续稳定画面及log step 101对最终交付文件的官方重放成功结果，首次接稳约在视频1.0 s登记；事件随后保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝杯从下方承接并托住橙球，随后带球平移、抬高；夹爪未合拢抓球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.64,
+      "log_step": null,
+      "text_zh": "观察：视频5.28–5.52 s左臂小杯倾斜送出橙球，视频5.52–5.64 s球离开左杯落向右杯；视频5.76–6.36 s球留在右杯内，视频6.60–7.80 s随右杯移动，左杯已空。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 100,
+      "text_zh": "推断：以视频5.76–6.36 s连续留球和后续随杯移动判为约视频6.0 s接稳，log step 100最终保存轨迹的生成记录进入phase=3亦相符。本次run.task_text要求右杯已离开初始位置，按该旧版及官方成功验收判定；不追加当前DAG所述入杯水平速度门槛。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂安装杯先托球并倾斜送出，橙球离杯下降后由右臂安装杯从下方接住；两杯先后接触同一球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.32,
+      "log_step": null,
+      "text_zh": "观察：视频6.60–7.32 s右臂将装有橙球的水平小杯向两臂间交接位置移动，视频7.32–7.80 s球仍留在右杯内；左杯移开准备回接。"
+     },
+     {
+      "t": 7.32,
+      "log_step": 100,
+      "text_zh": "推断：结合视频中的持球到位形态与log step 100最终交付轨迹记录进入phase=4，交接区节点约在视频7.3 s达成；精确0.035米空间容差由评分器成功结果支持，单目画面不独立测量该距离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂固定安装的水平小蓝杯从下方托住橙球，带球移至两臂之间的交接位置。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频9.5–11.04 s右臂倾斜小杯向下方左杯回传；视频11.16–11.64 s接球区域被右臂腕部部分遮挡，视频11.88–12.36 s右臂退开后可见橙球位于左臂水平小杯内；视频12.5–14.0 s球随左杯移向车厢。"
+     },
+     {
+      "t": 11.5,
+      "log_step": 101,
+      "text_zh": "推断：根据回传前后球由右杯转入左杯、后续稳定随左杯搬运及log step 101最终文件官方重放成功，回接稳事件记为约视频11.5 s，遮挡造成约0.5秒时间不确定性；没有把仅进入phase=5当作接稳证明。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂安装杯先托球并倾斜回传，左臂安装杯在其下方承接；右臂退开后橙球随左杯搬运，两杯依次作用于球。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.84,
+      "log_step": null,
+      "text_zh": "观察：视频14.88–15.60 s左臂小杯逐渐倾斜，橙球移到杯口；视频15.72 s球已离开杯口下落，视频15.84–16.08 s球进入轨道上的大蓝车厢，左杯留在车厢上方且与球分离。"
+     },
+     {
+      "t": 16.92,
+      "log_step": 101,
+      "text_zh": "观察：视频16.20–16.68 s车厢继续沿轨道移动，球未再次弹出；已检查视频16.80、16.92 s终帧。log step 101对最终1689行文件的官方重放报告success=true、phase=6、valid=true、failure_reason=null，评分器reward同为success=1、phases_done=6。"
+     },
+     {
+      "t": 16.8,
+      "log_step": 101,
+      "text_zh": "推断：球落入后随车厢保持及最终官方成功验收共同支持连续0.7秒交付条件已满足，约在视频16.8 s末段达成并保持至结束；杯壁及车厢壁部分遮挡球，精确相对速度和保持计时以本次评分器验收补证，视频时间精度约0.2秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装杯托球移到轨道车厢上方后倾斜，球脱离杯子落入大蓝车厢；释放后由移动车厢承接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better"
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better"
+  },
+  {
+   "name": "free_flight_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better"
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better"
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better"
+  },
+  {
+   "name": "second_region_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cup_retention_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cart_delivery_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次交付视频依次显示左杯首次接球、传入右杯、右杯持球到交接区、回传左杯及球脱杯入移动车厢，五个节点最终均达成；官方重放及评分器均判成功，无失败断点。观察：本次run.task_text采用右杯须已离开起点的旧版规则，未列当前DAG新增的入杯速度及回传释放区限制；按P19保留该版本已验收的传接成功，不据新版阈值追判失败。推断：无状态日志，回接瞬间受右腕遮挡，约视频11.5 s的时间有约0.5秒误差，精确空间、速度与保持窗口由最终成功验收补证；原生指标未在reward逐项报告，故数值均留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功run，五个节点均达成，时间与帧一致（球入左杯约1 s、右杯约6 s、持球到交接区约7.3 s、回传左杯约11.5 s、入车厢约16 s），无失败断点；contact_actual为托/舀，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:22:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e95b3c8f05ba7d787c6641a240148d650e05d31b263bdf94548f0a45c97c8b62",
+   "video_sha256": "2938b3f0cfbe2ba87c2626bfc90dbd324fc594e8ae1c9af73fc8363b8d317e0a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 1010,
+   "sim_steps": 3930,
+   "calls": 80,
+   "rows": 2290,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 766.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg/replay.mp4",
+  "duration_s": 10.16,
+  "fps": 25.0,
+  "frames": 254,
+  "sha256": "486c0fcc9b435ddb78e85084a6f42e285890a6fd30b6929bb99a1bc5ecfec5a4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–0.68 s 橙球从上方落入左臂的小蓝杯，视频 0.80–1.28 s 球稳定停在杯内，随后随左杯移动；约视频 0.9 s 记为首次接稳，精确内部登记时刻不可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝杯从下方承接并托住橙球，夹爪没有直接抓球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 96,
+      "text_zh": "观察：视频 1.6–2.4 s 左杯上抬后回落，橙球仍随左杯，右杯为空；视频 6.8–7.8 s、8.0–9.1 s 以及最后视频 10.12 s 仍未出现球落入右杯并稳定的形态。"
+     },
+     {
+      "t": 10.12,
+      "log_step": 108,
+      "text_zh": "观察：视频 9.92–10.12 s 两杯逐渐贴近，橙球仍位于左杯；log step 108 的现场提交返回 done=True、reason=failed、why=arm_arm_or_tool_collision，log step 109 确认最后为 episode 4。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂小杯托球反复上抬、回撤以尝试向右杯传球；球仍留在左杯，未观察到右杯承接球；末段两杯靠近并触发服务的碰撞判负。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–3.4 s 右臂小杯向两臂之间移动，但橙球仍在左杯内，右杯全程为空；未形成装球右杯到第二交接区的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：右臂小杯空杯移向中间位置，没有与橙球发生接触，未形成持球运送。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–3.9 s 两臂调整位置时，橙球仍由原先的左杯托着，没有从右杯飞回左杯的过程；视频 6.0–10.12 s 的后续传球尝试也没有先让右杯装球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：两臂执行回传阶段的移动时，左臂小杯仍托着最初接住的橙球；右杯为空，没有发生右杯送球、左杯重新承接的接触链。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.1,
+      "log_step": 95,
+      "text_zh": "观察：视频 4.0–5.5 s 左臂把装球小杯移到大蓝车厢附近并倾斜，橙球仍留在小杯内，车厢没有接到球；log step 95 的脚本末段安排向车厢倾杯交付。"
+     },
+     {
+      "t": 10.12,
+      "log_step": null,
+      "text_zh": "观察：视频 9.12–10.12 s 车厢内仍没有橙球，球留在左杯并随左臂朝右杯移动，未形成脱杯后随车厢稳定的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定小杯继续托住橙球，移近车厢上方并倾斜尝试交付；球没有脱离小杯进入车厢。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 2.4,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.6–2.4 s 左臂尝试抛球后，球仍留在左杯，右杯为空；视频 6.8–9.1 s 又反复尝试仍未传入右杯，此步直到终止都未修复。视频 10.08–10.12 s 两杯靠近，log step 108 的最后现场提交报告 arm_arm_or_tool_collision 并结束 episode 4（log step 109）；碰撞发生时仍在尝试左向右传球。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.4,
+    "log_step": 96,
+    "evidence_zh": "观察：视频 1.6–2.4 s 首次传球中左杯上抬后回落，橙球仍留在左杯，右杯为空，未形成球脱杯飞向右杯的传接过程；左杯从下方托球，夹爪未夹持球。log step 96 启动本局 gen.py 首次传球；log step 104、106、108 是视频 6.8 s 之后的补试，视频 6.8–7.8 s、8.0–9.1 s 的上抬、回撤后球仍由左杯携带。推断：抛送与回撤未形成有效的球杯分离及传接时机；现有画面不足以细分释放过早或过晚。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 104、106、108 的控制代码用短时关节位置插值执行上抬与回撤，尝试把球送向右杯；对应视频 6.8–9.1 s 球仍在左杯，视频 10.12 s 末段两杯靠近，log step 108 报告臂间或工具碰撞。推断：这组传球控制没有实现球与左杯分离、向右杯交接及工具间避碰；现有证据不足以进一步区分接触设计与伺服轨迹跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或原生 phase/接球登记字段，首次接稳时间按视频估计；无法精确复核杯内相对速度、自由飞行时长及碰撞的具体部件对。评分器未报告 DAG 的原生连续指标，全部记为 null；控制根因的具体子类证据不足。参考成功视频仅用于辨认接球和交付形态，其旧版速度/释放区规则不用于推断本局是否违规。"
+ },
+ "summary_zh": "本次评分对应最后的 episode 4（log step 96 启动、log step 109 确认），视频约 0.9 s 左杯首次接稳橙球，最终完成 1/5 个节点。左向右传球始终未完成，球持续留在左杯，后续空杯转场及向车厢倾杯没有完成其节点，最后在视频约 10.1 s 触发臂间或工具碰撞；证据支持传球控制失效。缺少状态日志及原生阶段读数，内部接稳时刻与具体控制子类只能作有限推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点 right_cup_caught（视频约 2.4 s，episode 4 由 log step 96 的 gen.py 启动）与视频一致，节点与 contact_actual 无误。问题在现象层：「没松开」是近义误标（杯托球没有被抓住，抛球没把球送出应记动态时机）；「被挡/碰撞」只是评分器终止规则，应只在证据中提及；另一条现象证据的 log_step 与视频时间不对应。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点 right_cup_caught（视频约 2.4 s）、动态时机现象和控制根因均与视频和日志一致；第一轮的修改已落实，未发现需要再改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:38:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cebb19503d8d687dfb774fbc532fbbba2439d66cc75f4dc266abd65aae566d64",
+   "video_sha256": "486c0fcc9b435ddb78e85084a6f42e285890a6fd30b6929bb99a1bc5ecfec5a4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv.json

@@ -0,0 +1,317 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 295,
+   "sim_steps": 2016,
+   "calls": 25,
+   "rows": 1816,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1185.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv/replay.mp4",
+  "duration_s": 3.0,
+  "fps": 25.0,
+  "frames": 75,
+  "sha256": "d2f311b2d68b4d77908dba18c3d09df40a70cc8b1eed77199ce35039c59577fb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": 42,
+      "text_zh": "观察：视频0.56–0.64 s橙球向左杯下降，视频0.68 s进入左臂末端的小蓝杯；视频0.80–1.52 s球持续留在杯内，随后左杯携球转到倾斜姿态，未见首次来球弹出。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 43,
+      "text_zh": "推断：按视频0.68–1.52 s的连续承接和稳定留杯形态，首次接稳约在视频1.0 s完成（约±0.2 s）；log step 43对本局f1的图像分析也报告球心位于左杯内，但该分析不是原生接球计时器。成功参考视频0.88–1.20 s可见同样的左杯留球形态，参考仅用于辨认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.68–1.52 s，左臂固定安装的小蓝杯从下方承接并托住橙球；二指夹爪没有直接抓球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 44,
+      "text_zh": "观察：视频1.60–2.68 s左臂将装球杯倾斜，视频2.72–2.96 s左杯向右侧挥动；右杯保持在旁，未出现橙球飞入右杯并稳定留杯的过程。log step 44的本局f3服务返回done=True、failed、arm_arm_or_tool_collision，log step 45确认终止的是episode 4。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频1.52 s左杯仍托有橙球，随后左臂携杯倾斜并挥动以向右杯送球；右杯未接到球。推断：送球阶段实际作用于球的是左臂安装杯的承托，倾杯后球被杯壁遮挡，不据此补记右杯接球接触。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 44,
+      "text_zh": "观察：视频0–2.96 s右杯始终未装入橙球，也没有右杯带球前往第二交接位置的动作；视频末尾仍停在接球准备位，log step 44报告本局在左向右传球中因碰撞终止。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 44,
+      "text_zh": "观察：视频0–2.96 s只有初始来球落入左杯以及左臂的送球准备和挥动，没有右杯接球后向左杯回传的过程；本局在log step 44已被服务终止，因此首次左杯接球不计作回接。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 44,
+      "text_zh": "观察：视频0–2.96 s桌前轨道上的大蓝色开口车厢持续移动，厢内始终未见橙球；末尾逐帧检查视频2.00–2.96 s，也没有左杯向车厢放球及球随车稳定的过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 2.95,
+   "log_step": 44,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.72–2.96 s左臂持倾斜杯向右杯一侧挥动，两臂末端区域靠拢，随后画面结束；log step 44本局f3的服务反馈为arm_arm_or_tool_collision，control_steps=295，log step 45确认episode=4且done=True。推断：log step 3给出control_dt=0.01 s，295个控制步约为视频2.95 s，与视频末尾挥动和终止对应；这是左向右传接过程中的碰撞，右杯尚未接稳，断点取右杯接稳传球。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.95,
+    "log_step": 44,
+    "evidence_zh": "观察：视频2.80–2.96 s左杯及左腕朝已就位的右臂末端靠近，尚未完成传接便结束；log step 44中机器人服务直接报告arm_arm_or_tool_collision，log step 45确认本评分局已失败。具体碰撞连杆对未报告，不把它另标为违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 41,
+    "evidence_zh": "观察：log step 39为右杯重新求解更靠近左臂的接球位(0.045,0.11,0.225)米；log step 41的最终脚本在左杯从qa向qb挥动时令右臂一直保持qR2，未随左杯挥动避让。视频2.72–2.96 s与此动作一致，log step 44服务确认发生两臂或工具碰撞。推断：新右臂接球配置与沿用的左臂挥动轨迹未满足两臂全程避碰要求，导致传球执行中碰撞；agent在log step 48也自述只检查起始杯间隙、未检查整段挥动，作为补充而非唯一依据。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志，也没有原生phase、首次接稳计时或碰撞连杆对字段；首次接稳的具体登记时刻由视频估计，倾杯后球被杯壁遮挡，不能核定其末帧位置及具体碰撞部件。log step 44只明确碰撞类别；不将此前测试局的出球、擦右杯或落球计入评分轨迹。"
+ },
+ "summary_zh": "评分轨迹是log step 42重置后的episode 4：左杯在视频约1.0 s首次接稳橙球，完成1/5个节点。左臂随后倾杯并向右传球，视频约2.95 s因两臂或工具碰撞终止，右杯尚未接稳；最终脚本将右杯移近后沿用左臂挥动轨迹，未保证全程避碰。无状态日志，接稳时刻为视觉估计且碰撞部件未细分；本局task_text及log step 4使用右杯离开起点的旧版验收，本次未到右杯接稳，不据新版接入速度条件另作判负。",
+ "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一致：视频约1.0 s左杯接稳首球，随后倾杯挥动，约2.95 s两臂/工具碰撞终止，断点、现象和根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:21:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7b2de7b51259f98f76015c928194c88d2b8648a654228561b168a9cd9caa2d85",
+   "video_sha256": "d2f311b2d68b4d77908dba18c3d09df40a70cc8b1eed77199ce35039c59577fb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc.json

@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 341,
+   "sim_steps": 1031,
+   "calls": 25,
+   "rows": 871,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1778.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc/replay.mp4",
+  "duration_s": 3.48,
+  "fps": 25.0,
+  "frames": 87,
+  "sha256": "9623b1ec3c7bf3810da9e12bd8482ff7a027f8d2f90fc95d5b35e6b682d061cc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频0.56、0.60、0.64、0.68 s逐帧显示橙球从空中下降进入左臂小蓝杯，之后没有弹出。"
+     },
+     {
+      "t": 0.92,
+      "log_step": null,
+      "text_zh": "观察：视频0.72–0.96 s橙球停在左杯内，视频1.20–2.80 s随左杯升降和搬移；据此把首次接稳登记近似标在视频0.90 s，精确的内部计时不可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝方杯从下方承接并托住橙球；视频0.64–0.96 s可见球入杯，夹爪未直接抓球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频2.80 s橙球仍在左杯，右杯为空；随后左臂开始首轮传球动作，小杯向下运动。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 127,
+      "text_zh": "观察：视频3.20–3.44 s左杯下降到大蓝车厢边缘附近，橙球仍在左杯一侧，右杯始终没有接入橙球。log step 127记录最后第4局由服务返回failed / forbidden_tool_fixture_contact，log step 129确认该局已结束，未出现修复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频1.20–3.40 s左臂固定杯持续托着橙球，作为向右杯传球的送球端运动；右臂小杯移动到接球位置但没有碰到球。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频3.40 s左杯及安装连接件到达大蓝车厢沿附近，log step 127的服务失败原因为forbidden_tool_fixture_contact。候选名称：碰撞；现有接触方式没有碰撞项，不能据此写成主动推扫。工具与场景夹具发生非预期接触，具体碰撞体对子未记录。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频2.80–3.44 s右臂小杯没有装球，橙球留在左臂小杯中；没有出现右杯持球进入第二交接区的状态，不能把空杯移位算完成。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.44 s只有初始来球进入左杯，之后橙球随左杯运动；没有出现球进入右杯后再飞回左杯的回接。视频3.44 s结束时右杯仍为空。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频2.48–3.44 s移动车厢内未见橙球；最后左杯虽降至车厢沿附近，橙球仍在左杯外侧可见，没有与左杯分离后在车厢内随车稳定的过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 3.4,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.80–3.40 s机器人正在进行左杯向右杯的首次传球，左杯带球下降到移动车厢边缘附近后停止，右杯没有接到球。log step 125启动最后重置的第4局；log step 127读取该局服务返回的forbidden_tool_fixture_contact，log step 129确认episode=4、control_steps=341、done=true。推断：这次传接因工具与场景夹具碰撞而中断，此后未修复，故断点为右杯接稳传球。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 3.4,
+    "log_step": 127,
+    "evidence_zh": "观察：视频3.12、3.20、3.28、3.36、3.40 s左臂小杯逐渐下降并贴近大蓝车厢的后侧上沿，最终停在该处；log step 127的第4局结果由机器人服务返回failed，why=forbidden_tool_fixture_contact，表示工具与场景夹具发生禁碰。该碰撞结束了首次杯间传球，右杯仍为空；不是前面调试局的双臂互碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 123,
+    "t": 3.4,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：首轮传球的控制运动未保持工具与场景夹具的净空。log step 123显示agent脚本为左杯生成倾转与平移的plan_pour轨迹，log step 125用该脚本启动最后第4局；视频2.80–3.40 s左杯实际下降至车厢沿附近，log step 127随即报告工具夹具禁碰。log step 120的检验只报告两臂距离，log step 133在本局结束后才计算车厢位置；agent在log step 138也自述此前没有测量车厢与轨道几何。现有证据不足以把碰撞进一步确定为接触布局、轨迹生成或伺服跟踪中的哪一项，因此停在控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐碰撞体明细，无法确认相碰的是杯壁还是适配杆，以及车厢或轨道的具体部件，也无法区分轨迹生成误差与伺服跟踪误差；根因仅归到控制。首次接球的内部0.18秒验收计时不可见，接稳时刻按画面近似为视频0.90 s。评分字段未报告DAG列出的原生连续指标数值，均填null。"
+ },
+ "summary_zh": "评分的最后第4局中，左杯约在视频0.90 s接稳初始来球，完成1/5步；首次向右杯传球时，左杯带球下降到移动车厢边缘附近，在视频约3.40 s发生工具与场景夹具碰撞而终止，右杯接球及后续三步均未完成。碰撞归因于控制运动未避开夹具，缺少碰撞体明细和实际关节轨迹，无法细分控制子类；成功参考仅用于核对传接及入车的可见形态，未将其较旧的右杯接球速度规则套用于本局。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频0.6、0.9、2.8、3.44 s帧与log step 127/129一致：左杯约0.9 s接住初始球，之后传球中左杯降到车厢沿被服务判forbidden_tool_fixture_contact，右杯始终为空；断点right_cup_caught、被挡/碰撞、控制根因（停在大类并写明推断）均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:27:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79c1406f959a2f21903c5d1785150a89672bd16efc3418784268a3de1065d11e",
+   "video_sha256": "9623b1ec3c7bf3810da9e12bd8482ff7a027f8d2f90fc95d5b35e6b682d061cc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 196,
+   "sim_steps": 196,
+   "calls": 48,
+   "rows": 196,
+   "resets": 0,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2352.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6/replay.mp4",
+  "duration_s": 2.0,
+  "fps": 25.0,
+  "frames": 50,
+  "sha256": "1333a24617032f56426e7728af61266574d6c22ac3b48f2cdade3c95263eb77e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": 21,
+      "text_zh": "观察：视频 0.60–0.68 s，橙球从空中下降并进入左臂末端的小蓝杯；视频 0.68–0.84 s 球在杯内移动后停稳，视频 0.88–1.28 s 持续留在左杯内。接球外观与成功参考视频 0.88、1.20 s 一致。"
+     },
+     {
+      "t": 1.04,
+      "log_step": 23,
+      "text_zh": "推断：按视频约 0.84 s 开始稳定并保持约 0.18 s，首次接稳记在视频约 1.04 s，时间为视觉估计；视频 1.12–1.36 s 左杯改变位姿时仍带着球。log step 23 的服务控制步为 106，随后才提交下一段运动；未提供原生阶段计数，不能精确核对接稳登记时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.68–1.28 s，左臂固定安装的小蓝杯从下方承接并托住橙球；夹爪没有直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.36,
+      "log_step": 51,
+      "text_zh": "观察：视频 1.12–1.76 s，左臂调整装球杯的位姿，右臂将空杯移到待接位置；视频 1.80–1.96 s 左臂上抬杯子，但右杯始终为空，没有球落入并随右杯稳定的过程。"
+     },
+     {
+      "t": 1.96,
+      "log_step": 71,
+      "text_zh": "观察：log step 71 的机器人服务在 control_steps=196 返回 done=true、reason=failed；log step 72 确认这是 episode=1、sim_time_s=1.96，resets_left=3。log step 71 提交动作使用 dt=0.01，196×0.01=视频 1.96 s，与末帧的左杯上抬相符；log step 21 的 control_steps=90 也与视频 0.88–0.92 s 的球在左杯内相符。此回合只开始了左向右传接，未完成右杯接稳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.12–1.36 s，左臂安装的小蓝杯继续托球并调整到传球准备姿态，随后上抬尝试传球；右杯保持空杯，未观察到右杯与球接触。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–1.96 s，右杯虽向两臂之间移动，却一直为空；未出现右杯带着球移入第二交接位置的过程。成功参考视频 8.88 s 可见球留在右杯内，本回合没有这一视觉条件。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–1.96 s 只出现初始来球进入左杯，未出现右杯装球后抛回、再由左杯接稳的过程；末段右杯仍为空。推断：右杯接稳及持球到交接区均未达成，首次左杯接球不满足回接事件的前置顺序。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–1.96 s，桌前轨道上的大蓝色车厢持续移动且内部为空，左臂未把小杯移到车厢处释放橙球；没有球落入车厢并随车稳定的过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 1.96,
+   "log_step": 71,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.80–1.96 s，左臂正上抬杯子尝试向右杯传球，右杯尚为空；log step 71 的服务在控制步 196、即视频约 1.96 s 返回 done=true、reason=failed，未执行完所提交的传球动作。log step 72 确认回合已结束，后续没有修复此传接步骤。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：输入没有仿真状态日志；log step 71–73 的服务只报告 failed，没有提供具体物理失败原因、接触对或安全监测读数。视频约 1.40–1.96 s 球被倾斜的小杯杯沿遮挡，未直接显示脱杯、漏接、碰撞或超限，不能从回合中止反推某一接触现象或控制根因，因此现象、根因均留空。首次接稳的登记时刻也缺少阶段日志，只能按可见稳定过程估计。log step 71 的 EpisodeOver 异常来自回合已结束后继续提交动作；log step 83 的模型过滤发生在既定物理失败之后，二者均不是本次物理失败的已证实原因。"
+ },
+ "summary_zh": "左杯在视频约 1.04 s 完成首次接稳，五个节点中最终达到 1 个；随后左臂调整装球杯并开始向右杯传球，但服务在视频约 1.96 s 判定失败，右杯接稳及其后三步均未完成。末段球被杯沿遮挡，且日志只有笼统的 failed，无法确定具体失败现象和根因；后来的模型过滤未改变已经结束的评分回合。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "首次接稳（视频约1.04 s）、其余四节点未达成、断点 right_cup_caught（操作中，约1.96 s）均与帧和 log step 71/72（control_steps=196、done、reason=failed）相符；现象/根因留空并附 gap_zh 合理，因为服务只给笼统 failed，末段球被倾斜杯沿遮挡，无法证实具体接触或控制原因。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:27:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "27ac17a919882717ad7b61a1022ba967cf19bbc55d80bfa2ef9b0066a91c8a43",
+   "video_sha256": "1333a24617032f56426e7728af61266574d6c22ac3b48f2cdade3c95263eb77e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr.json

@@ -0,0 +1,327 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 2500,
+   "sim_steps": 7310,
+   "calls": 19,
+   "rows": 7310,
+   "resets": 2,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 3239.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "e64ae8f3690c6f5b1e00b1a13c6cd07269c6948c250996eba7f2b87ff58659cc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频0.56、0.60 s橙球仍在左杯上方，视频0.64 s落入左臂末端的小蓝杯；视频0.76–1.16 s球留在杯内且基本静止，视频1.8–2.6 s随左杯升高，没有留在原处。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：由视频0.76–1.4 s持续稳定在杯内及之后随杯抬升，首次接稳约在视频1.0 s成立；按event保留，后续倾杯出球不撤销。无原生接球计时字段，时间为视觉近似。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.64–2.6 s左臂固定安装的小蓝杯从下方承接并托起橙球；夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": 134,
+      "text_zh": "观察：视频1.8–3.8 s左臂抬起装球杯并倾斜，视频3.92–4.16 s橙球离杯向桌前沿车厢方向下落；右杯始终留在原位，未到球下方接球。log step 134的执行脚本只给左杯接球、升高和倾倒轨迹，右杯全程保持初始位姿。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 151,
+      "text_zh": "观察：视频4.4–25.0 s右杯一直为空，球后来位于车厢内，未发生左杯向右杯的传接。log step 151的机器人服务结果报告最后一局episode=3、control_steps=2500、done=true、reason=failed；这是服务的终局反馈，不是agent自行判定的阶段完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频1.8–3.92 s仅左臂固定杯托住橙球、抬升后倾倒，属于本次传接的送球部分；右杯没有接触球，未发生双臂共同托球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–25.0 s右臂小蓝杯始终空置、基本停在初始位置；视频8.0、12.0、16.0、20.0及24.0–25.0 s橙球位于桌前沿大蓝车厢中，未见右杯持球移至两臂间第二交接区。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频4.4–25.0 s球没有从右杯飞回左杯；右杯始终空置，左杯倾斜悬在上方，球随下方车厢移动。视频24.0–25.0 s也未发生补接或回传。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频3.92–4.16 s球从左杯落下，视频4.16–4.40 s在大蓝车厢边缘附近弹动并进入车厢；视频7.0、8.0、10.0、12.0、16.0、20.0 s球留在车厢内随车移动。视频24.0–25.0 s车厢仍在运动，近侧壁遮住球的大部分。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 151,
+      "text_zh": "推断：意外入车的外观关系不满足此节点criterion_zh中的“左杯回接登记后”验收条件：本局根本没有右杯接球及回传，左杯首次接球后的直接倾倒不能形成reverse_catch事件，因此该节点从未达到。此判断依据节点自身的原生顺序验收条件，不是单凭state节点的after边扣除；log step 151服务终局failed与这一判断相符。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 3.96,
+   "log_step": 134,
+   "where": "操作中",
+   "evidence_zh": "观察：视频1.8–3.8 s左杯带球抬升并倾斜，视频3.92–4.16 s球向下落到车厢方向，没有飞向或进入右杯；右杯全程停在初始位姿。视频4.4–25.0 s未再尝试将球送入右杯，所以送球阶段的失败始终未修复。log step 134的实际执行脚本将右杯固定，并只编排左杯升高、倾倒。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.96,
+    "log_step": null,
+    "evidence_zh": "观察：视频3.92、4.00、4.08、4.16 s球从左杯近乎向下落向桌前沿，偏离右侧静止小杯的接收位置，未形成右杯承接；视频4.4 s球已在车厢处，右杯仍为空。球在目标右杯之外被放出，属于送球轨迹与接收位置不匹配。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 134,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent采用了只完成首次接球和离杯自由飞行的局部阶段方案，没有编排能把球交给右杯的双杯传接。log step 133明确决定接球后抬升并倾倒以获取phase 2；log step 134的脚本注释写明右臂全程保持起点，左杯仅在同一水平位置升高后转至倾倒姿态，右杯轨迹只有起点恒定值；log step 146仅增加保存图像，未补入接收动作。视频1.8–4.4 s与该方案一致。该方案本身不能满足要求右杯离开起点并接稳的传接目标，归因于阶段衔接规划，不以预算或停止本身作为原因。"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志；原生phase、接球登记和速度、接触保持计时未由评分字段逐项报告，首次接稳约视频1.0 s为视觉估计，全部native_metrics因reward未报告数值而留null。log step 160的agent自述球落在桌面，但视频4.16–4.40 s及视频7.0–20.0 s显示球进入车厢并随车移动，采用视频事实。run.json的task_text使用右杯须离开起点的旧版规则，DAG还列出新版入杯速度条件；本局右杯从未接球，版本差异不改变该节点未达判断。"
+ },
+ "summary_zh": "评分局完成左杯首次接球，约视频1.0 s达到并保留，最终为1/5；左臂随后在左侧抬杯倾倒，右杯未移动承接，断在右杯接稳传球。log step 133–134显示执行方案只安排首次接球和出杯飞行，缺少后续传接衔接；球虽在视频4.4 s前后意外进入车厢并随后随车移动，但没有回传与左杯回接登记，不满足交付节点的原生阶段验收。无状态日志，接稳时间和��部阈值仅能由视频近似判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：球约视频0.64 s入左杯并随杯升起，右杯全程在原位且为空，球于约4.2 s落入车厢，标签（左杯首接成立、其余未达、断点在右杯接稳、位姿不准+推理/规划）与视频一致，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:23:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef5346e4736add41a307c8e495077c956871cee339ea2c1e6c96418af7e89198",
+   "video_sha256": "e64ae8f3690c6f5b1e00b1a13c6cd07269c6948c250996eba7f2b87ff58659cc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs.json

@@ -0,0 +1,304 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 2180,
+   "sim_steps": 2180,
+   "calls": 4,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2850.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs/replay.mp4",
+  "duration_s": 21.84,
+  "fps": 25.0,
+  "frames": 546,
+  "sha256": "6ecf2bc9697245ad6c69b9fbd887fc77f13c8b30abde263796c07156a1118333"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 16,
+      "text_zh": "观察：视频 0.48–0.76 s 的逐帧画面中，橙球从空中落过静止左杯旁，在视频约 0.8 s 已落到桌面；左机械臂没有移动杯子迎接，球没有落入左杯并随杯稳定。"
+     },
+     {
+      "t": 21.8,
+      "log_step": 20,
+      "text_zh": "观察：视频全程按约 0.5 s 间隔检查，两机械臂与小杯保持初始姿态；视频 20.80–21.80 s 逐帧可见球仍在桌面。log step 16、20 中 agent 仅调用机器人服务的 get_obs（获取相机观测并推进物理时间），没有提交关节动作；本次评分器字段 rows=0、resets=0，与录像相符。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 16,
+      "text_zh": "观察：视频 1.0 s 橙球已在桌面，右杯为空；视频 0–21.80 s 的检查画面中，左杯从未送出球，右机械臂及右杯一直停在起始位置，没有空中传球落入右杯的过程。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–21.80 s 的检查画面中，右机械臂及空右杯始终保持初始姿态，球留在桌面；视频 10.0 s 同样可见右杯未带球移动，没有持球进入第二交接区。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s 球在桌面、两个小杯为空，两臂未动；视频全程没有右杯抛球或左杯承接回球的过程。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.8,
+      "log_step": null,
+      "text_zh": "观察：视频全程车厢沿轨道往返，但两臂没有向车厢送球；视频 20.80–21.80 s 逐帧可见橙球留在车厢外的桌面，车厢为空，没有球脱离左杯后在车厢内连续稳定的状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_initial_catch",
+   "t": 0.8,
+   "log_step": 16,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 0.8 s 橙球已落到静止左杯旁的桌面，两机械臂没有开始接球动作；直至视频 21.80 s 两臂仍保持初始姿态，首次接球从未修复。log step 16 中 agent 自述将 episode 1 用于“pure data gathering”，实际仅通过机器人服务 get_obs 观测并推进物理时间；评分器记录 resets=0、rows=0，最终仍按这一现场 episode 评分。"
+  },
+  "unmet": {
+   "left_initial_catch": false,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 未提供状态日志，评分器也未报告 DAG 所列的十一项原生物理指标，故其数值均为 null；本次未发生接球或交付，节点未达可直接从视频判定。log step 29–44 显示 agent 在离线编写、检查和修改控制脚本，log step 34–41 包含逆解残差及轨迹跳变的自检输出，最后的 log step 44 仍在读取脚本，没有执行控制器的记录或最终完成汇报。推断：这些会话证据不足以确定未把控制器投入现场的具体根因，也无法验证离线发现的问题会怎样影响实际控制，因此根因层留空；不将会话截止本身作为根因。 观察：inputs/run.json 的 sim_total 为 submit=0、reset=0，wall_s=3603、time_limit_s=3600；log step 12、16、20 的四次现场调用均为 get_obs，后续直到 log step 44 均无控制器现场执行记录。按 docs/DECISIONS.md D23 的 Now 及 docs/CASES.md OPEN-16，本次属于因 agent 侧原因未交付动作的运行，现象层和根因层均留空，不标“没尝试”；此开放点仍按当前处理，不自行裁定。"
+ },
+ "summary_zh": "本次评分的现场 episode 中，两臂全程保持初始姿态，球在视频约 0.8 s 落到桌面，至视频 21.80 s 仍在车厢外，五个节点最终均未达成，断点为左杯首次接球／首步前。log step 12、16、20 的观测调用与 sim_total.submit=0、评分器 rows=0、resets=0 相互吻合，后续离线脚本修改没有成为执行轨迹；按 D23 当前规则，无动作交付的运行将现象层与根因层均留空。缺少状态日志及原生物理指标，且日志不足以确定控制器始终未执行的具体根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "节点全 false、时间与视频一致（球约0.8 s落桌、两臂全程静止，经抽帧核实）。但本次是 agent 未提交任何动作、控制器未投入现场的无交付运行，按 D23 Now 应为(a)：现象层、根因层置空并写 gap_zh，不应标「没尝试」。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点全 false、断点（左杯首次接球／首步前）与视频一致：两臂全程静止，球约视频 0.8 s 落桌，21.6 s 仍在桌面。无交付运行按 D23 现象层与根因层置空并有 gap_zh，第 1 轮意见已落实，校验通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:35:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3066ae5109792aece15869ad9fb6e81dbeb8774721da93f44c7bd810cdcba76f",
+   "video_sha256": "6ecf2bc9697245ad6c69b9fbd887fc77f13c8b30abde263796c07156a1118333",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw.json

@@ -0,0 +1,342 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 1220,
+   "sim_steps": 3640,
+   "calls": 241,
+   "rows": 3455,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2771.1,
+   "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": 0.273,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.059,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw/replay.mp4",
+  "duration_s": 12.24,
+  "fps": 25.0,
+  "frames": 306,
+  "sha256": "da99156b07b9e1bc227fb15310c7d4c5a1c4a25aabc471b879349792e0ad732b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.64–0.76 s橙球下降进入左臂末端蓝色小杯；视频0.88–1.20 s球留在杯底并停止明显跳动，视频1.32–2.60 s又随左杯抬高移动。按稳定外观将首次接稳记在视频约1.0 s；这是历史接球事件，后续倾杯不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂固定安装的小蓝杯从下方承接并托住橙球；夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频2.88–4.44 s左臂倾杯、抬杯，橙球滚到左杯杯沿却仍随该杯运动，右杯为空；视频5.0–10.8 s的抽帧及视频11.48–11.64 s仍见球在左杯内或杯沿。视频约11.7 s起两臂末端靠近、杯子重叠，视频11.88–12.20 s球可见于下方一只杯内，杯的归属无法可靠确认。推断：未观察到球脱离左杯经明确空中飞行后由右杯稳定承接的完整传接过程，末段杯内有球不足以认定满足本节点的飞行及接稳条件，右杯接稳传球仍记未完成。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 201,
+      "text_zh": "观察：log step 100执行第三次重置后开始最后一局；log step 201服务返回仿真12.20 s、done=True、reason=failed，与视频12.20 s最后帧的两臂姿态相符。本次视频仅对应最后一局，不把前几局的动作计入进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左臂小杯在视频约11.64 s前托球并多次倾斜、摆动尝试送球，右臂移动空杯准备承接；视频约11.7 s后两杯重叠，下方杯内可见球，但杯的归属及球是否转移不明，不据此添加已确认的右杯托球接触。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频8.0–10.8 s右臂虽移动小杯，橙球仍在左臂小杯内；视频11.48–11.64 s也可见左杯内的球。视频约11.7 s起两杯重叠，视频11.88–12.20 s下方杯内可见球，杯的归属不明。推断：未观察到按顺序完成右杯空中接稳后再持球进入第二交接区的过程，末段杯内有球不足以证明这一历史事件完成。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.52,
+      "log_step": null,
+      "text_zh": "观察：视频0–12.20 s未见右杯先接稳并持球进入第二交接区、再向左杯回传；视频11.52 s左杯内仍可见原来托着的橙球。此处左杯有球不构成按顺序完成的回接事件。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：视频0–12.20 s前方轨道上的大蓝色开口车厢持续移动且为空，橙球没有送入车厢；视频11.88–12.20 s球位于两臂末端下方的一只小杯内，该杯归属不明。球入车并稳定的条件未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 3.2,
+   "log_step": 105,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约3.0–3.4 s左臂开始倾杯出球，球移到杯沿却没有传到右杯；随后反复摆动、移动接球杯，直到视频12.20 s结束仍未完成右杯接稳。log step 105的脚本明确执行从抬高的左杯向右杯释放球，因此断点属于左向右传接这一步。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 3.2,
+    "log_step": 105,
+    "evidence_zh": "观察：视频3.12–4.44 s左杯倾斜后，球仍停在其低侧杯沿并随杯抬升；视频5.0–10.8 s后续摆动及视频11.48–11.64 s仍见球留在左杯。视频约11.7 s后两杯重叠，随后球出现在下方一只杯内，其归属及是否发生转移无法确认。推断：此前左杯的出球动作未使球有效脱离并传向右杯，未观察到后续完成符合条件的空中传接。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 3.4,
+    "log_step": 105,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 105的脚本用先前保存的局部雅可比做一次大幅关节逆解，目标为保持左杯位置并朝右杯倾斜40度；但服务本体读数在log step 102与108分别给出左杯位置(0.159,0.119,0.456) m和(0.078,-0.070,0.367) m，实际发生约0.22 m平移。视频2.60–3.40 s也显示托球杯明显下降、退离原发球位置而球仍留杯沿，说明这次近似逆解未实现所需的出球运动；后续log step 116、118等直接反复改腕关节目标，也未修复传球。"
+   }
+  ],
+  "gap_zh": "没有状态日志，原生阶段、球杯接触对和精确接稳计时均未提供，首次接稳时间按视频稳定外观约估。视频约11.7 s起两臂末端靠近、两杯重叠，视频11.88–12.20 s球位于下方一只杯内，无法可靠确认杯的归属、是否发生碰撞或球转移；未观察到明确的空中传接，但不能从遮挡画面精确判定连续无接触是否超过0.045秒。log step 201服务仅报告仿真12.20 s、done=True、reason=failed，未记录具体why，不据此认定具体碰撞或安全终止条件，故不另加终止原因标签。参考成功视频使用旧版规则，只用于比较传接形态；各原生指标没有评分器实测值，均填null。",
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  }
+ },
+ "summary_zh": "最后一局中，左杯在视频约1.0 s接稳首次来球，五个节点完成1个；右杯接稳、持球到交接区、左杯回接及入车均未完成。视频约3.2 s起左杯尝试出球，至视频11.64 s仍见球留在杯内或杯沿，局部雅可比逆解产生明显位置偏移，未观察到后续完成符合条件的空中传接；服务在仿真12.20 s报告失败。视频约11.7 s后两杯重叠，球随后可见于下方一只杯内，但杯��归属、是否碰撞或转移均不明，且无状态日志及具体终止why，精确接稳阈值和末段触发条件无法复核。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（仅左杯首次接球成立、其余四个未成立）、断点 right_cup_caught 与根因基本可由视频和 log step 105 支持；但末段证据文字过度断言：视频11.2–12.2 s 逐帧并不能证明球一直在左杯内，11.7–12.2 s 两臂杯子重叠，球出现在下方（原右杯位置）的杯内，疑似碰撞后球落入另一只杯。右杯接稳仍不成立（球从未在空中飞行>0.045 s），故只需改证据措辞。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅左杯首次接球成立）、断点 right_cup_caught、现象与根因与视频抽帧一致；末段证据已按上轮意见区分观察与推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:36:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4f8ac29aaca20823caad8a7c9f475c735e28b463506cbb8a21403fbf5c85f922",
+   "video_sha256": "da99156b07b9e1bc227fb15310c7d4c5a1c4a25aabc471b879349792e0ad732b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 639,
+   "sim_steps": 1693,
+   "calls": 46,
+   "rows": 1494,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 259.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.163,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.198,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd/replay.mp4",
+  "duration_s": 6.44,
+  "fps": 25.0,
+  "frames": 161,
+  "sha256": "7ab044b09d767326f690a3b536f7fc5ebf0f810a4bb792268cd9c2da9d9497d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.64–0.68 s，橙球从上方落入左臂的小蓝杯；视频 0.80–1.20 s 球留在杯底，随后视频 1.40–2.80 s 随左杯抬高，未留在原处或弹出。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 28,
+      "text_zh": "推断：按视频 0.80 s 起球在杯内基本稳定并保持至视频 1.20 s，首次接稳取约视频 1.00 s（视觉估计，约有0.2秒误差）；log step 28 属最后重置后的执行，显示 control_steps=120 时左杯仍在接球位。此节点为历史事件，后续倾杯不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝杯从下方承接橙球，球停在杯底后随杯抬高；夹爪未直接抓球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.40–4.00 s 左臂小杯托着橙球升高并移向右杯上方，右杯在较低处准备接球；视频 4.40–6.20 s 左杯逐渐竖起，右杯中未出现稳定随杯的橙球。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 30,
+      "text_zh": "观察：视频 6.20–6.40 s 右臂向左杯方向微移，其腕部与竖起左杯的轮廓靠合，右杯仍未显示接稳橙球，画面随即结束；log step 30 的最后 episode 返回 STATE 639 True failed arm_arm_or_tool_collision。此前 log steps 20–24 的落球与弹出属于较早 episode，不是本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.40–4.00 s 左臂方杯实际托球并搬到右杯上方，随后倾斜以准备传球；右杯未观察到承接球。视频末段两臂／工具发生非预期接触，服务在 log step 30 报碰撞，不能据此虚构右杯与球的接触。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 30,
+      "text_zh": "观察：视频 0.00–6.40 s 未出现右杯载球后向第二交接区运送的过程，末段右杯仍在左杯下方调整接球位置；log step 30 随即报告双臂／工具碰撞并终止本 episode。推断：右杯接稳前置未达，也未形成持球到交接区事件。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.40 s 只有初始来球入左杯及左杯抬高、倾斜准备首次传球，未出现右杯载球、向左抛回及左杯回接的过程；不能将初次接球算作回接。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.40 s 前沿轨道上的大蓝车厢一直空着，左��未向车厢运球或倒球，末帧车厢内也没有橙球；球入车并连续稳定的验收未达。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 6.4,
+   "log_step": 30,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.20–6.40 s 左杯竖起准备传球，右臂将接球杯向内微调，其腕部靠上左杯处后轨迹结束，右杯接稳尚未完成；log step 30 的服务结果为 STATE 639 True failed arm_arm_or_tool_collision，log step 31 确认最后 episode=4、control_steps=639、resets_left=0。推断：按 log step 8 的 control_dt=0.01 s，最后 episode 的 control step 639 对应视频约 6.39 s，已与视频 6.36–6.40 s 的末次靠合核对；失败属于正在进行的首次左向右传接。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 6.4,
+    "log_step": 30,
+    "evidence_zh": "观察：视频 6.20–6.40 s 右臂向内调整时，右腕与竖起的左杯附近逐渐靠合；log step 30 的机器人服务明确返回 arm_arm_or_tool_collision 并结束 episode，传接未完成。该服务是本任务仿真机器人的控制接口，其终止字段是服务反馈，非 agent 自述；不再为同次碰撞另记违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 6.4,
+    "log_step": 30,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：右臂末次调整轨迹没有为左杯及左臂留出足够间隙。log step 10 的控制代码逐臂用末端位姿误差和关节种子正则求逆解，随后重复提交单个关节目标，所示代码没有双臂／工具间碰撞检查；log step 27 把左杯留在高处并倾斜，log step 30 随后把右杯从约(0.10,0.15,0.22)米移向(0.08,0.11,0.22)米，服务在到达目标前报告碰撞。视频 6.20–6.40 s 显示右腕向竖起左杯靠合，与这一局部轨迹冲突相符。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，视频仅有总览视角；视频 4.40–6.40 s 左杯竖起后杯壁遮住球，不能精确恢复末段球在杯内的位置、微观接触对及接球器内部计时。服务在 log step 30 明确给出双臂／工具碰撞，但未给出具体碰撞连杆对；因此不细分碰撞部位，不添加失球现象。原生指标未在评分字段中报告，均填 null。"
+ },
+ "summary_zh": "观察：评分视频是最后一次重置后的 episode，左杯在视频约 1.00 s 接稳初始来球，随后载球抬高并移到右杯上方，完成 1/5 个节点。观察：视频约 6.40 s 右臂调整接球位置时与左臂／工具发生碰撞，服务在 log step 30 判负，右杯接稳及后续三步均未达；推断：局部双臂轨迹缺少足够避碰间隙。观察：末段球被左杯壁遮挡且无状态日志，无法精确确定接触连杆对与内部验收时刻；本 run 文本只要求右杯已离开起点，按执行时规则判断，不套用 DAG 当前版本新增的接入速度条件。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "左杯约1.0 s接稳、其余四节点未达、断点在right_cup_caught（视频约6.4 s服务报arm_arm_or_tool_collision）与帧一致；被挡/碰撞与轨迹或逆解的归因有log step 27–30支持。未发现需要改变内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:25:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "77d98f2e2ae3b9d479a37e419299765f93583f812d0871420d5efda9d1cbc968",
+   "video_sha256": "7ab044b09d767326f690a3b536f7fc5ebf0f810a4bb792268cd9c2da9d9497d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 2500,
+   "sim_steps": 2574,
+   "calls": 16,
+   "rows": 1801,
+   "resets": 2,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 860.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 77.192,
+   "max_lag_s": 0.229,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 773,
+   "late_steps": 0,
+   "requests_refused": 3,
+   "request_busy_s": 0.437,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.347,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.014,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "9cbdc4bb83bdc8a47decdc6228206402d412e6b976adcd4c793fefcec6571f30"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.48–0.60 s 橙球从左杯上方下降，视频 0.64 s 球已落入 panda-0 末端的蓝色方杯；视频 0.68–1.60 s 球随杯下降并留在杯内，没有弹出。"
+     },
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "推断：依据视频 0.64–1.60 s 的连续逐帧检查，首次接稳约在视频 0.9 s 达成（目测误差约0.3秒）；视频 4.00、8.00、16.00、24.00–25.00 s 球仍由左杯承托。该节点为历史事件，保持至片尾；未以 agent 在 log step 89 的完成自述替代画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.64–1.60 s，左臂 panda-0 固定安装的蓝色方杯从下方接住并托住橙球，随后抬杯持球；右杯保持空置，夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 80,
+      "text_zh": "观察：视频 1.60–4.00 s 左臂将装球杯抬高，随后逐秒检查至视频 24.00 s 及视频 24.00–25.00 s 的密集末段，橙球始终留在左杯，右臂未移杯接球，没有左向右出杯、飞行或落入右杯。log step 78、80 的实际提交脚本仅设置左杯接球、保持及抬高，右臂目标恒定；未启动这次传接。"
+     },
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 25.00 s 末帧左杯仍装有橙球、右杯为空；对照成功参考录像中球换到右杯的可见形态，本次没有出现该结果。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.00、8.00、16.00 s 以及视频 24.00–25.00 s，右臂蓝杯始终空置，橙球仍在左杯；没有右杯带球移动到第二交接位置的动作，故未达成且未尝试。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.00–25.00 s，只有初始来球落入左杯；此后球一直留在左杯，没有进入右杯，也没有右杯发出的回传飞行或左杯再次接入事件。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.00、8.00、16.00 s 及视频 24.00–25.00 s，桌前的大蓝色轨道车厢为空，橙球仍在左臂的小杯内；左臂没有向车厢释放球，未出现球入车并随车稳定的状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 4.0,
+   "log_step": 80,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 0.9 s 左杯已接住初始球，视频 4.00 s 左杯抬高后持球停留，直到视频 25.00 s 均未送球到右杯，右臂也未启动接球动作。log step 78 的 gen2.py 只包含 catch1、damp1、hold1–3，右臂目标恒定；log step 80 在最后现场 episode 排入的就是该接球保持计划，不含传接，log step 82 的服务状态确认 episode=3、planned_steps=1636。本断点为尚未启动的左向右传接步骤，视频 4.00 s 是进入长时保持的导航锚点。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 4.0,
+    "log_step": 80,
+    "evidence_zh": "观察：视频 4.00–25.00 s 球由左杯一直托住、右杯一直空置，没有开始送出和右杯承接。log step 78、80 的已提交计划只含接球、保持和抬高，右臂关节目标恒定；因此左向右传接没有启动，不是已抛球后接空。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "note_zh": "推断：候选传接方案未求得通过自检的轨迹或逆解，随后 agent 仅提交接球保持计划；传接在计划中已缺失，并非被后续提交调度或状态读取报错取消。",
+    "evidence_zh": "观察：log step 74 的自编逆解测试在左杯候选释放位置(0.13,-0.02,0.46)米报告两个朝向的倾倒姿态 UNREACHABLE；log step 76 的传接候选脚本报告 panda-0 relA、awayA 的 IK WARN，按其 ratios() 计算的关节速度/伺服限值最大比为9.08、加速度最大比为17.58，随后 submit 被已结束的旧 episode 拒绝。log step 78 的新脚本只保留接球、缓冲和保持，右臂 rows[:,8:15]=q0b；log step 80 修补分块和逆解选解代价后，只排入该计划的前两块，未加入传接；log step 82 服务状态显示 episode=3、planned_steps=1636。推断：会话中的轨迹/逆解求解困难导致最终计划退为接球保持，与视频 4.00–25.00 s 左杯持球、右杯空置一致。上述比值及不可达提示是 agent 自编离线求解的输出，不能当作评分局实际运动超限或真实工作空间不可达的测量；后续 at=1800 拒绝和 .meta 报错未取消任何原定传接。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分字段也未报告原生 phase、逐节点接稳计时或各项 native_metrics，因此首次接稳时间按画面估计，不能独立复核杯内相对速度及0.18秒内部登记边界。后续传接根本未启动，无法从本次视频判断实际抛球轨迹或右杯动态接球控制的性能；轨迹/逆解根因是依据 log step 74、76 的会话求解输出和 log step 78、80 的计划变化作出的推断。log step 78 的仅接球计划也曾报告较大速度/加速度比，log step 80 修改逆解选解代价后该计划的比值显著降低；未见用该修正重新求解传接方案的结果，故不能认定传接在物理上不可行，也不能把全部超限数值归给传接段。agent 在 log step 89 的腕速解释并非独立测量；agent 在 log step 87、89 自述墙钟预算用完，但输入 time_limit_s=3600、wall_s=866，不据此认定墙钟耗尽或另加超时原因。"
+ },
+ "summary_zh": "评分视频中左杯约在视频 0.9 s 接稳初始来球，随后抬杯持球到视频 25.00 s；五个节点仅完成首次接球，左向右传接未启动，后三步亦未尝试，断点为右杯接稳传球（首步前）。已提交的最后现场 episode 计划只含接球和保持；会话中候选传接方案存在逆解告警和轨迹超限输出，推断求解困难使传接未被纳入最终计划，后续接口报错并未取消传接动作。没有状态日志及原生阶段计时，首次接稳时刻为视觉估计，根因因果关系来自会话证据推断，故 conf 从8降至6；本次未进入右杯接球阶段，DAG与该运行文字中的右杯速度规则差异不影响未达判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "WHERE 标签（节点、时间、断点、没尝试）与画面一致：视频 0.64 s 球入左杯，直到 25 s 都在左杯，右杯空。但根因“控制脚本异常”不被日志支持：log step 78 的 gen2.py 本身就只写了接球加保持的计划（catch1/damp1/hold1-3），传接从未进入已提交的轨迹；step 80 的 at=1800 拒绝和 step 82 的 .meta 错误发生在该计划已排入之后，并没有阻断传接。log step 74/76 显示完整传接计划的求解本身不可行。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（仅首次接球达成、其余未达）、断点（right_cup_caught，首步前，没尝试）与视频一致：视频 12 s、24.9 s 帧球仍在左杯、右杯空、车厢空。轨迹或逆解根因已按上轮意见改为带推断标记并说明局限，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:39:22Z",
+  "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/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d43ae4ad729ff41c28123a51ce139eb45b17ba994a44998e8cb31969306390be",
+   "video_sha256": "9cbdc4bb83bdc8a47decdc6228206402d412e6b976adcd4c793fefcec6571f30",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc.json

@@ -0,0 +1,357 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 2052,
+   "sim_steps": 5105,
+   "calls": 837,
+   "rows": 7250,
+   "resets": 2,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1007.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 153.114,
+   "max_lag_s": 0.1856,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 13.026,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.896,
+   "peak_processes": 43,
+   "peak_disk_gb": 1.526,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc/replay.mp4",
+  "duration_s": 20.56,
+  "fps": 25.0,
+  "frames": 514,
+  "sha256": "a82b20e6dd5897bf1f243dac4c65ebb7f72ccb5d46415ecadbf629e635bec6d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.6 s 橙球先升高再向左臂下降；视频 0.8 s 橙球已进入左臂固定的小蓝杯，视频 1.0–1.8 s 留在杯内，随后随左杯抬高。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：按视频 0.8–1.2 s 的杯内停留，将首次接稳约标为视频 1.0 s，时刻误差约 0.2 s；评分器 live_success=1、replay_success=1 支持此次初始接球已登记。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂末端固定安装的小蓝杯从下方承接橙球，随后托球上升；夹爪没有直接夹住球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.2–6.8 s 左臂将装球杯倾斜；视频 7.0 s 可见橙球已离开左杯、处于两杯之间，视频 7.2 s 落入右臂低处的小蓝杯；视频 7.4–8.0 s 球持续留在右杯，视频 8.2–9.2 s 随右杯向中间抬升。"
+     },
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "推断：综合视频 7.2–8.0 s 入杯后的稳定过程，将右杯接稳约标为视频 7.6 s，误差约 0.3 s；本次 task_text 要求右杯已离开起点，未要求新版入杯瞬间水平速度达到 0.15 米/秒。此次右杯明显离开初始位置，评分器 live_success=1、replay_success=1 确认按运行时规则完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂小蓝杯先托球并倾斜送出，球经空中飞行后由右臂小蓝杯从下方承接；两杯先后接触球，没有双杯同时夹球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.2–9.2 s 右臂将装球的小蓝杯由低处移向两臂之间；视频 9.2–9.6 s 右杯在该位置短暂停留，橙球仍在杯内，之后右臂继续托球抬升以准备回传。"
+     },
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "推断：右杯持球到交接区的视觉形态与成功参考录像一致，结合本次评分器 live_success=1、replay_success=1，第二交接区事件约标为视频 9.3 s，误差约 0.3 s。没有状态日志，无法从录像独立量出杯框架到区域中心的精确距离及球杯相对速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂固定小蓝杯从下方托住橙球，将装球杯移至两臂之间并短暂停留；左臂移开以准���接回球，没有直接碰球。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–13.2 s 右臂倾斜装球杯；视频 14.0 s 可见橙球在右杯下方自由下落，视频 14.2 s 已落入左臂的小蓝杯，视频 14.4–15.0 s 留在杯内，视频 15.2–17.2 s 随左杯向轨道车厢移动；右杯留在另一侧。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "推断：按视频 14.2 s 入杯及视频 14.4–15.0 s 稳定停留，将左杯回接约标为视频 14.4 s，误差约 0.2 s；评分器 live_success=1、replay_success=1 支持回接事件已登记。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂小蓝杯先托球倾斜回传，球离杯飞行后由左臂小蓝杯从下方承接，随后左杯托球运向车厢；两杯依次接触球。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.44,
+      "log_step": null,
+      "text_zh": "观察：视频 18.4–19.2 s 左臂小杯在移动车厢上方倾斜；放大检查视频 19.36–19.60 s 可见橙球脱离小杯、进入大蓝色车厢并在车内短暂弹动。视频 19.92–20.52 s 左杯已与车厢分开，车厢继续沿轨道移动，橙球被车壁遮挡，没有可见的出车落地。"
+     },
+     {
+      "t": 20.52,
+      "log_step": 66,
+      "text_zh": "观察：log step 59 将服务重置到 episode 3 后执行最终控制器；log step 66 的服务 END 返回 episode=3、control_steps=2052、done=True、reason=success；评分器 reward 同时报 live_success=1、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 20.5,
+      "log_step": 66,
+      "text_zh": "推断：log step 7 的服务 control_dt=0.01 s，log step 66 的最终控制步 2052 对应仿真 20.52 s；视频 19.36–19.60 s 的落车与最终控制器日志相符，录像末帧为视频 20.52 s，支持此映射。结合视频中的释放入车与成功验收，将含连续稳定 0.7 s 的完成时刻约标为视频 20.5 s；车壁遮挡使相对速度及稳定窗口不能逐帧独立测定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定小蓝杯托球移至轨道大蓝色车厢上方并倾斜释放；视频 19.36–19.60 s 球与小杯分开后由车厢承接，夹爪未直接接触球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分录像中的最后一次 episode 依次完成左杯首次接球、右杯接稳、持球到第二交接区、左杯回接及球入移动车厢，五个节点最终均成立；视频 19.36–19.60 s 可见球脱杯入车，log step 66 服务返回成功且评分器确认实时与重放均成功。版本差异：本次 task_text 使用右杯已离开起点的旧版规则，未列 DAG 当前版本的入杯水平速度及回传释放区新增限制，按本次实际验收规则记完成。没有状态日志，节点时刻为约数，最终球受车壁遮挡，精确几何、速���及连续稳定窗口由成功验收补充支持；DAG 所列原生数值指标均未由评分器报告，故留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个节点均达成，时间与视频帧一致（球入左杯约0.8 s、入右杯约7.2 s、右杯在交接区约9.4 s、回入左杯约14.2 s、入车约19.4 s），contact_actual均为手持工具托/舀，failure为null合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f91ad3bfdb32a0d2242394d81ebe885972ac577249c4fc5a9a78ad1e6e91402",
+   "video_sha256": "a82b20e6dd5897bf1f243dac4c65ebb7f72ccb5d46415ecadbf629e635bec6d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ffubz8n.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ffubz8n",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 2500,
+   "sim_steps": 2500,
+   "calls": 3,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 251.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 74.988,
+   "max_lag_s": 0.1791,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 2500,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.066,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.215,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.285,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ffubz8n/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "14e1297fb47cb3a520b973d26a98fa6ac4b400f4416ab16caf8189a7ce74aa70"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.72,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.92 s 的逐帧检查中，两臂及所装方杯保持初始姿态；橙球从空中落到左杯外的桌面，未在左杯内停稳。视频 1.00–25.00 s 的检查中也没有左杯接球或补救动作。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 23,
+      "text_zh": "观察：视频 25.00 s 两杯为空，橙球停在桌面；log step 23 的机器人服务状态为 episode=1、control_steps=2500、done=true、reason=failed、rows=0，评分记录也报告 resets=0、held_steps=2500。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–25.00 s 两臂保持原位，橙球落到桌面后一直位于杯外；没有左杯出球、空中传球并在右杯停稳的过程，右杯未接球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–25.00 s 右臂方杯始终停在初始位置且未装球，没有右杯带球移入第二交接区的过程。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–25.00 s 没有右杯抛出橙球或左杯回接；橙球初次落在桌面后未再被杯子托起，两臂始终保持初始姿态。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.00–24.00 s 的逐秒检查、视频 24.00–24.80 s 的密集检查及视频 25.00 s 末帧均显示橙球位于移动车厢外的桌面，车厢沿轨道运动而未装球；机器人没有向车厢送球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_initial_catch",
+   "t": 0.7,
+   "log_step": 12,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–0.92 s 机器人两臂没有启动接球运动，橙球在视频约 0.70 s 落到左杯外的桌面，之后直至视频 25.00 s 没有补接。log step 12 的 agent 脚本调用机器人服务 get_obs(seconds=8.0) 采集来球和车厢运动，没有提交控制序列；log step 23 服务报告回合已失败结束且 rows=0。"
+  },
+  "unmet": {
+   "left_initial_catch": false,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.7,
+    "log_step": 23,
+    "evidence_zh": "观察：视频 0.00–25.00 s 两臂及方杯保持初始姿态，初始来球自行落到桌面，机器人未启动首次接球；log step 23 的服务状态明确报告 rows=0、planned_steps=0、done=true。这段评分回合没有执行后续离线脚本中设计的动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "log_step": 12,
+    "evidence_zh": "推断：agent 采用先让现场回合空运行采样、再离线设计控制的策略，未在来球到达前安排接球动作。log step 3 读取的服务接口说明明确指出 get_obs(seconds>0) 会启动持续运行的实时回合；log step 12 却在没有控制计划时请求 8 秒观测，log step 15 服务已是 running=true、control_steps=1184、planned_steps=0，log steps 16、20–22 继续采样并拟合车厢运动，log step 23 回合已结束且 rows=0。log step 87 的完整动作计划仅在 agent 自建模拟脚本中构造，评分记录 resets=0，没有重新开始现场执行。此归因来自已记录的执行顺序和实时控制策略，不是仅由零进度推定。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志，评分字段未提供原生阶段计数或 DAG 所列连续指标，因此不估填精确接触、速度和稳定计时值；各节点未达由视频中全程静止、球留桌面的可见过程判定。推断：策略根因由调用顺序支持，但日志没有 agent 对实时运行机制的明确理解陈述。log step 92 的模型过滤提示发生在 log step 23 已确认现场回合结束之后，不能解释为评分回合尚未定局时的外因中断。"
+ },
+ "summary_zh": "观察：评分视频中两臂保持初始姿态，橙球落到杯外桌面并留在那里，五个节点均未完成，断点为左杯首次接球（首步前、没尝试）。推断：agent 在没有控制计划时启动实时长观测，继续采样拟合，现场回合结束后才离线构造动作计划；log step 23 已确认回合结束，log step 92 的过滤提示不改变该物理结果。观察：没有状态日志或原生分阶段指标，精确接触与速度阈值不能独立复核。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频显示两臂全程静止、球落桌面，五个节点均未达；breakpoint 首步前/没尝试与根因（先用实时回合采样、log step 12–23 回合已 failed 且 rows=0）有 log 支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:33:30Z",
+  "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/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ffubz8n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ffubz8n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1996bb406753c2409eec2f132c31f4f4848b67ddb3af54074040f4bb28c8cc62",
+   "video_sha256": "14e1297fb47cb3a520b973d26a98fa6ac4b400f4416ab16caf8189a7ce74aa70",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--kuekg9d.json

@@ -0,0 +1,300 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--kuekg9d",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 65,
+   "sim_steps": 2565,
+   "calls": 8,
+   "rows": 2000,
+   "resets": 1,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2012.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 77.365,
+   "max_lag_s": 0.4938,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 1500,
+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 0.853,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--kuekg9d/replay.mp4",
+  "duration_s": 0.72,
+  "fps": 25.0,
+  "frames": 18,
+  "sha256": "7c5af7569c742d6e8fcd43b4e7431f4ccddfa2d13ac0b8be2d9493f2c5cc22f1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 49,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.68 s 的全部18帧：左臂小蓝杯向来球下方移动，橙球先上升再下落，视频 0.60 s 仍在杯口上方；视频 0.64–0.68 s 球才到达左杯口附近，尚无随杯稳定保持的连续片段。"
+     },
+     {
+      "t": 0.68,
+      "log_step": 50,
+      "text_zh": "推断：log step 49 的重置、首段提交及 log step 50 的服务状态（episode=2、control_steps=65、done=true、reason=failed）与本视频的首次接球即结束相符。结合视频末尾刚到杯口、没有连续0.18秒接稳，首次接球事件未达成；不将首轮观察或后续未运行的脚本修订算作本评分片段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0.00–0.68 s 左臂以固定安装的方杯尝试承接橙球；视频 0.64–0.68 s 球和杯口在投影上靠近、重叠。总览分辨率和截止位置不足以确认实际接触已经发生，亦不能区分触及杯壁、杯底或仍在杯口上方；无状态接触对记录。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.00–0.68 s 右臂及右杯留在初始位置，橙球只经历初始起落并接近左杯，没有从左杯飞往右杯或在右杯稳定的过程。log step 49 提交的脚本虽包含后续传球计划，评分片段在首次接球处已经结束。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": 50,
+      "text_zh": "观察：视频 0.00–0.68 s 右杯一直为空，未带球移动到两臂之间的第二交接位置；视频末帧橙球仍在左杯口附近。log step 50 的服务已报告 episode 2 结束。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.68 s 橙球始终是初始来球，未经过右杯承接和回传；视频末帧未出现左杯回接事件。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.68 s 桌前沿大蓝色车厢保持空置，橙球没有落入车厢，末帧仍在左臂小杯口附近；没有随车稳定的片段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_initial_catch",
+   "t": 0.64,
+   "log_step": 50,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.00–0.68 s 左臂移杯迎接初始来球，视频 0.64–0.68 s 橙球到杯口附近后片段结束，未展示接稳；log step 49 重置并提交 episode 2，log step 50 服务返回 control_steps=65、done=true、reason=failed。推断：未修复的断点是左杯首次接球。日志中的后续 EpisodeOver 异常发生于服务已经判负后，不能倒置为导致这次物理片段终止的控制脚本异常。"
+  },
+  "unmet": {
+   "left_initial_catch": false,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 有本次视频和完整会话日志，但无状态日志；视频仅0.72秒、18帧，最后可见帧为视频 0.68 s，止于球到杯口附近，没有显示反弹、滑落、持续接触或稳定承接。log step 50 仅返回服务 reason=failed，未记录具体 failure_reason、安全监测值或接触对；agent 自述“2.8 m/s碰撞”（log step 53）未得到本片段的测量证据确认。推断：可以定位首次接球未完成，但不能辨明接触是否建立、是否撞杯缘、接触力异常或哪项安全检查触发，因此现象与根因留空。log step 50 的 control_steps=65 不与视频0.72秒完全相等，本标签不把控制步或agent时间换算为视频时间。"
+ },
+ "summary_zh": "评分片段只进行了左杯迎接初始来球，五个节点均未达到，后四步未开始。断点位于视频约0.64秒的左杯首次接球操作，球到杯口附近即终止；log step 50 确认重置后的 episode 2 已判负。缺少具体判负字段和接触记录，无法确定实际接触、失败现象与根因，agent后续脚本修订未在评分片段中执行。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频仅0.72 s（18帧），球刚到左杯口附近即结束；五个节点均未达成、断点为left_initial_catch、现象/根因因证据不足留空并有gap_zh，均与视频和log step 49-50一致。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:37:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--kuekg9d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--kuekg9d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2e6bee609a0052816c1047c33bcfaab6cebc67c3ea32b501d1551393eba83f96",
+   "video_sha256": "7c5af7569c742d6e8fcd43b4e7431f4ccddfa2d13ac0b8be2d9493f2c5cc22f1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz.json

@@ -0,0 +1,365 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1291,
+   "sim_steps": 5971,
+   "calls": 38,
+   "rows": 3396,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 982.7,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 179.076,
+   "max_lag_s": 0.1659,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 3798,
+   "late_steps": 870,
+   "requests_refused": 2,
+   "request_busy_s": 1.721,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 6.69,
+   "peak_processes": 202,
+   "peak_disk_gb": 1.574,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/replay.mp4",
+  "duration_s": 12.96,
+  "fps": 25.0,
+  "frames": 324,
+  "sha256": "12493136505263c0acda138d31ba94828e36b1a5471c8cf9228fa7263ae92472"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.72,
+      "log_step": null,
+      "text_zh": "观察：视频0.56–0.80 s逐帧检查中，橙球从左臂小蓝杯旁下降，视频0.72 s已落在桌面；左杯仍在初始位置，球没有落入杯内并随杯稳定。"
+     },
+     {
+      "t": 12.92,
+      "log_step": 56,
+      "text_zh": "观察：视频全程每0.5秒检查及视频11.84–12.92 s密集检查中，球一直留在桌面；左臂仅在视频约12.64 s起明显运动，最后一帧球仍在杯外。log step 56的脚本输出caught: False，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝杯是本局承接橙球的作用端；初始来球从杯旁落桌，未形成杯对球的承托。视频约12.64–12.92 s左臂带空杯开始补救接近，仍未碰到或托起球；不把脚本计划的击球算作已发生的接触。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.92,
+      "log_step": null,
+      "text_zh": "观察：视频0–12.92 s中没有橙球离开左杯并飞入右杯的过程；球在视频约0.72 s落桌后始终在桌面，右臂小蓝杯始终为空，未发生传接。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.92,
+      "log_step": null,
+      "text_zh": "观察：视频0–12.92 s右臂及其空杯保持原位，没有右杯载球移向两臂之间交接区的动作；末帧橙球仍在桌面，未满足持球到交接区。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.92,
+      "log_step": null,
+      "text_zh": "观察：视频0–12.92 s未见右杯送出橙球或左杯接稳回传球；视频12.52–12.92 s逐帧放大图显示左杯为空、橙球留在桌面，没有回接。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.92,
+      "log_step": null,
+      "text_zh": "观察：视频0.72–12.92 s橙球在桌面上，蓝色开口车厢沿轨道自行移动；视频11.84–12.92 s密集检查及末帧均显示橙球位于车厢外，没有入厢并随车稳定的区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_initial_catch",
+   "t": 0.72,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频0.56–0.80 s橙球下降时左杯停留在初始位置，球从杯旁落到桌面；视频约12.64–12.92 s左臂才带空杯移动，球仍未入杯，首次接球始终未修复。log step 52记录最后一次reset；log step 53、57的机器人服务状态均指向episode 4，后者报告done=True、reason=failed，故此前episode的试验不计入本局。"
+  },
+  "unmet": {
+   "left_initial_catch": false,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 0.72,
+    "log_step": null,
+    "evidence_zh": "观察：视频0–0.72 s来球上升后落下，两臂保持初始姿态，左杯没有及时移动到球的下降路径，球从杯旁落桌；视频约12.64 s左臂才开始明显补救运动，至视频12.92 s仍未接球。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：受评episode 4采用先让球落桌、再击球并尝试回接的跨阶段方案，没有安排左杯在最初来球下降时进入承接路径。依据是log step 52最后一次reset后控制器直接输出ball rest及strike validate；log step 54的strike_chunk修改以落桌球的bx、by为目标，origin0=[bx-0.094,by,0.037]，先接近桌面再推击；log step 50可见后续flight maxz、DELTA及入杯检查，表明另有击球后回接的安排。视频0.48–0.72 s两杯保持起始位置，球从左杯旁落桌；视频6.00 s、12.40 s、12.56 s仍见两臂未接球，约视频12.64 s才开始明显补救接近，至视频12.92 s球仍在桌面。由代码中的目标与顺序结合画面，归因为未安排及时接取初始来球的规划选择；不把log step 52、54–56对strike的jointvel/jointacc预检失败当作初次漏接的独立控制根因。oracle视频0.60–1.20 s中左杯移动到下降来球下方并接住、留住球，验证了初始接取这一局部替代动作；不据此认定本局后续二击回接必然不可行。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，服务在log step 57只报告reason=failed，未给具体失败事件或接触对。视频12.80–12.92 s左杯与移动车厢轮廓接近并重叠，单一总览无法确认是否发生禁碰及其具体部位；agent在log step 59自述可能杯沿擦桌或杯碰车厢，仅为其猜测，不据此添加碰撞现象或具体根因。评分器未报告DAG所列原生指标的实测值，均保留null。规划根因为日志代码、执行输出与画面结合的推断，限定于方案没有安排最初来球的及时空中接取。log step 44明确写有击球后移杯至预测落点等待，log step 50有飞行高度、DELTA及入杯检查，但控制器中段被输入日志截断；视频只显示末尾补救接近，未显示实际击球、再飞行与再接回，因此不能验证后续二击回接的可行性，也不能断言球曾落桌便永远不能满足接球判据。oracle视频0.60–1.20 s仅验证直接接取初始来球的局部替代动作。"
+ },
+ "summary_zh": "受评episode 4的五个节点均未完成：视频约0.72 s橙球从静止左杯旁落桌，此后一直未入任一杯或车厢，断点为左杯首次接球，现象为动态时机。根因推断为认知·推理/规划：log step 50、52、54–56显示方案围绕落桌后的击球与回接展开，没有安排空中接取最初来球，视频约12.64 s才出现明显补救接近；oracle视频0.60–1.20 s验证了直接接取初始来球的局部替代动作。缺少状态日志、完整控制器中段及具体终止事件，后续二击回接可行性和末尾是否禁碰仍不可验证，��划归因也包含推断，因此置信度保留7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（五个节点均未达成、断点为左杯首次接球、球在视频约0.72 s落桌）与视频一致，无时钟问题。问题在根因：把原因写成“控制”（归为轨迹校验失败）不被证据支持；日志显示 agent 的策略本身就没有空中接球，而是等球落桌后用楔形推击，属于策略/规划选择。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（五节点均未达成、断点为左杯首次接球、球约视频0.72 s落桌）与视频一致，无时钟问题。缺口在根因：根因留空，但 log 已充分支持“策略本身没有安排空中接球”的推理/规划根因，应补上。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的采纳已完整落实：根因为认知·推理/规划（标明推断、已验证有局部替代），gap_zh 与 summary_zh 同步改写，日志引用核实无误，并保留二击回接可行性不可验证的限定。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的采纳已完整落实：根因为认知·推理/规划（标明推断、已验证有局部替代），gap_zh 与 summary_zh 同步改写，日志引用核实无误，并保留二击回接可行性不可验证的限定。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:42:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e15a3f4cf14c9ea5c73e3c769f8e18bcf768589dfade2d091ef032bf8f9d694",
+   "video_sha256": "12493136505263c0acda138d31ba94828e36b1a5471c8cf9228fa7263ae92472",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f.json

@@ -0,0 +1,362 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "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": 2500,
+   "sim_steps": 9034,
+   "calls": 22,
+   "rows": 3150,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 724.7,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 270.965,
+   "max_lag_s": 0.1805,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 6865,
+   "late_steps": 442,
+   "requests_refused": 5,
+   "request_busy_s": 1.981,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.278,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.703,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "a44111fdae55bf552c3b5a749e04aab27f105834af666169d2c2cae0a672c610"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5–0.7 s，橙球从空中下降并进入左臂固定安装的小蓝杯；视频 0.9–1.8 s 球留在杯内，随后随左杯移动，没有弹出。首次接稳约在视频 1.0 s，视觉计时误差约0.2秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.7–1.8 s，左臂安装的方杯从下方承接并托住橙球；夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–3.8 s，左臂抬起、倾斜小杯后又回落，橙球一直留在左杯内；右杯为空。视频 22.2–23.0 s 的再次送球动作仍未将球送入右杯，直到视频 25.0 s 未见右杯接球。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "推断：成功参考录像的视频约 5–6 s 可见球转入右杯；本次录像可见相同两杯区域却没有这一变化，故传接未完成；不使用参考录像推定本次接球速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 2.0–3.8 s 及视频 22.2–23.0 s，左臂方杯实际托球并尝试送出；右臂空杯在接球位置等待，未发生右杯与球的承接接触。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–6.0 s，右杯虽移到两臂之间并做小幅升降，但杯内始终无球；橙球仍在左杯。视频 23.0–23.6 s 再次右臂动作时仍为空杯，未见持球右杯进入第二交接区；仅有空杯预定位。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": 109,
+      "text_zh": "观察：视频 4.8–6.0 s，右臂执行升降、倾杯动作时右杯为空，左杯内仍是首次接住的球，没有从右杯飞回左杯的过程；视频 23.0–23.6 s 也未出现回球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 4.8–6.0 s 和视频 23.0–23.6 s，右臂以空杯做回传动作，左杯继续托住原来的球并停在接收位置；实际杯球接触仅为左杯承托，没有右杯送球或新的左杯承接。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–8.8 s，���臂将装球的小杯移近轨道车厢并倾斜，但橙球留在小杯的下沿，随后随杯抬离；车厢未接到球。"
+     },
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–25.0 s，左杯再次倾斜，球仍在左杯内，车厢在更左下方且为空；最后一秒逐帧未见球入车或随车稳定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 6.0–9.8 s 及视频 24.0–25.0 s，左臂固定方杯承托橙球、靠近车厢并倾杯；球没有脱离左杯进入车厢。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 3.4,
+   "log_step": 109,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.0–3.8 s，左臂执行第一次送球的抬杯、倾斜和回落动作，但球没有离开左杯，右杯未接到球；视频 22.2–23.0 s 再试仍未修复。log step 131 的服务状态表明评分局是 episode 4，在 control_steps=2500 时以 failed 结束；断点为首次未完成且未修复的传接步骤。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.4,
+    "log_step": 109,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 109 的控制脚本以固定关节目标插值安排送球，在索引300–315用15行抬杯到约20度倾斜的目标，随后直接回到接收位；log step 129 又提交类似短促抬杯动作。视频 3.0–3.8 s 与视频 22.2–23.0 s 均显示球未释放，说明执行的杯运动没有实现抛球所需的脱离条件，归为控制；现有证据不足以区分具体接触设计、伺服跟踪或参数问题。"
+   }
+  ],
+  "gap_zh": "无状态日志，且评分器只报告整体失败，未给出原生阶段、接触对及DAG所列11项物理指标；首次接稳时刻按可见落杯和稳定估计，不能逐项测量杯内毫米阈值。视频足以判断球未完成传接和入车，但无法确定抛球失败的控制子类；参考成功录像规则版本与当前DAG可能不同，仅作视觉形态比较。现象层留空：视频 3.0–3.8 s、22.2–23.0 s 逐帧可见球由左杯承托、未被夹爪夹持，且未形成出杯飞行，因此删除“没松开”；log step 109、129 的短程抬杯及20°、25°目标倾角不能单独证明所需出杯位姿或速度，现有证据不足以在位姿不准、运动速度或接触参数影响之间进一步区分。"
+ },
+ "summary_zh": "评分局为最后一次 episode 4：左杯约在视频 1.0 s 接稳初始来球，最终完成1/5节点。首次左向右传球在视频约 3.4 s 未将球释放，后续空杯回传、左杯倾倒及再次尝试均未修复，视频 25.0 s 球仍在左杯，断点为右杯接稳传球，球由杯承托而非夹持，删除“没松开”；现象层因无法区分具体出杯失败机制而留空，根因保守标为控制。无状态日志或分阶段验收字段，接稳时刻和控制子类存在精度限制；log step 135 的完成自述与录像不符，未据其增加节点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（right_cup_caught）与视频一致：球全程留在左杯，右杯无球。但现象「接触·没松开」不符合分类定义：球只是放在杯里，没有被夹持，抛球动作力度不足，球没有被抛出，不是手没松开。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（right_cup_caught）、现象层留空加 gap_zh 与视频一致：球全程留在左杯，右杯无球，视频 25 s 球仍在左杯。第 1 轮意见已处理，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:38:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2d7f8cd9d80eeb125a862121cd13884b562ba752e7b917958785365ba253050f",
+   "video_sha256": "a44111fdae55bf552c3b5a749e04aab27f105834af666169d2c2cae0a672c610",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur.json

@@ -0,0 +1,370 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 2500,
+   "sim_steps": 9164,
+   "calls": 586,
+   "rows": 7510,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 838.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 278.391,
+   "max_lag_s": 1.4971,
+   "stalls": 4,
+   "stalled_s": 3.521,
+   "stalled_share": 0.0126,
+   "held_steps": 2490,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 17.55,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.965,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.2,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "60b3faa4408bf6839c461e820970cc5cd79027790d1573aa57862ce707e7dac1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.7–0.8 s，橙球落入左臂末端小蓝杯；视频 0.8–1.2 s 球留在杯内，视频 1.3–2.3 s 左臂抬杯时球随杯上升。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：按入杯后稳定保持的视觉形态，首次接稳约在视频 1.0 s 达成；无原生接球计时读数，时间约有 0.2 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.7–1.2 s 左臂固定安装的小蓝杯从下方承接并托住橙球，夹爪未直接夹球。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.4–5.6 s 左臂倾杯，橙球离开左杯落向下方右杯；视频 5.6–6.5 s 球留在右杯，左杯继续翻转而球不随左杯运动。"
+     },
+     {
+      "t": 5.9,
+      "log_step": null,
+      "text_zh": "推断：右杯接稳约在视频 5.9 s；视频 2.3–3.4 s 右臂已将接球杯从初始位置移到左杯下方，符合本次 run.json task_text 的“must have moved from its start”，不以新版入杯速度要求否定此次旧版接球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 5.0–5.6 s 左臂杯先托球并倾倒送出，随后右臂杯从下方接住橙球；两个工具先后接触球。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–7.6 s 右臂将装有橙球的小杯从两杯交叠处移向两臂中间，视频 7.6–7.8 s 球仍在水平右杯内；该位置与参考成功视频 8–9 s 的第二交接位置相符。"
+     },
+     {
+      "t": 7.6,
+      "log_step": 17,
+      "text_zh": "推断：结合 log step 17 的控制脚本把右杯送往 RREG=[0.13,0.15,0.24]，及视频中装球杯的到达形态，第二交接区约在视频 7.6 s 达到；精确 0.035 m 距离无状态读数可复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 6.8–7.8 s 右臂固定小杯托住橙球，将球随杯送到第二交接位置。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：视频 11.8–12.0 s 橙球从倾斜右杯落入下方左杯，视频 12.1–12.8 s 球留在左杯内；视频 12.9–13.8 s 左臂带球离开右杯并移向车厢。"
+     },
+     {
+      "t": 12.3,
+      "log_step": null,
+      "text_zh": "推断：按回球入杯及随后随杯稳定搬运，回接约在视频 12.3 s 完成；右杯已经空出，后续主动倒球不撤销该接稳事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 11.8–12.0 s 右臂固定小杯倾倒送出橙球，左臂小杯从下方承接；视频 12.9–13.8 s 左杯继续托球搬运。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.1,
+      "log_step": null,
+      "text_zh": "观察：视频 14.3–15.1 s 左臂向移动车厢倾杯，约视频 15.1 s 橙球离开小杯并下降到车厢内部的画面投影；视频 15.2 s 后橙球被前侧车壁遮住，视频 16–25.0 s 车厢继续沿轨道移动，未见再次投球。"
+     },
+     {
+      "t": 20.4,
+      "log_step": 34,
+      "text_zh": "观察：log step 34 的服务状态仍为 episode=4、control_steps=2036、done=False；log step 5 的服务说明规定所有阶段成功即结束。最终评分器 live_success=0、replay_success=0，且 n_actions=2500；本次视频持续至 25.04 s。"
+     },
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "推断：结合前四步的可见传接、最终投放后服务仍未成功结束及最终失败判定，球入移动车厢的完整验收未达到，记 final=false；不是仅凭零分断言球从未入厢，也不能从遮挡断言球落到厢外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 13.0–15.1 s 左臂固定小杯托住橙球、移到车厢上方并倾倒释放；杯与球分离后不再由机器人托球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_settled_in_moving_cart",
+   "t": 15.2,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.3–15.1 s 左臂倾杯向移动车厢送球，视频约 15.2 s 球被车壁遮挡，之后未见重试；log step 34 服务报告评分局 episode 4 在 control_steps=2036 时仍未结束，最终评分器成功值为 0。推断：前四步有可见完成支持，未修复的失败步骤定位为最后的车厢交付；视频 15.2 s 只是投放结果开始不可见的导航锚点，不能定位内部验收计时具体在哪一瞬失败。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": true,
+   "loaded_cup_in_second_region": true,
+   "left_cup_recaught": true,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，inputs/run.json 未报告评分局 episode 4 的原生阶段、接触对、球相对车厢位姿/速度、车速或交付计时与具体失败原因。视频约 15.2 s 起车壁遮住球，参考成功视频约 19.8–20.4 s 也有同类遮挡，不能把不可见当作投偏或弹出；因此无法区分车厢内落点不合格、未持续稳定或其他验收条件，失败现象及根因均留空。log step 35 的 agent 自述怀疑伺服跟不上，log step 33 确有其规划脚本的快速关节运动警告，但无本次测量证明它导致了失败；前次 episode 2/3 的分���不作为本次物理结果。节点时间按视频目测，毫米级入杯/区域阈值与内部保持计时未独立测量。"
+ },
+ "summary_zh": "评分局为 log step 33 最后重置并启动的 episode 4，视频支持左杯首接、右杯接稳、右杯持球到交接区和左杯回接四步完成，最终为 4/5。左臂在视频约 15.1 s 向移动车厢释放球，但完整交付验收未通过；本次文字采用右杯已离开起点的旧版要求，未套用 DAG 注明的新版入杯速度限制。球随后受车壁遮挡且缺少本次原生验收读数，不能确认具体失败现象或根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个前置节点（左杯首接、右杯接稳、持球到交接区、左杯回接）与视频一致；第五步 15.1 s 球落入车厢后被前壁遮挡，视频、log 与评分字段都无法判定具体失败原因，现象/根因留空并写 gap_zh 合理，断点指向 ball_settled_in_moving_cart 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": "2026-10-30T04:22:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c7ae2691314f2a5baed6e63a4f2a1f83c24ae13ff6d6bf70150b381016213a1",
+   "video_sha256": "60b3faa4408bf6839c461e820970cc5cd79027790d1573aa57862ce707e7dac1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep.json

@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep",
+ "taskKey": "pandadyn/d01_reciprocal_cup_relay",
+ "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 96,
+   "sim_steps": 6393,
+   "calls": 32,
+   "rows": 950,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 744.0,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 191.743,
+   "max_lag_s": 0.1775,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 5497,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 2.124,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.774,
+   "peak_processes": 43,
+   "peak_disk_gb": 1.715,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep/replay.mp4",
+  "duration_s": 1.0,
+  "fps": 25.0,
+  "frames": 25,
+  "sha256": "b0d9935092bf8c1e8d20d851da7d9aa7d5f725f996cedefba0d00dacd3f62caf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "left_initial_catch": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.64 s 橙球先升高后下落，左臂将安装的小蓝杯平移到落球下方；视频 0.68 s 球已进入左杯。"
+     },
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧检查视频 0.68–0.96 s，橙球落入后保持在左杯内，末段不再明显弹跳或相对杯移动，首次接稳约在视频 0.9 s 达成。无原生接球计时读数，时间为视觉近似；成功参考视频 1.0 s 显示相同的杯内承托形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂固定安装的小蓝杯从下方承接并托住橙球，夹爪未直接夹球（视频 0.68–0.96 s）。"
+     }
+    ]
+   },
+   "right_cup_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": 73,
+      "text_zh": "观察：视频 0.68–0.96 s 左杯仍托着橙球，右臂空杯向左杯靠近，末帧两杯相向边缘相接；没有左杯出球、空中传球或球进入右杯。log step 73 的机器人服务状态为 episode=4、control_steps=96、done=true、reason=failed，与视频末段相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：传球准备期间左杯仍从下方托住橙球，右杯靠近但未接触橙球（视频 0.88–0.96 s）；未发生成功参考中的先出杯再接入右杯。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.96 s 右臂安装的蓝杯与左杯相向边缘相接。候选“碰撞”：这是非预期的工具间接触，托/舀、推/扫等目标操作方式不能准确描述。"
+     }
+    ]
+   },
+   "loaded_cup_in_second_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.96 s 没有右杯接球及带球移动到第二交接区的过程，结束时橙球仍在左杯内。"
+     }
+    ]
+   },
+   "left_cup_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.96 s 橙球只经历初次落入左杯，没有右杯出球或向左杯回传；不能把首次接球计为回接。"
+     }
+    ]
+   },
+   "ball_settled_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.96 s 前沿轨道上的大蓝车厢始终未装入橙球；末帧橙球仍在左臂小杯内，未发生脱杯交付。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "left_to_right_ball_height",
+   "unit": "m",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_to_left_ball_height",
+   "unit": "m",
+   "threshold": 0.31,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "free_flight_duration",
+   "unit": "s",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "receiver_entry_horizontal_speed",
+   "unit": "m/s",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "right_cup_start_displacement",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "second_region_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "return_release_horizontal_distance",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_receiver_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_speed_at_delivery",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "right_cup_caught",
+   "t": 0.96,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.9 s 左杯已承接并留住橙球，右臂正在将空杯移向左杯以准备接球；视频 0.96 s 两杯边缘相接，球尚未离开左杯，之后没有恢复或继续传球。log step 71 确认最终局为 episode=4，log step 73 的服务状态在 control_steps=96 报告 failed。"
+  },
+  "unmet": {
+   "left_initial_catch": true,
+   "right_cup_caught": false,
+   "loaded_cup_in_second_region": false,
+   "left_cup_recaught": false,
+   "ball_settled_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 0.96,
+    "log_step": 73,
+    "evidence_zh": "观察：视频 0.80–0.96 s 右杯不断缩小与左杯的间距，视频 0.96 s 相向杯缘接在一起，左杯仍托球，传接没有发生；机器人服务在 log step 73 报告本局已失败。推断：两杯间的非预期接触阻断了后续传球；具体接触对和触发终止的判据未记录。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 0.68–0.96 s 左杯已位于接球位置并托球，右臂的接球准备运动却将右杯继续送至左杯边缘，未保留两工具的间距，因而将问题归于控制。log step 71 记录同时为两臂设置接球关节目标，log step 77 中 agent 也自述末帧两杯靠拢并在终局后才修改间距；这些修改没有进入评分视频。现有证据不足以区分轨迹生成、逆解或跟踪的具体子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志、原生 phase/接球事件、接触对或安全监测读数；服务在 log step 73、74 只给出 failed，故杯间接触与终止的因果关联属于结合画面的推断，不能确定是禁碰、穿透还是其他安全判据触发。首次接稳按视频中杯内保持形态估计，无法独立核实连续 0.18 s 的全部数值阈值。DAG 所列原生指标均未在 reward 中报告，保留 null；日志编辑步骤仅有占位内容，无法检查最终控制脚本。"
+ },
+ "summary_zh": "最终评分局完成左杯首次接球，约在视频 0.9 s 达成，最终进度为 1/5；右杯接球准备时两杯在视频 0.96 s 相接，球仍留在左杯，后续传球、回传及入车均未完成。断点为右杯接稳传球，现象为被挡/碰撞，根因保守归于控制；无状态日志且服务仅报告通用失败，具体终止判据和首次接稳的精确计时无法核实。运行文本采用右杯须离开起点的旧版规则，本次未发生右杯入球，版本差异不影响节点结论。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：球约 0.68 s 入左杯并保持，右杯在 0.96 s 与左杯相接，之后无传球；进度 1/5、断点 right_cup_caught、被挡/碰撞、控制根因均有画面与服务读数（control_steps=96, failed）支持，且已标注推断与证据缺口。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:35:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b6c85eee7e49b4892156ac98a3dc11e1a9dcd9774266433f3fc3b56a517488f7",
+   "video_sha256": "b0d9935092bf8c1e8d20d851da7d9aa7d5f725f996cedefba0d00dacd3f62caf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge.json

@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1574,
+   "executed_rows": 1574,
+   "sim_steps": 1574,
+   "physics_steps": 15740,
+   "sim_time_s": 15.74,
+   "phases_done": 2,
+   "valid": 1,
+   "replay_wall_s": 57.8,
+   "replay_timeout_s": 457.4,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 71,
+   "agent_resets": 2,
+   "agent_sim_steps": 3029,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 0.635,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.835,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge/replay.mp4",
+  "duration_s": 15.76,
+  "fps": 25.0,
+  "frames": 394,
+  "sha256": "fedd30b6721fd42c72d46da94fbc2f208d57e2ca9485a21074e92b256193e773"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6–7.8 s，右臂倾倒蓝杯，橙球出现在杠杆小篮内；视频 8.0–8.6 s，右杯上移，球留在小篮，随后直到视频 15.2 s 发射前仍在篮内。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 199,
+      "text_zh": "推断：首次装球及移杯清场约在视频 8.4 s 完成，时间精度约 ±0.3 s；log step 199 对最终交付文件的重放报告 phase=2、phase_name=right_catch，评分器 reward.phases_done=2，支持装球与首次发射已通过原生验收。毫米级条件由阶段结果支持，未从画面直接量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂固定安装的蓝杯从下方托运橙球，随后倾杯把球倒入杠杆小篮；不把夹爪与安装杯的连接另记为抓握。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": null,
+      "text_zh": "观察：视频 15.28–15.44 s，左臂锤工具下压杠杆端部，杠杆篮端抬起、橙球上升；逐帧检查视频 15.28–15.72 s，右杯仍侧倾停在球的右侧，橙球没有进入右杯，末帧仍在杠杆上方。"
+     },
+     {
+      "t": 15.72,
+      "log_step": 199,
+      "text_zh": "观察：log step 199 是最终交付 trajectory.npz 的重放结果：executed_rows=1574、sim_time_s=15.74、phase=2（right_catch）、success=false、valid=true、failure_reason=null；与视频末段只到首次弹起、尚未接住一致。log step 197 的 agent 自述“球进入移动箱”未出现在这段交付视频中，不据此补记后续运动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 15.28–15.44 s，左臂安装锤接触杠杆/压垫并使篮端抬起。候选：击打，现有接触方式无击打项；右臂蓝杯已移到接球预备位，但交付画面中未与飞球建立接触，因此不记杯托球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.72,
+      "log_step": 199,
+      "text_zh": "观察：本视频只出现右杯首次倾倒装篮和左锤首次发射；视频 15.72 s 结束前未出现飞球入右杯后的携球、再次倒回小篮。log step 199 最终交付重放仍处于 right_catch，未进入 reload_and_clear。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.72,
+      "log_step": 199,
+      "text_zh": "观察：视频 15.28–15.72 s 是本次唯一一次发射，橙球在小篮上方，右侧独立移动箱仍未见球；没有第二次装球、第二次发射或球随箱留存的画面。log step 199 最终交付只到 phase=2，未到第二次发射或移动箱留存阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 15.4,
+   "log_step": 199,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 15.4 s 左锤使球弹起时，右杯仍侧倾停在飞球右侧；截至视频 15.72 s 末帧，球未入杯。log step 199 最终交付重放 phase_name=right_catch、success=false、valid=true，无失败事件，说明交付停在尚未完成的接球步骤；后续再装球及再发射没有开始。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 15.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 15.36–15.72 s 橙球随杠杆抬升并离篮运动，右杯保持侧倾、位于球的右侧，没有随球的运动调整到其下方承接；已交付的这段飞行中未建立球杯接触。此处只标未跟上飞球承接，不推定视频结束后的落点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 15.4,
+    "log_step": 194,
+    "evidence_zh": "推断：log step 194 的最终脚本把右杯接球预备位置恢复为固定世界坐标 [0.32,0.04,0.28]，并命令杯调平；但视频 12.4–15.72 s 右杯实际仍侧倾停在小篮右上方，飞球升起时没有形成有效承接姿态与位置。接球末端控制未实现所需拦截；缺少完整 move 函数和逐帧位姿数据，不能进一步确定是姿态指令处理、轨迹实现还是接球几何选择的问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立量测原生毫米级位置、相对速度及接触时窗；首次装球的精确清场时刻仅能约定位。交付视频最后一帧为视频 15.72 s，仍处首次发射初段，不能观察完整下落或采纳 log step 197 的落箱自述。log step 111 展示的 move 函数中段已被输入日志截断，接球控制根因只能粗分；会话其他测试中的腕部撞箱不属于本次交付的可见失败。"
+ },
+ "summary_zh": "本次交付在视频约 8.4 s 完成首次装球和移杯清场，随后左锤使球弹起，最终完成 1/4 个语义节点。断在弹起后接球：视频 15.4–15.72 s 右杯仍侧倾停在飞球右侧，控制未形成有效承接，再次装球及再发射均未开始。视频结束时球仍在杠杆上方，日志中的后续落箱自述不算本次事实；无状态日志及完整控制函数，精确接触条件与控制子原因无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间与断点（ball_caught_after_launch，操作中）与视频及 log step 199 的重放结果（phase=2 right_catch、success=false）一致；1/4 合理。动态时机/控制根因标注已自述不确定，证据范围内可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:30:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aa73ed6968da8d33f3d19b0dd56b56ab24beec7e39ffd2a189314b3a680d758b",
+   "video_sha256": "fedd30b6721fd42c72d46da94fbc2f208d57e2ca9485a21074e92b256193e773",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1500,
+   "executed_rows": 465,
+   "sim_steps": 465,
+   "physics_steps": 4650,
+   "sim_time_s": 4.65,
+   "phases_done": 0,
+   "valid": 0,
+   "replay_wall_s": 17.8,
+   "replay_timeout_s": 450.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 7,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5/replay.mp4",
+  "duration_s": 4.72,
+  "fps": 25.0,
+  "frames": 118,
+  "sha256": "5a9169080de15c47752dcf77cf976b9abe580b5be1a67403ed9dfc7c59c6a25f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–3.16 s，右臂蓝杯带着橙球靠近发射器，但没有翻倒成将球送入小篮的姿态；视频 3.40–4.00 s，橙球仍在升高、移开的右杯内，小篮内没有球。逐帧检查至视频 4.68 s 仍无首次装篮并清场的结果。"
+     },
+     {
+      "t": 4.68,
+      "log_step": 45,
+      "text_zh": "观察：log step 45 重新生成并保存交付文件，随后重放返回 phase=0、phase_name=physical_loading、control_steps=465、sim_time_s=4.65；评分器 reward 同样记录 executed_rows=465、phases_done=0、deterministic=1。该结果与视频中未装球的过程一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂 panda-1 安装的蓝色方杯从下方托住橙球并运送；视频 0.00–4.00 s 可见球随杯移动，未倒入杠杆小篮。不重复记夹爪对安装工具的连接。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频 4.28–4.68 s，左臂锤头下降至杠杆压垫，杠杆随之倾动；右杯此时下降靠近发射器。此前视频 3.40–4.00 s 橙球仍在右杯中，全片没有球从小篮弹起后重新落入右杯的过程。"
+     },
+     {
+      "t": 4.68,
+      "log_step": 45,
+      "text_zh": "推断：首次装球始终未达到，且 log step 45 的交付文件重放停在 physical_loading，故右杯携带初始球不能计作完成首次发射后的接球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 4.40–4.68 s 左臂 panda-0 安装锤头向下击压杠杆压垫，杠杆发生倾动。接触词表没有击打项；本次只有这段发射尝试，没有右杯承接已发射球的接触。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.68,
+      "log_step": 45,
+      "text_zh": "观察：视频 0.00–4.68 s 未出现第一次发射并接回球后再倾杯装篮的过程；视频 3.40–4.00 s 仍可见初始橙球随右杯移动。log step 45 的最终交付重放仍为 phase=0，未进入 reload_and_clear。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.68,
+      "log_step": 45,
+      "text_zh": "观察：视频 0.00–4.68 s，沿轨道移动的独立蓝箱始终未见橙球留存；视频 4.68 s 末帧也没有球随箱移动的结果。log step 45 的交付重放停在 phase=0，未进入第二次发射或 moving_receptacle_retention。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 3.4,
+   "log_step": 45,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.40–4.00 s，机器人右杯带着橙球升高并远离装球位置，球没有进入杠杆小篮；至视频 4.68 s 仍未修复。左锤随后虽下压杠杆，首次装球仍是最早未完成的步骤。log step 45 保存并重放最终文件，返回 phase=0 和 failure_reason=limit_violation；评分器记录同样只执行465行、完成0阶段。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.60–3.16 s，右臂虽将杯靠近发射器，杯口仍朝上，未形成向小篮倒球的位姿；视频 3.40–4.00 s 橙球仍随杯离开，小篮未获球。"
+   },
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 4.68,
+    "log_step": 45,
+    "evidence_zh": "观察：log step 45 保存最终交付文件后的重放明确返回 failure_reason=limit_violation、valid=false、sim_time_s=4.65；评分器记录执行465控制步后终止，视频 4.68 s 结束于右杯下降及左锤压杠杆的末段。违反的是DAG的运动超限规则，日志未报告具体超限分项。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 42,
+    "evidence_zh": "推断：log step 40 生成右臂轨迹时，逆解器对目标TCP报 Unreachable constrained TCP pose，位置残差0.007112米；log step 42 将异常改为 except Exception: pass，直接保留最后可解的关节行，未重建倒球轨迹。log step 45 沿用该处理生成、保存并重放最终文件；视频 1.60–4.00 s 右杯没有实现倒球姿态而继续带球移动，与跳过不可解目标的后果一致，支持轨迹与逆解处理导致装球失败。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；视频末段橙球会被杯壁遮挡，不能确认其最后的精确位置，但此前持续随杯移动、从未装篮及最终phase=0足以判断四个节点均未完成。log step 45 只给出limit_violation，未保留具体关节、速度或加速度等超限分项，不能核实agent在log step 46中将超限归于右臂快速扫动的自述。log step 43 属于改慢左锤之前的旧测试，其接触时刻及仿真4.482 s的失败不用于本次交付计时。"
+ },
+ "summary_zh": "本次交付完成0/4个节点：右杯携初始球靠近发射器，却未把球倒入小篮，随后仍带球移开；末段左锤已下压杠杆，但首次装球始终未修复。断点为首次装球，日志显示右臂逆解失败后脚本沿用上一组可解关节值，最终重放停在physical_loading并以limit_violation结束。缺少逐帧状态与具体超限分项，无法进一步确认触发超限的物理量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成、断点为首次装球（操作中）与视频一致：球全程在右杯中，未倒入小篮，末段左锤下压杠杆。根因（右臂逆解失败后沿用上一组关节）有 log step 40/42/45 支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:26:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bab9cd689a3410bb1c1dd11d6574bd8bab8410b7b3f993f02022bc94147334f5",
+   "video_sha256": "5a9169080de15c47752dcf77cf976b9abe580b5be1a67403ed9dfc7c59c6a25f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc.json

@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 2500,
+   "executed_rows": 2500,
+   "sim_steps": 2500,
+   "physics_steps": 25000,
+   "sim_time_s": 25.0,
+   "phases_done": 1,
+   "valid": 1,
+   "replay_wall_s": 64.6,
+   "replay_timeout_s": 550.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 88,
+   "agent_resets": 94,
+   "agent_sim_steps": 10000,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "8e82bfbb20d3d240212b1ef2a68d4e797fcb1e20c8d0634c17d944032aeccf28"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.6 s，右臂安装的蓝杯托运橙球并逐渐倾斜，视频3.6 s橙球已到杯口下方；视频5.2–6.8 s橙球停在杠杆小篮，右杯离开，球没有随杯移动。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 149,
+      "text_zh": "推断：首次装球约在视频4.0 s成立，腕部遮挡使触发时刻只能估计，误差约1 s；视频5.2 s可清楚确认篮内球，视频6.8 s右杯已远离。最终交付文件的评分器重放在log step 149报告phase=1、phase_name=first_launch；run.json的phases_done=1也确认首次装球验收通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂固定安装的蓝杯从下方承载橙球，搬运后倾杯倒入杠杆小篮；不另记夹爪对固定工具的握持。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 143,
+      "text_zh": "观察：逐帧检查视频8.80–10.80 s，左臂安装锤头向杠杆挥下再抬回，杠杆与篮内橙球没有明显上抬，橙球未飞入旁边右杯；视频11.5–14.0 s右杯空着撤走，球仍在原小篮。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 149,
+      "text_zh": "推断：视频后半段直到视频25.0 s均未出现第一次发射后接稳球的结果，此节点未达到。log step 145在修改接近时长之前备份轨迹，log step 148恢复该备份；log step 149对恢复文件的重放仍为phase=1，其state_sha与log step 142的原备份版本相同，故log step 146的轻触测试不属于交付视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：候选：击打（挥空）；视频9.4–10.4 s左臂安装锤头朝杠杆/压垫挥下，但未建立使杠杆动作的接触，右杯移到承接位置而未接触球。击打没有专用接触方式，不能照典型方案虚记右杯托住球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.4,
+      "log_step": null,
+      "text_zh": "观察：视频14.0–21.2 s，右臂又把蓝杯移到小篮上方倾斜再撤走，但视频14.0–16.4 s杯中为空，橙球一直留在原小篮；视频19.2–21.2 s杯子撤开后仍能看见同一篮内球，没有第二次从杯中落球的转移。"
+     },
+     {
+      "t": 21.2,
+      "log_step": 149,
+      "text_zh": "推断：机器人执行了再次倾杯动作，但首次接球从未完成，不能把第一次留在小篮里的球重复计为再次装球；log step 149最终交付重放仍停在first_launch，也未接受reload_and_clear。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：候选：空杯倾倒；视频15.2–20.4 s右臂安装杯执行倾倒和撤离动作，没有承载或释放橙球，现有托/舀会错误表示发生了杯球接触。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.04,
+      "log_step": null,
+      "text_zh": "观察：视频22.4–23.9 s左臂再次把锤头移向杠杆，球未形成可见飞行；视频24.0–25.0 s移动箱仍为空，右杯在远处，橙球所在位置仍为杠杆小篮（末段部分被锤头遮挡）。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 149,
+      "text_zh": "推断：未见橙球进入独立移动箱并随箱运动，最终评分器在log step 149报告phase=1、success=false、end_reason=timeout；结合视频中始终空着的移动箱，此终态为假，而非仅由零分推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：候选：击打；视频22.7–23.1 s左臂安装锤再次下挥到杠杆区域，随后停留，未造成可见发射。没有击打专用接触方式；末段锤头遮住局部，不能确认是否有极短擦碰，不虚记碰球或碰箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 9.6,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频9.4–10.4 s左臂锤头完成首次下挥和回撤，但杠杆未弹起，球仍在小篮；右杯虽到达承接位置却没有球可接，直到视频25.0 s该步仍未完成。log step 143–144对后来恢复交付的备份版本检查到杠杆角最大值为0，log step 149重放仍停在first_launch。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.6,
+    "log_step": 143,
+    "evidence_zh": "推断：视频8.80–10.80 s逐帧可见左锤下挥后抬回，而压垫与小篮保持原姿态、球未离篮；log step 143–144对交付备份对应记录的检查也显示杠杆从未转动。首次挥锤没有建立所需锤杠杆接触，随后不是接住后丢球，而是根本没有发射供右杯承接。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 145,
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付版本的左锤接近与下挥控制未把工具送到压垫接触位置。log step 144记录首次接近过程中锤仍高于工作位置；log step 145明确在修改前备份0.4秒接近版本，并将接近时长改为0.9秒测试；log step 148恢复的是修改前备份，log step 149重放哈希与log step 142一致。视频9.4–10.4 s显示同样的挥空结果，支持控制层失败；没有足够跟踪与接触遥测进一步区分轨迹生成和反馈控制。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；首次落球时右腕遮挡，首次装球起点约视频4.0 s，估计误差约1 s，毫米级清场距离与0.1秒稳定窗口只能结合评分器已完成阶段确认。视频末段工具局部重叠，无法排除毫秒级擦碰；评分器未报告DAG所列六项原生指标的数值，故均填null。log step 150所述杠杆角约0.047来自log step 145–146的后续测试，与log step 148实际恢复的旧备份及交付视频不同；不把该测试的接触算入本轨迹。"
+ },
+ "summary_zh": "评分轨迹只完成首次装球（约视频4.0 s，触发点受腕部遮挡），最终为1/4；视频9.6 s附近首次挥锤未建立所需接触，杠杆没有弹球，右杯未接住球。随后机器人继续空杯倾倒及末段挥锤，球始终未进入移动箱；日志中的备份恢复和最终重放确认交付的是首次挥空版本，而非最终自述的轻触版本。缺少逐帧状态和接触遥测，不能精确核实装球触发时刻及细分控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（ball_caught_after_launch，首次挥锤未发射）与根因基本有视频和日志支撑；视频5–6 s球在小篮、之后全程球留在篮内、移动箱空，与标注一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:26:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b7bec3c0331dd634a1f96d0a10f2b4ed74922e81a509e19cefd063d19f476b5",
+   "video_sha256": "8e82bfbb20d3d240212b1ef2a68d4e797fcb1e20c8d0634c17d944032aeccf28",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu.json

@@ -0,0 +1,300 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1791,
+   "executed_rows": 1791,
+   "sim_steps": 1791,
+   "physics_steps": 17910,
+   "sim_time_s": 17.91,
+   "phases_done": 6,
+   "valid": 1,
+   "replay_wall_s": 66.6,
+   "replay_timeout_s": 479.1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 54,
+   "agent_resets": 139,
+   "agent_sim_steps": 3582,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.249,
+   "peak_memory_gb": 1.777,
+   "peak_processes": 21,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu/replay.mp4",
+  "duration_s": 17.96,
+  "fps": 25.0,
+  "frames": 449,
+  "sha256": "2eb9effa56bfbd84de9743cff157d04903dc3c1c627bd3c43a3832ea66c8e5c6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，橙球位于右臂安装的蓝杯中；视频 2.6–4.8 s，右臂把杯移到杠杆小篮上方并倾转，杯壁遮住倒球过程。"
+     },
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.04–5.36 s，橙球已显露在蓝色杠杆小篮内，右杯向上移开；视频 5.6–6.4 s，球仍在篮内，杯与篮分离。首次装球及清场完成时刻取视频约 5.2 s。"
+     },
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：评分器 reward.phases_done=6、success=1、valid=1，交付轨迹的全部原生阶段通过；log step 67、68 对同一交付文件的新进程重放均返回 complete、success=true。毫米级位置及短时速度条件由这些验收结果佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂固定安装的蓝杯从下方托住橙球并运送，随后倾杯将球倒入杠杆小篮，再抬杯清场；视频 0.00 s、2.6–5.36 s 可见这一顺序。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.4–8.96 s，左臂锤工具贴近并压住杠杆压垫，右杯移到接球位置；视频 9.04–9.20 s，小篮迅速抬起，橙球上升并向右杯方向运动。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.28–9.60 s，球进入右杯所在区域后被篮板及杯壁遮住；视频 10.4 s 右杯移回上方，视频 11.0–12.0 s 可见橙球在杯内随杯运动，原小篮已空。"
+     },
+     {
+      "t": 9.6,
+      "log_step": 67,
+      "text_zh": "推断：结合视频 9.20 s 的飞行、视频 11.0–12.0 s 杯内球的后续显露及评分器六阶段全部通过，右杯已接住并留住首次发射的球，完成锚点取视频约 9.6 s；入杯后的精确 0.18 秒留存窗口无法仅由画面逐帧量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂安装蓝杯从下方承接首次飞行的橙球并带走，视频 11.0–12.0 s 球在杯内可见；此前左臂安装锤在视频 8.4–9.2 s 贴压杠杆压垫使小篮抬起，先后接触分别为压/擦、托/舀。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s，首次接回的球位于右杯内；视频 12.4–14.8 s，右臂把该杯再次移到小篮上方并倾转，倒球位置被杯壁遮挡。"
+     },
+     {
+      "t": 15.2,
+      "log_step": null,
+      "text_zh": "观察：视频 14.96–15.08 s，右杯抬起后小篮处露出橙球；视频 15.20–16.32 s，球留在小篮，右杯已高举离开��左锤随后就位准备再次发射。再次装球与清场完成锚点取视频约 15.2 s。"
+     },
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "推断：视频显示的是接球后再次倒球形成的新装篮状态，且评分器 phases_done=6 及交付重放 complete 支持第二次装球的原生验收通过；具体距离、相对速度与连续接触时长没有逐帧状态日志可独立复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂安装蓝杯托住首次接回的橙球，再次运到小篮上方倾倒并抬杯清场；视频 11.0–15.44 s 显示杯内球、倾杯及篮内球依次出现。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.64,
+      "log_step": null,
+      "text_zh": "观察：视频 16.00–16.40 s，左锤保持在杠杆压垫处并向下作用；视频 16.48–16.72 s，篮端抬起，橙球脱离小篮向右侧独立滑箱飞行，右杯保持在上方。"
+     },
+     {
+      "t": 17.92,
+      "log_step": null,
+      "text_zh": "观察：视频 16.80 s，橙球落入蓝色独立滑箱；视频 17.00–17.92 s，滑箱沿轨道继续移动，球未见飞出，末段球被箱壁及杠杆局部遮挡，两臂工具均离开箱内区域。"
+     },
+     {
+      "t": 17.9,
+      "log_step": 67,
+      "text_zh": "推断：视频中的入箱与随后留存，加上评分器 success=1、phases_done=6、valid=1，以及 log step 67、68 交付文件重放的 phase_name=complete、failure_reason=null，支持运动箱内留存验收完成。完成锚点取末段已检查画面附近的视频约 17.9 s；精确箱速、相对球速及 0.7 秒验收计时由评分结果佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "左臂安装锤在视频 16.00–16.40 s 贴住杠杆压垫并向下压动，随后杠杆篮端弹起将球送入滑箱。实际可见接触是锤对压垫的下压，右杯在上方避让；不另计被动杠杆与球、箱与球的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "交付视频依次完成首次装球并清场（视频约 5.2 s）、首次发射后接球（视频约 9.6 s）、再次装球并清场（视频约 15.2 s），随后把球再次发射入运动箱，在视频末段约 17.9 s 完成留存验收，四个节点终值均为真。评分器记录六个原生阶段完成、两次重放成功且确定性通过，日志中的其他失败调试不属于本次交付轨迹。没有逐帧状态日志或独立参考视频，倒球及入杯局部被工具遮挡，数值接触、速度和留存窗口由成功验收佐证；六项原生指标未报告实测值，均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点终值与时间（视频约5.2/9.6/15.2/17.9 s）与抽查帧及评分器六阶段全部通过一致；成功运行无failure层合理，推断已标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:29:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "845bb34a33c6a1a47f9d4e258a0e34945fb0c0127c32dd80df6f05093d2c7907",
+   "video_sha256": "2eb9effa56bfbd84de9743cff157d04903dc3c1c627bd3c43a3832ea66c8e5c6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma.json

@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1887,
+   "executed_rows": 1887,
+   "sim_steps": 1887,
+   "physics_steps": 18870,
+   "sim_time_s": 18.87,
+   "phases_done": 2,
+   "valid": 1,
+   "replay_wall_s": 67.2,
+   "replay_timeout_s": 488.7,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 63,
+   "agent_resets": 48,
+   "agent_sim_steps": 7474,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.048,
+   "peak_memory_gb": 0.782,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.997,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma/replay.mp4",
+  "duration_s": 18.92,
+  "fps": 25.0,
+  "frames": 473,
+  "sha256": "36b0afb7d381ec8e612f2ea1f89cdfcbca337e570d1eb70ae7a4bfb32a0cd524"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 12.32–12.80 s，橙球留在橙色支柱上方的蓝色杠杆小篮，右臂倾斜的蓝杯移开并撤向右上方；视频 13.20–15.60 s 球仍在小篮。首次装球及清场的到达时间取视频约 12.6 s，视觉估计误差约 0.3 s。"
+     },
+     {
+      "t": 13.2,
+      "log_step": 127,
+      "text_zh": "推断：log step 118 保存的最终交付经 log step 120–121、127 重放均停于 phase=2/right_catch，且评分器报告 phases_done=2，结合视频装篮与清场，首次装球已通过原生验收；此节点是锁存事件，后来球离篮不取消。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂安装的蓝色方杯承托并运送橙球，随后倾杯、移杯，将球留在杠杆小篮内；不另计夹爪对固定工具的接触。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.12,
+      "log_step": null,
+      "text_zh": "观察：视频 16.00–17.20 s，左臂锤向下压动杠杆，载球小篮抬起；视频 16.92–17.36 s 橙球离开小篮并向下落，右臂蓝杯仍在右上方远处，没有移到球下方。视频 17.60–18.48 s 球在移动箱外的桌面向右滚动，未进入右杯。"
+     },
+     {
+      "t": 18.88,
+      "log_step": 127,
+      "text_zh": "观察：视频 18.56–18.88 s，右杯仍为空，球没有被接回，画面随后结束；log step 127 对最终交付文件的重放报告 phase=2、phase_name=right_catch、end_reason=out_of_bounds，与视频中的未接球结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 16.00–17.20 s，左臂固定安装的锤面持续下压杠杆压垫，使小篮抬起、球离篮；右杯未与发射后的球建立承接接触，因此不记成功托球或抓握。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.48,
+      "log_step": 127,
+      "text_zh": "观察：视频 17.60–18.48 s，橙球在桌面向右滚离发射器，右杯保持空杯，未出现接回球再倾倒入小篮的动作；视频 18.88 s 结束前也没有恢复，log step 127 最终重放仍停在 right_catch，未进入 reload_and_clear。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.48,
+      "log_step": null,
+      "text_zh": "观察：视频 17.60–18.48 s，橙球在蓝色移动箱外的桌面滚动，没有在箱内随箱移动；视频 18.56–18.88 s 也没有出现留存在箱内的球。全片仅有首次装球后的一次杠杆抬起，没有再次装球及再次发射。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 17.1,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 17.1 s，首次发射后的球下落时，右杯仍位于右上方远处，未进入下降轨迹；视频 17.60–18.48 s 球已落到箱外桌面并滚走，接球未再修复。log step 127 最终交付重放停在 right_catch，随后以 out_of_bounds 结束。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 17.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频 16.92–17.36 s，橙球从抬起的小篮落下，右臂蓝杯没有随球运动或及时到达球下方；视频 17.60 s 起球在桌面滚动，杯子仍在远处，错过了这次飞行球的承接窗口。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 17.1,
+    "log_step": 118,
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付动作的跨阶段安排未把首次发射与接球衔接。log step 100 的脚本先将右杯清场到世界坐标 (0.55,0.32,0.45) 再执行左锤发射；log step 118 又明确删除杯子的近处预定位，并把发射后的接球目标替换为远处 (0.45,0.28,0.40)，保存该版本；log step 125 保留了这份交付，log step 127 重放仍为 right_catch/out_of_bounds。视频 16.92–17.36 s 也显示杯子未进入球的下落区域，说明实际交付的动作顺序和落点安排没有形成可完成承接的方案。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，无法独立精确核实首次装篮的毫米级位置、相对速度和接触持续时间，装球完成由视频与最终交付重放阶段相互支持，清场时间为视觉估计。评分器未报告 DAG 所列六项原生指标的实测值，故均为 null。会话中其他接球测试的运动超限没有出现在最终交付，未将其用作本次失败现象；现有证据也不足以断言接球目标不可达或所有合法方案不可行。"
+ },
+ "summary_zh": "评分轨迹完成首次装球并清场（视频约 12.6 s），四个语义节点最终达到 1/4；首次发射后右杯未及时进入承接区域，球落到桌面并滚走，断在“弹起后接球”。最终交付脚本将杯子留在远处、发射后仍仅撤杯，缺少发射与接球的连续衔接，最终重放停于 right_catch 并以 out_of_bounds 结束。无逐帧状态日志，首次装球精确阈值与清场时刻只能结合视频及重放阶段判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标注一致：约12.6 s 杯移开、球留篮；16.5–17.4 s 球离篮落下而右杯仍在远处，18.8 s 杯空；断点、现象与根因有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:20:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "96be174afe956638cd5d61319feac68be71a6b685dd658da0c02473cab2ff6ac",
+   "video_sha256": "36b0afb7d381ec8e612f2ea1f89cdfcbca337e570d1eb70ae7a4bfb32a0cd524",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6.json

@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 595,
+   "sim_steps": 1565,
+   "calls": 20,
+   "rows": 1565,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2756.1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.229,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.445,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6/replay.mp4",
+  "duration_s": 6.0,
+  "fps": 25.0,
+  "frames": 150,
+  "sha256": "104d6d3143ed86d483ac998205646ce4850795377a95e02faf0b92d33fff21f6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 69,
+      "text_zh": "观察：视频 2.2–2.8 s，右臂安装的蓝色方杯倾斜，橙球从杯口下落至杠杆左端的小篮；视频 2.8–3.5 s 球停在篮内。"
+     },
+     {
+      "t": 4.2,
+      "log_step": 70,
+      "text_zh": "推断：视频 3.8–4.8 s 右臂逐渐将空杯移开，球留在近水平的杠杆小篮内；约视频 4.2 s 已完成装球及清场（视觉估时，误差约 0.3 s）。log step 70 的服务返回确认这是第 4 局、control_steps=480、仿真 4.8 s，且尚未结束；该位置与视频 4.8 s 的移杯终点一致。毫米级和速度阈值无逐帧状态可独立核验。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0–2.8 s，右臂固定安装的方杯从下方承托并搬运橙球，倾杯后球落入杠杆小篮；随后空杯移开。未把夹爪对安装工具的连接另记为抓握。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": 96,
+      "text_zh": "观察：视频 4.8–5.92 s，左臂将安装锤向杠杆压垫方向降下，右臂将空杯移向接球位置；橙球仍在小篮内，未出现球飞入右杯并留存的过程。视频 5.96 s 末帧也未见接球结果。"
+     },
+     {
+      "t": 5.95,
+      "log_step": 96,
+      "text_zh": "观察：log step 96 的机器人服务返回 episode=4、control_steps=595、sim_time_s=5.95、done=True、reason=failed、why=limit_violation，且 resets_left=0。推断：本局控制周期为 0.01 s（log step 3），595×0.01=5.95 s；已用 log step 70 的 480 步移杯终点与视频 4.8 s 核对，终止对应视频约 5.95 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 5.6–5.96 s 左臂锤头接近杠杆压垫，但总览画面分辨率不能确认两者是否已接触，日志也没有接触对；右杯仍空，未承托到球。此步已开始发射前就位，不以典型方案臆记击打或接球接触。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0–5.96 s 只有开局右杯向小篮的一次倒球；末段球仍在首次装球的小篮内，未发生发射后接回再倒入的第二次装球。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–5.96 s 逐帧可见橙球仍在杠杆小篮、右侧独立滑箱为空，没有再次发射后球在箱内随箱移动的结果；本局视频此前也没有球入箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 5.95,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.8–5.96 s，机器人正在首次发射及接球的就位过程中，左锤下降、右杯移向承接位，球未被接回；log step 96 的第 4 局服务返回在 control_steps=595 时因 limit_violation 结束。推断：595×0.01 对应视频约 5.95 s，已在视频 4.8 s 的移杯终点核对控制时钟；断在正在执行的弹起后接球步骤，后续没有修复。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 5.95,
+    "log_step": 96,
+    "evidence_zh": "观察：log step 96 中，机器人服务对评分第 4 局返回 why=limit_violation、reason=failed、done=True；视频约 5.95 s 两臂在发射及接球就位末段停下，球尚未进入右杯。该返回明确报告运动限值违规，但未报告超限的具体关节或物理量，不能再细化为碰撞或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.95,
+    "log_step": 96,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 93–95 显示 agent 为左锤与右杯生成关节位置插值，目标分别是发射前悬停位及接球位；log step 95 的 submit 参数错误在 log step 96 已修正，随后动作实际执行 115 个控制步，服务才报告 limit_violation。结合视频 4.8–5.96 s 两臂确实执行就位、inputs/run.json 中 sim_error=0，支持本次运动执行未满足运动限值的控制问题；没有足够监测量区分轨迹、跟踪或接触引发的超限。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；总览视频可判断球的转移及右杯清场，但不能精确核验首次装球的毫米级位置、相对速度与接触计时，完成时刻按视频约估。log step 96 仅报告 limit_violation，未指明超限物理量或阈值；末段左锤与压垫的接触也无法从现有画面确认，因此该节点实际接触标未知，根因不细分。原生六项指标均未在评分器字段中报告。"
+ },
+ "summary_zh": "评分采用最后第 4 局：右杯完成首次装球并清场，约视频 4.2 s 达到首节点，最终完成 1/4 节点。机器人随后为首次发射接球就位，在视频约 5.95 s 因服务报告的运动超限终止，球仍在小篮内，未完成接球、再次装球和入箱。缺少状态及具体超限监测量，首次装球精确阈值、左锤末段接触和控制子原因不能独立核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 ball_loaded_1 达成（视频约 3.0 s 球入篮、4.2–4.8 s 杯移开）、后三个节点未达成、断点 ball_caught_after_launch、log step 96 的 why=limit_violation（DAG 约束 robot_safety_limit）与控制时钟 595×0.01=5.95 s 均与视频和 run.json 一致；现象与根因保持在证据允许的粒度，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:24:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ab1bd4fcf7003c189825f6a8bc1a85e891d2acfc24df065baa74ad84ef5d10d",
+   "video_sha256": "104d6d3143ed86d483ac998205646ce4850795377a95e02faf0b92d33fff21f6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 1146,
+   "sim_steps": 2899,
+   "calls": 47,
+   "rows": 2899,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 976.1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg/replay.mp4",
+  "duration_s": 11.52,
+  "fps": 25.0,
+  "frames": 288,
+  "sha256": "1bad2a59a7bb041a922602ae3500f208e3fdaa0039aace8fec0bf46561f96da5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.4,
+      "log_step": 48,
+      "text_zh": "观察：视频 7.04–7.28 s 右臂蓝杯逐渐翻回，橙球从杯口下方出现；视频 7.36–8.56 s 球留在杠杆小篮中，右杯继续移向篮旁，球没有随杯离开。"
+     },
+     {
+      "t": 8.2,
+      "log_step": 49,
+      "text_zh": "推断：视频约 8.2 s 右杯已与篮中球分离并移出装球区域，首次装篮及清场完成，时间误差约 0.3 s；视频 8.4–9.0 s 球持续留在小篮。log step 49 的本局服务返回 control_steps=890，并报告右杯工具位置约(0.200,0,0.200)米，支持杯子已清场；不以 agent 在 log step 50 的完成自述单独计分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂固定安装的蓝色方杯先托住并运输橙球，再倾杯把球倒入杠杆小篮；视频 7.36–8.56 s 杯子移开而球留在篮中。左锤此时在旁避让，没有同时承载球。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": 56,
+      "text_zh": "观察：视频 9.0–10.2 s 机器人把右杯降到杠杆旁，杠杆略倾、篮中球随之上抬；视频 10.4–10.96 s 右杯升高，球仍在篮中。agent 在 log step 56 自述右杯曾压到杠杆并已抬开，与这些前后帧一致。"
+     },
+     {
+      "t": 11.48,
+      "log_step": 59,
+      "text_zh": "观察：视频 10.96–11.48 s 左锤向压垫下降，末段杠杆和橙球开始上抬，右杯停在旁边；直到最后一帧视频 11.48 s，未见球落入右杯或在杯中留存。log step 59 的最后评分局服务返回 done=True、why=limit_violation，只执行了此次提交的第一行控制；本次发射接球未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 11.4 s 左臂固定安装锤向下接触压垫，杠杆随之转动；候选：击打，接触方式词表没有击打项。此前右杯在视频约 9.8–10.2 s 下降时压动杠杆，随后抬离；两段接触先后发生。没有观察到本次发射后的右杯接球接触。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.48,
+      "log_step": 59,
+      "text_zh": "观察：视频 0–11.48 s 只有一次从初始右杯倒入小篮的过程，首次锤击前球一直留在篮中，结尾仍未完成弹起后接球；未出现接回球后再次倾杯装篮的动作。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.48,
+      "log_step": 59,
+      "text_zh": "观察：视频 0–11.48 s 独立蓝箱沿轨道移动，箱内未见橙球；视频末段机器人只开始第一次锤击，没有再次装篮及第二次发射，末帧球在小篮上方，未随移动箱留存。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 11.4,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 11.4 s 左锤正在首次发射的压垫处向下击打，杠杆与橙球刚开始上抬，视频到 11.48 s 即结束，尚未接球。log step 59 中评分局 episode=4 的服务返回 control_steps=1146、done=True、reason=failed、why=limit_violation；log step 60 再查状态仍为该失败局。此前装球已完成，未修复的是首次发射接球。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 11.4,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 11.36–11.48 s 左锤与压垫作用、杠杆和球上抬时评分局终止；对应最后一条在线服务结果在 log step 59 明确为 limit_violation，即 DAG 的运动超限规则。服务未指出具体越限量，帧中也未见可支持另一更具体失败现象的阻挡、失球或接球落空。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 55 的 agent 控制脚本把左锤从约0.30米高度沿预生成的位置轨迹降向0.125米，按固定控制行分段提交；log step 57、59 继续提交同一锤击轨迹。视频 11.36–11.48 s 显示锤已作用于压垫，log step 59 随即返回 limit_violation，说明此次锤击执行未维持运动安全限值。证据支持控制层失败，但不足以细分为接触设计、轨迹、反馈或某个参数错误。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐项核实装篮的毫米级位置、相对速度及短时接触历史；首次装球按球留篮及移杯的连续画面推断，清场时间约为视频 8.2 s。在线服务只返回 limit_violation，没有具体关节、速度、加速度、转矩或接触力越限读数，因此不把锤击失败进一步归为接触力异常或特定控制子类。原生六项指标均未在评分器字段中报告，值保留为 null。"
+ },
+ "summary_zh": "本次评分局完成首次装球及清场（视频约 8.2 s），最终为1/4节点；首次发射接球、再次装球和再发射入箱均未完成。视频约 11.4 s 左锤击压垫时，在线服务在 log step 59 返回 limit_violation 并结束该局，断点为弹起后接球，根因保留在控制层。缺少状态日志和具体越限量，装球验收的细阈值及控制子类无法精确核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频及 log 一致：评分局（episode 4，控制步 1146 ≈ 视频 11.46 s）首次装球并清场约视频 8.2 s，右杯 8.9 s 到 (0.2,0,0.2)；弹起后接球未发生，断点 ball_caught_after_launch 在左锤首次击压垫处，服务返回 limit_violation。现象「违反约束」和泛化的「控制」根因均有 log 服务读数支持，未过度细分，gap_zh 如实说明缺口。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:32:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ff44e7a654fe3705ef5bc1d0a851a3c30f6fb6772ef9145f42d1fbd674df3646",
+   "video_sha256": "1bad2a59a7bb041a922602ae3500f208e3fdaa0039aace8fec0bf46561f96da5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 1165,
+   "sim_steps": 2428,
+   "calls": 111,
+   "rows": 2378,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1024.3,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.254,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.91,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx/replay.mp4",
+  "duration_s": 11.72,
+  "fps": 25.0,
+  "frames": 293,
+  "sha256": "8b9e44adb2be08e79bf0713798bf702f180714ab6631d3880da208e59b35eea7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": 65,
+      "text_zh": "观察：视频 4.0–7.6 s，右臂将蓝杯移到小篮上方并倾斜、下降；视频 7.6 s 橙球仍靠在杯内，杠杆小篮为空。"
+     },
+     {
+      "t": 9.1,
+      "log_step": 67,
+      "text_zh": "观察：视频 9.1 s 右杯抬起并恢复水平，小篮仍为空；与参考成功视频 6.2 s 球已独立留在篮中的形态不同。"
+     },
+     {
+      "t": 11.68,
+      "log_step": 80,
+      "text_zh": "观察：视频 10.72–11.08 s 橙球仍可见于右杯内，随后被右手遮挡；视频 11.40–11.68 s 右手随倾斜的杯下降至杠杆上方并与其区域重叠，未出现装球后移杯清场。log step 80 的第 4 局服务结果为 done=true、why=forbidden_arm_scene_contact。"
+     },
+     {
+      "t": 11.68,
+      "log_step": 80,
+      "text_zh": "推断：首次倾倒没有把球转移至小篮；末段即使遮挡中有短暂落球，也未完成其后的移杯清场，因此首次装球事件未达到。视频只包含第 4 局，log step 42、47 等早先重置局不计本次节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0–7.6 s 及视频 10.72–11.08 s，右臂固定安装的蓝色方杯从下方及侧壁承托橙球，带球移动、倾杯；没有夹爪直接抓球。视频 11.60–11.68 s 右手下缘进入杠杆区域，log step 80 报告禁止的机械臂—场景接触，具体接触链接未提供。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.68,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–11.68 s 左锤先抬高、撤到左侧，之后保持避让；没有左锤击杠杆、球离篮飞行及右杯接回的过程，杠杆小篮一直未见留球。弹起后接球未达到。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0–11.68 s 右杯只在反复尝试倒出初始杯内的球，没有首次发射接回后的再次倒球过程；再次装球未达到。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0–11.68 s 独立蓝色滑箱沿轨道移动但箱内未见橙球，左锤没有击发杠杆；视频 11.68 s 箱内仍为空。再发射入箱的留存状态未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 11.6,
+   "log_step": 80,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.6 s 倾杯后球仍在杯中、小篮为空；右臂随后抬杯再倾倒。视频 11.40–11.68 s 右手下降并贴入杠杆区域，首次装球尚未完成即终止。log step 80 的第 4 局服务返回 control_steps=1165、sim_time_s=11.65、done=true、why=forbidden_arm_scene_contact。推断：此处失败的是首次装球步骤；按任务文本的 100 Hz 控制率，1165×0.01=视频约 11.65 s，与视频 11.60–11.68 s 的接触和停止一致，并以 log step 67 control_steps=910 对应视频 9.1 s 杯恢复水平的姿态核对；未使用 agent 工作时间换算。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 11.6,
+    "log_step": 80,
+    "evidence_zh": "观察：视频 11.40 s 右手还在杠杆上方；视频 11.60–11.68 s 随倾杯下降，右手下缘与蓝色杠杆区域发生接触重叠，动作停止。log step 80 的服务结果报告 forbidden_arm_scene_contact，而非球已装入的成功结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 80 的控制脚本将右杯倾到名义 80°，随后保持该朝向，把杯工具框架从目标世界坐标(0.02,0.07,0.36)降向(0.02,0.07,0.19)；实际服务在杯框架高度约 0.261 米时因禁止接触停止。视频 11.40–11.68 s 可见右手下缘比杯主体更接近杠杆，并随下降进入杠杆区域。推断：此次倾杯和下放的几何布局未给右手与发射器留出间隙，使装球动作先发生非工具部位碰撞；没有证据表明任务目标或阶段顺序理解错误。未在本次冻结初态验证替代布局。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧原生阶段、接触对及留存计时数据；视频末段右手遮住球和小篮局部，不能确定禁止接触的精确机器人链接与场景部件，也不能确定末段球是否短暂离杯，但终止时未完成移杯清场，故不影响首次装球未达到的判断。六项原生指标均未在评分器字段中报告，value 记 null。",
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  }
+ },
+ "summary_zh": "本次评分视频对应最后的第 4 局：右臂携杯搬球并两次尝试倾倒，首次装球及后三步均未完成，最终进度为 0/4。视频 11.60–11.68 s 下放倾斜杯时右手进入杠杆区域，服务在 log step 80 报告禁止的机械臂—场景接触；倾杯下放布局缺少手部间隙是有证据支持的控制原因。缺少状态日志与精确接触对，末段球位被手遮挡，不能核实细粒度物理阈值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频仅含第4局，0/4 进度、断点 ball_loaded_1、被挡/碰撞与抓取和接触设计均与视频和 log step 80（control_steps=1165, sim 11.65 s, forbidden_arm_scene_contact）一致；时钟换算有可见事件核对。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:24:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4fc5560988ab3b6bd2d9aa23a0dfe602b11b4c6ea86a2bf8110e2ac992f8de35",
+   "video_sha256": "8b9e44adb2be08e79bf0713798bf702f180714ab6631d3880da208e59b35eea7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 26,
+   "sim_steps": 2486,
+   "calls": 17,
+   "rows": 2486,
+   "resets": 1,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2299.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn/replay.mp4",
+  "duration_s": 0.32,
+  "fps": 25.0,
+  "frames": 8,
+  "sha256": "27cccb34826595e8438b8bfe2fa24abd2075e5ea5a31488935e6464547b9466c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.28,
+      "log_step": 48,
+      "text_zh": "观察：逐帧检查视频0.00、0.04、0.08、0.12、0.16、0.20、0.24、0.28 s，橙球始终在右臂蓝杯内，右杯未倾倒到杠杆小篮，也没有装球后移杯清场。log step 48仅执行gen.py calib，随即因arm_arm_or_tool_collision结束第2局；首次装球动作尚未启动。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.28,
+      "log_step": 48,
+      "text_zh": "观察：视频0.00–0.28 s全部8帧中，橙球留在初始右杯内，没有离开小篮后的自由飞行或再次入杯过程；log step 48显示最后在线局在校准阶段终止。初始杯内有球不算弹起后接球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.28,
+      "log_step": 48,
+      "text_zh": "观察：视频0.00–0.28 s橙球一直随初始右杯，没有首次发射接回后再倒入小篮的动作，小篮保持空置；log step 48的最后在线局已在校准阶段终止。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.28,
+      "log_step": 48,
+      "text_zh": "观察：视频0.00–0.28 s橙球始终可见于右杯，独立蓝色移动箱内未出现橙球，也没有第二次杠杆发射或球随箱移动的过程；log step 48记录最后在线局校准时即终止。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 0.24,
+   "log_step": 48,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.00–0.28 s只有双臂工具相向靠近的短动作，球始终在右杯中，首次倾杯装篮未启动；视频约0.24–0.28 s左锤工具结构已靠到右杯边缘。log step 47重置为第2局，log step 48运行gen.py calib，服务返回done=True、reason=failed及why=arm_arm_or_tool_collision；该局control_steps=26，与评分记录总步数2486减去重置前2460一致。后续log step 49–61仅改脚本和离线计算，未实际重置或执行所说的第3局。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 0.24,
+    "log_step": 48,
+    "evidence_zh": "观察：视频0.16–0.28 s左臂锤工具和右臂蓝杯逐渐靠拢，末两帧工具结构与杯边缘相接；log step 48中机器人服务明确返回arm_arm_or_tool_collision并将第2局置为done=True，校准动作因此终止。"
+   },
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 48,
+    "evidence_zh": "观察：视频0.00–0.28 s右杯保持装着初始橙球，未执行向小篮倾倒的装球动作；log step 48调用的是gen.py calib，而非load，该次校准中第2局即判负，首次装球尚未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 0.24,
+    "log_step": 48,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 48中agent的gen.py calib向双臂发送校准运动，机器人服务随即报告arm_arm_or_tool_collision；结合视频0.16–0.28 s两工具逐渐靠拢，该校准控制运动未保持双臂及安装工具之间的安全间距，直接使评分局在装球前终止。log step 49中agent也自述校准摆动使双臂相撞。现有证据不足以细分为轨迹生成、工具几何建模或跟踪问题，故停在控制大类。"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志；视频只有总览的8帧，能结合log step 48的服务终止信息确认双臂或工具互碰，但不能精确区分碰撞链接、接触力及控制子类。日志中的部分脚本源码被截断，后续离线逆解测试不能证明本次校准碰撞的具体内部成因；原生六项数值指标均未由评分字段报告。所有节点均未启动对应任务操作，故不填写contact_actual；初始杯托球不作为已尝试装篮的接触。"
+ },
+ "summary_zh": "评分采用重置后的第2局：视频0.00–0.28 s橙球始终在初始右杯内，首次装球、弹起后接球、再次装球和再发射入箱均未完成，终态0/4。双臂在agent脚本的校准动作中靠拢，log step 48的机器人服务报告arm_arm_or_tool_collision并终止，断点为首次装球的首步前，根因保守归为控制。无状态日志且视频仅8帧，碰撞链接及更细控制成因无法确定；之后的脚本修改和离线逆解计算没有形成新的在线评分局。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分局为重置后的第2局（log step 47–48，control_steps=26，rows 2486），视频8帧橙球始终在右杯内，四个节点均未达成，终态0/4，断点首步前、被挡/碰撞（service返回arm_arm_or_tool_collision）与控制根因（已标推断并保守停在大类）都有证据支撑，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:32:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee3b7193f800d56446f7b1fe11aa14a57bd89d4ccadf9dd4f258728737d9b373",
+   "video_sha256": "27cccb34826595e8438b8bfe2fa24abd2075e5ea5a31488935e6464547b9466c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 695,
+   "sim_steps": 3267,
+   "calls": 21,
+   "rows": 2167,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 922.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.261,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.291,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq/replay.mp4",
+  "duration_s": 7.0,
+  "fps": 25.0,
+  "frames": 175,
+  "sha256": "f3a90d499a13bbae9cb5b258979eb7f3864e070a875196fc363818076b41fd34"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.80–3.00 s，橙球随右臂安装的蓝杯移动，停在倾斜杯口内侧；视频 3.08 s 球已从杯口落下，视频 3.16–3.28 s 落在小篮右侧的杠杆区域，未进入左侧小篮。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.48–3.60 s，橙球从杠杆旁落到橙色支柱左侧桌面；视频 4.00–6.96 s 球沿桌面向左滚动，最后掉出桌沿，右杯未把球重新装篮。参考成功视频 5.20–6.60 s 可见球留在小篮内并由右杯清场，本次未出现这一状态。"
+     },
+     {
+      "t": 6.96,
+      "log_step": 163,
+      "text_zh": "观察：log step 160 启动最终控制器后，log step 163 的机器人服务状态为 episode=4、control_steps=695、done=True、reason=failed；本次视频从初态起仅包含这一局装球及球滚落的过程，先前测试局不计入节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂固定安装的蓝色方杯从下方托住并运送橙球，运输时杯子倾斜，球随后从杯口滑出；左臂锤子仅移到避让位置，未敲杠杆，不标双臂协作。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.96 s，左臂锤子先移开后保持避让，没有敲击杠杆；橙球在视频 3.08 s 离杯后落向篮外并滚到桌边，未出现由左锤发射后落回右杯的过程。右杯后段空杯移动未形成接球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.60–6.96 s，橙球一直在桌面滚动并最终落出桌沿，右杯为空；机器人未接回球，也没有把球再次倒进小篮。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.96 s，独立蓝色开口箱沿轨道移动，但未见球进入；视频 6.96 s 橙球在桌沿下方，左锤从未执行第二次发射，箱内留球条件未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "launch_free_interval_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better"
+  },
+  {
+   "name": "launch_ball_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cup_retention_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 3.08,
+   "log_step": 158,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.80–3.00 s 右杯仍携球向装球高位移动，视频 3.08 s 橙球从倾斜杯口滑出，随后落在小篮右侧的杠杆区域并在视频 3.60 s 到达桌面；直到视频 6.96 s 都没有重新装篮。log step 158 的最终脚本把移向高位倒球航点、降低到倒球位和停留倒球依次分开，球在前段运输中已丢失。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.08,
+    "log_step": 158,
+    "evidence_zh": "观察：视频 1.80–3.00 s 右杯确实托着橙球移动；视频 3.08 s 球从杯口滑出，视频 3.16–3.60 s 落到小篮外并掉上桌面。结合 log step 158 先到高位、再降低并停留倒球的控制顺序，丢球发生在运送阶段，之后没有恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 3.08,
+    "log_step": 158,
+    "source_zh": "日志、视频",
+    "evidence_zh": "推断：log step 127 将高位倒球航点求成与倒球终点相同的倾斜杯朝向；log step 158 的最终脚本先把携球杯移向该高位姿态，再降低到装篮位。视频 1.80–3.08 s 可见球逐渐移到倾斜杯口并在运输尚未结束时滑出，说明这段运输的杯朝向不能维持对球的承托。没有实测跟踪误差或力记录可把原因进一步归为逆解、反馈或某个数值参数；本次初态下的替代运输方案未验证。"
+   }
+  ],
+  "gap_zh": "本目录无状态日志，无法逐帧核实接触对、篮内速度及留存计时等数值条件。最终局在 log step 163、166 的服务状态仅报告 failed，未给具体 why；视频末尾球掉出桌沿可见，但无法据此确定服务最终触发的具体终止约束。"
+ },
+ "summary_zh": "最后评分局只尝试了首次装球，四个节点均未完成。右杯运输时倾斜，橙球约在视频 3.08 s 从杯口滑出，落到篮外后滚落桌沿，断点为首次装球；控制脚本及画面支持运输承托姿态不适配。缺少状态日志和最终局详细失败码，不能确定精确接触量或最终终止约束。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标注一致：球在约3.1 s从倾斜杯口落出，落到篮外并滚落桌沿，四个节点均未达成；断点、接触、现象和根因有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:22:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b172b243922c2f9f5e4fd52d5fd99f36b493d514d24213d19f1f6968c0c76a14",
+   "video_sha256": "f3a90d499a13bbae9cb5b258979eb7f3864e070a875196fc363818076b41fd34",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2.json

@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 595,
+   "sim_steps": 1776,
+   "calls": 21,
+   "rows": 1776,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1094.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.221,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.343,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2/replay.mp4",
+  "duration_s": 6.0,
+  "fps": 25.0,
+  "frames": 150,
+  "sha256": "336ff94259acc33e044722fca407f44ca1bda8eedca280d3ffa855bb6df45f5e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": 28,
+      "text_zh": "观察：视频 0.0–1.2 s，橙球随右臂蓝色方杯移至杠杆小篮上方，随后右杯逐渐倾斜；左臂锤头退到一旁。log step 28 的脚本在重置后执行第4局的装球动作，log step 31 的服务状态确认 episode=4。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.92–4.12 s，橙球从倾斜右杯下方出现，经过小篮旁后落到篮外下方；视频 4.24–5.36 s 球继续在篮外移动，小篮未出现球稳定留在其中的画面。视频 5.40–5.96 s 右杯移开后小篮仍为空；首次装球未完成。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 33,
+      "text_zh": "观察：log step 33 的机器人服务返回 done=True、reason=failed、why=out_of_bounds、control_steps=595；log step 34 确认这是第4局终态。视频末段未见机器人重新装球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.0–1.2 s，右臂安装方杯从下方托着橙球移动，随后倾杯倒球；视频约 4.0 s 球离杯后落在小篮外。左臂仅退让，未参与承托或击打。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.96 s，左臂锤头退到左侧后没有敲击杠杆，杠杆未发生发射抬篮动作；右杯只执行首次倾倒和移开，未承接杠杆发射的球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频约 4.0 s 首次倾倒后球落在小篮外；视频 4.4–5.96 s 右杯维持倾斜并移开，没有接回球或第二次向篮内倒球的动作。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.96 s 独立蓝箱沿轨道移动，箱内未见橙球；左锤始终未发射，末段小篮和移动箱均为空，未出现球随箱留存的结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 4.0,
+   "log_step": 28,
+   "where": "操作中",
+   "evidence_zh": "观察：第4局右臂倾杯装球时，视频 3.92–4.12 s 的橙球从小篮旁落下，未在篮内停住，之后也未重新装球；log step 33 的服务以 out_of_bounds 结束该局。首次装球是最早未修复的失败步骤。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.0,
+    "log_step": 28,
+    "evidence_zh": "观察：视频约 4.0 s，右杯已倾斜倒球，但橙球经过小篮旁并下降到篮外；视频 4.08–4.40 s 球位于小篮外侧下方，未形成篮内稳定装载。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 22 的 cup_pose 以固定杯沿位置生成倾倒姿态，log step 25 将杯沿高度设为 0.21 米、偏航设为 π+0.6，log step 28 沿用该方案执行第4局的300行倾杯轨迹。视频 3.92–4.12 s 显示该倾杯动作把球送到篮外，说明出球位置、方向与球运动的控制未使其落入小篮；没有足够证据进一步区分接触几何、轨迹跟踪或具体参数。",
+    "source_zh": "日志",
+    "t": 4.0,
+    "log_step": 28
+   }
+  ],
+  "gap_zh": "本目录无状态日志，只有总览视频；杯壁遮住部分出球过程，无法核实短时接触、毫米级落点和相对速度，也不能确认出球误差具体由哪一个控制参数导致。log step 29、32 的球坐标是 agent 自己的视觉估计，不作为节点验收数据；log step 35 关于侧向速度和落点偏差的说明仅是 agent 自述。球最终越界的位置在画面外，终止原因来自 log step 33 的服务字段；原生六项指标均未在评分器字段中报告。"
+ },
+ "summary_zh": "评分第4局只尝试首次装球：右杯运球到杠杆上方并倾倒，视频约 4.0 s 球落到小篮外，四个节点均未完成。断点为首次装球，现象是位姿不准，证据支持倾杯出球控制未成功对准小篮；log step 33 的服务随后以 out_of_bounds 终止。无状态日志且出球过程部分被杯壁遮挡，无法细分控制根因；前三局的碰撞与运动超限不属于本次评分轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0–6 s 为第4局：右杯倾倒后球落到篮外，四个节点均未达成，断点与现象（位姿不准）、控制根因（标为推断）与证据一致；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": "2026-10-30T04:21:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "76ca5b09cb604663e173dcd1660917d89c6572efb1be4dfc6fff8aa9311ca8a1",
+   "video_sha256": "336ff94259acc33e044722fca407f44ca1bda8eedca280d3ffa855bb6df45f5e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 296,
+   "sim_steps": 3563,
+   "calls": 27,
+   "rows": 2263,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1841.5,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.421,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.235,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m/replay.mp4",
+  "duration_s": 3.0,
+  "fps": 25.0,
+  "frames": 75,
+  "sha256": "76388abaaef4393d6f6b9820739f9cef8a3172a21add55ee5ee090ff31d75da0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙球在右臂安装的蓝色方杯内，杠杆小篮为空；视频 0.00–1.68 s 右杯抬起并移到小篮上方，左锤退至左侧。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 157,
+      "text_zh": "观察：视频 2.00–2.64 s 右杯逐渐侧倾，橙球仍可见于杯内；视频 2.68–2.96 s 右腕下降并遮住局部区域，杯子始终没有移开清场。log step 157 的最后在线局提交返回 done=True、why=forbidden_arm_scene_contact，尚停在 load 段。首次装篮且随后移杯的完整判据没有成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：右臂 panda-1 安装的方杯从下方托住橙球，运送到杠杆小篮上方并倾杯；左臂把锤移至左侧避让，没有与右杯共同承载球。末段服务报告机械臂与场景发生禁止接触，具体接触部件不可辨。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–2.96 s 左锤先退到左侧并停留，未敲击杠杆；橙球没有经历离篮上飞再落入右杯的过程。log step 157 的最后在线局在首次装球的 load 段就终止，未执行后面的 strike 或 catch 段。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–2.96 s 只出现右杯首次运球、倾杯，未出现第一次发射及接回球，也没有接回后的第二次装篮清场动作；log step 157 的最后在线局停在 load 段。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–2.96 s 独立蓝色滑箱在移动但箱内没有橙球，左锤没有敲杠杆；末段右杯仍停在首次装球位置，没有第二次发射或球随滑箱留存的过程。log step 157 的最后在线局在 load 段因场景接触终止。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 2.96,
+   "log_step": 157,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.00–2.96 s 右臂在杠杆小篮上方倾杯，右腕逐渐降至发射器附近，右杯尚未移开；log step 157 中该局提交返回仿真 2.96 s、done=True、forbidden_arm_scene_contact。log step 159 的服务状态确认这是最后的 episode=4、control_steps=296；前三局实验不计本次进度。推断：log step 150 的提交 dt=0.01 s，296×0.01=2.96 s，与视频 2.96 s 的最终倾杯姿态及视频总长 3.00 s 核对一致，故断点定位到首次装球操作末段。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.96,
+    "log_step": 157,
+    "evidence_zh": "观察：视频 2.64–2.96 s 右臂继续倾杯、腕部下降至杠杆装置附近，左锤留在左侧；log step 157 中机器人服务对该局 load 提交返回 forbidden_arm_scene_contact 并终止，log step 159 确认最后一局已失败。该读数指机械臂与场景的禁止接触，画面中确切接触点被腕部遮挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 2.96,
+    "log_step": 150,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 150 的 agent 控制脚本把右杯送到固定装球位姿，再在原位置连续倾转；log step 157 显示该轨迹的末端运动学验证位置及旋转误差均为零，但实际 load 提交在仿真 2.96 s 触发 forbidden_arm_scene_contact。视频 2.00–2.96 s 也显示右腕随倾杯向装置下降，说明这次装球控制未保证机械臂本体与场景的间隙。证据支持控制失败，但不足以进一步区分接触几何、轨迹设计或跟踪误差。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧接触对；视频末段右腕遮挡球及接触区域，服务只给出 forbidden_arm_scene_contact，不能确认具体连杆、被碰场景物体及接触力，也无法精确核验篮内速度和短时接触阈值。log step 166 关于右臂连杆碰固定物及镜像倾杯可修复的说法属于 agent 自述，替代方案未在评分局验证；原生指标未在 reward 中报告，均填 null。"
+ },
+ "summary_zh": "评分取最后在线第4局：右杯托球移到杠杆小篮上方并开始倾杯，但未完成首次装球后的移杯清场，四个节点最终均未达成。视频 2.96 s 附近仍在首次装球，服务在 log step 157 报告 forbidden_arm_scene_contact，断点为首次装球操作中的碰撞，根因保守归为控制。没有状态日志，且末段右腕遮挡接触点，无法辨认具体碰撞部件或验证更细的控制原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成、断点 ball_loaded_1（视频 2.96 s，操作中）、被挡/碰撞（服务读数 forbidden_arm_scene_contact）与保守的控制根因都有视频和 log 支持；时钟换算（296 步×0.01 s）有核对，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:32:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5a35aa958cb8dccd466a4f3c2dbbb3d68b3243358e4b0b9adcb9567edc6afcba",
+   "video_sha256": "76388abaaef4393d6f6b9820739f9cef8a3172a21add55ee5ee090ff31d75da0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 162,
+   "sim_steps": 466,
+   "calls": 42,
+   "rows": 466,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 3510.6,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.256,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.268,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz/replay.mp4",
+  "duration_s": 1.68,
+  "fps": 25.0,
+  "frames": 42,
+  "sha256": "737f3ad604ad53a2356cc719d38fc49ac590a907677afd9b9e1deb213d3d91b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙球在右臂蓝色方杯内；视频 0.00–0.80 s 右臂带杯向杠杆小篮上方移动，随后倾杯。"
+     },
+     {
+      "t": 1.64,
+      "log_step": 241,
+      "text_zh": "观察：逐帧检查视频 0.80–1.64 s，橙球随杯倾斜而移动，末帧仍位于杯内靠下侧杯壁处；未见球落入杠杆小篮，也未见右杯装球后移开清场。log step 241 记录最后一次重置成功后在首次倒球阶段返回 reason=failed；首次装球未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–1.64 s，右臂 panda-1 安装的方杯从下方承托橙球，携球移到杠杆小篮上方并开始倾倒；末帧球仍受杯承托。左臂仅移锤悬停，未参与承球。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.64 s 左臂锤工具移到悬停位置，未见敲击杠杆、小篮弹起、球离篮飞行再落入右杯；橙球一直随原有右杯移动，没有发生首次发射后接球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.64 s 只有右杯携带初始球向小篮移动并倾斜的单次过程，未见首次发射、接回球或第二次向小篮倒球；再次装球未发生。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.64 s 独立蓝色开口箱沿轨道移动，但箱内未见橙球；末帧橙球仍在右杯内，没有第二次发射或球随箱移动的留存过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 1.6,
+   "log_step": 241,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.80–1.64 s，右臂正在小篮上方倾杯，球仍在杯中，尚未完成首次装球及移杯清场，运动便结束；左锤未开始发射。log step 240–241 显示最后一次重置后执行此倒球动作并返回 reason=failed，log step 243 的服务元数据为 episode=4、done=True、control_steps=162、sim_time_s=1.62；评分字段 graded_by_live=1、success=0 确认最后在线局失败。推断：未修复的断点是首次装球，视频约 1.60 s 为终止附近的定位锚点。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：已逐帧查看完整视频及末尾视频 0.64–1.64 s 的放大画面，球未显著脱离右杯，未看到明确的阻挡碰撞或其他足以归类的异常；log step 241、243 的服务只返回 failed，没有具体安全事件、接触对、穿透深度或运动超限字段，inputs/ 也没有状态日志。推断：可以确定装球操作中失败，但无法判明触发终止的物理现象及根因，故两层留空；不把早期测试的失球或漏重置移用于最后评分局，也不把 agent 在 log step 244 猜测的瞬时碰撞、穿透当作事实。原生六项数值指标均未由评分器报告，保留 null。"
+ },
+ "summary_zh": "最后评分局中，右杯携带初始橙球移向杠杆小篮并倾斜，视频 1.64 s 末帧球仍在杯内，首次装球未完成，四个节点终值均为假。断点是首次装球操作中，服务在 log step 241、243 确认该局失败；画面与服务输出不能确定具体终止触发因素，现象及根因留空。会话中此前测试和漏重置启动均未计入本局进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "最后评分局视频仅 1.68 s，右杯携球移向小篮并开始倾斜，四个节点均未达成；断点为 ball_loaded_1（操作中），与 log step 241/243（reason=failed，sim_time_s=1.62，control_steps=162）一致。服务未给出具体失败事件，现象与根因留空并写明 gap_zh，合理；时钟均标明视频时间，未把 agent 时间换算为视频时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:28:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4efa89636c51dfc2285b920dbdf06c1604ffc99a6aa992b9e0b6272293834546",
+   "video_sha256": "737f3ad604ad53a2356cc719d38fc49ac590a907677afd9b9e1deb213d3d91b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 401,
+   "sim_steps": 1905,
+   "calls": 38,
+   "rows": 4000,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1317.7,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 57.128,
+   "max_lag_s": 0.1845,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 1.38,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.175,
+   "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/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f/replay.mp4",
+  "duration_s": 4.08,
+  "fps": 25.0,
+  "frames": 102,
+  "sha256": "de21169e4984bc200821142a43738dc80cc2f6ba05b8f40bee7bb4162faf55bb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙球在右臂蓝杯内，杠杆小篮为空；右臂随后抬杯并移到小篮上方。"
+     },
+     {
+      "t": 3.92,
+      "log_step": 84,
+      "text_zh": "观察：视频 3.00–4.04 s 右杯逐渐倾转并下降，直到末帧仍覆盖小篮上方，没有出现装球后移杯清场的动作；左锤始终停在起始位置。log step 84 的在线服务报告 episode 4 在仿真 4.01 s、control_steps=401 时以 reason=failed 结束。首次装球的完整验收未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00 s 右臂安装方杯从下方托住橙球，随后运杯至杠杆小篮上方并尝试倾倒；没有夹爪直接夹球。末段杯体遮挡球，无法确认球离杯后的具体接触。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.04,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.00–4.04 s 左锤没有击打杠杆，未见球被弹起或右杯承接飞行球；右臂止于首次倾倒动作。log step 83 的脚本输出将第一次击打安排在仿真 10.15 s，在线局在此前已结束（log step 84）。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.04,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–4.04 s 只有右杯首次搬运与倾倒，未发生第一次发射接球，也没有接回球后再次倒入小篮的动作。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.04,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–4.04 s 轨道上的独立蓝箱持续移动且可见箱内为空；左锤未击打，未见球入箱或随箱留存。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "launch_free_interval_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better"
+  },
+  {
+   "name": "launch_ball_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cup_retention_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 3.92,
+   "log_step": 84,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.60–4.04 s 右杯在首次倒球时倾转并向杠杆下降，尚未移杯清场，画面即结束；log step 84 的服务返回 episode 4、control_steps=401、仿真 4.01 s、reason=failed。首次装球是当时正在执行且此后未修复的步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.92,
+    "log_step": 84,
+    "evidence_zh": "观察：视频 3.60–4.04 s 右杯倾转时杯体向下扫到小篮附近，未完成倒球并撤离。log step 86 所列倾杯目标工具位置为(0.02,0,0.30)米，而 log step 84 服务末次 proprio 中右杯工具位置为约(0.0449,-0.0521,0.2380)米。推断：首次装球倾转过程中工具位置发生明显偏移；不据此断言具体碰撞对或判负约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.92,
+    "log_step": 86,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 86 保存的控制代码要求右杯先到(0.02,0,0.30)米、再以同一目标位置翻转；log step 84 的服务工具位姿与视频 3.60–4.04 s 均显示倾转中杯体下降并偏向一侧，首次装球未完成，支持工具运动控制存在问题。现有记录不足以区分轨迹插值几何偏移与伺服跟踪误差，不细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；log step 84/86 的服务仅给出 reason=failed，未给具体失败事件或接触对。视频末段球被杯壁遮挡，不能确定球是否短暂接触过小篮，也不能确定终止由碰撞、穿透或运动超限中的哪一项触发；但杯子尚未清场，首次装球完整判据明确未达成。所有原生留存、自由飞行和箱速指标均未在评分器字段中报告。",
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  }
+ },
+ "summary_zh": "评分视频对应最后一次在线局 episode 4，机器人仅尝试首次装球，四个节点均未完成。右杯在视频约 3.60–4.04 s 倾转时向发射器下降并偏移，尚未清场便终止，支持位姿不准及控制问题。末段球被杯壁遮挡，服务未提供具体失败触发项，不能确认碰撞对或更细的控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成、断点在首次装球（操作中）与视频和log一致；位姿不准+控制有视频末段和log step 84/86 支撑，且已如实说明无法细分。未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:37:28Z",
+  "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/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c169b74849467de2a65b4ef1e90d7583c1f70e461425e75545332ac3f8e4b8a9",
+   "video_sha256": "de21169e4984bc200821142a43738dc80cc2f6ba05b8f40bee7bb4162faf55bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 611,
+   "sim_steps": 1494,
+   "calls": 3057,
+   "rows": 5998,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1297.5,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 44.777,
+   "max_lag_s": 0.0041,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 1.737,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.215,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.246,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l/replay.mp4",
+  "duration_s": 6.16,
+  "fps": 25.0,
+  "frames": 154,
+  "sha256": "85693420a701dd74ac207b82671bf7c41522b25c9c580fd87d5a455651c5f29d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.40 s，橙球位于右臂安装的蓝色方杯内，右臂随后把杯子移向杠杆小篮并倾斜。"
+     },
+     {
+      "t": 4.24,
+      "log_step": null,
+      "text_zh": "观察：视频 4.24–4.44 s，右杯倾倒后橙球出现在小篮旁、低于篮口的位置，向桌面方向下落；视频 5.44–6.12 s 杯子抬离后，小篮内没有橙球，未出现首次装球及清场完成的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–0.40 s，右臂安装方杯从下方托住橙球，随后运球、倾杯，视频 4.24 s 球从杯子倒出并落向小篮外侧。左臂工具先退避后悬停，未与球或杠杆建立操作接触。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.12,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.12 s，左臂锤工具退开后持续悬停，未敲杠杆，未见杠杆弹球及右杯接回球；视频 4.24 s 的球下落发生在首次倾杯期间，不是发射后的接球。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.12,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.12 s 仅有一次右杯靠近小篮、倾倒、抬离的过程；未出现发射接球后再把球倒回小篮的第二次装球。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.12,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–6.12 s，右侧独立滑箱持续移动，但箱内未出现橙球；左臂没有完成任何一次敲击，未出现第二次发射或球随箱留存的结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 4.24,
+   "log_step": 45,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.24–4.44 s，右臂倾杯倒出的橙球在小篮旁向下落，未落稳在篮内；视频 5.44–6.12 s 杯子抬离后小篮仍为空，此偏差未修复。log step 45 明确最后一次重置进入第 4 局并启动 gen.py，服务输出 DONE 611 failed；log step 46 再次确认 episode=4、done=True、reason=failed，后续发射尚未执行。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.24,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.24–4.44 s，橙球从倾斜的右杯倒出后，在杠杆小篮外侧、低于篮口的位置下落；视频 5.60–6.12 s 杯子移高后篮内仍为空。球在倾倒送入时便未到达目标篮内，并非在篮内放稳后才滚出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 40 的 pour_track 以预设杯位姿和倾角生成首次装球轨迹，log step 42 的 main 将其提交给机器人，并在后续发射附近才进入视觉接球逻辑；log step 45 确认该脚本用于第 4 局。视频 0.40–4.44 s 显示右臂确实执行移杯和倾倒，却把球送到小篮外，视频 5.44–6.12 s 也没有修正装球。由此将该物理装球失败归为控制；现有证据不足以区分出球接触几何、轨迹误差或伺服跟踪的具体责任。"
+   }
+  ],
+  "gap_zh": "本目录无状态日志，单一总览视角在倾杯时遮挡球与杯口的部分接触，无法还原精确出球点、接触力及相对速度。服务在 log step 45–46 仅给出 failed，没有阶段计时或具体安全事件；agent 在 log step 49 自述怀疑回正时角速度超限并明确未核实，不能据此认定终止原因，也不将前 3 局调试中的碰撞移用于评分局。六项原生连续指标均未在 reward 中报告，填 null。"
+ },
+ "summary_zh": "评分视频对应 log step 45 最后重置后的第 4 局：右杯运球并首次倾倒，但视频约 4.24 s 球从小篮旁落下，四个节点均未完成。首次装球是未修复的断点，现象为位姿不准，日志与画面支持宽泛的倒球控制失败；左锤发射和后续接球、再装球、入箱均未发生。服务最终只报告 failed，缺少具体安全事件和状态日志，不能核实 agent 所猜测的超速终止原因。",
+ "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 0-6.16 s（约等于 611 个控制步）与标注一致：右杯在视频 4.24 s 前后把球倒到小篮旁而非篮内，之后篮内无球，四个节点均未达成，断点 ball_loaded_1 / 操作中 / 位姿不准合理；控制根因表述宽泛但已声明证据不足，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:33:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "84e6cade4d5073bc1fbe95227a973a6e38042a8dd57890c40e500889b4156820",
+   "video_sha256": "85693420a701dd74ac207b82671bf7c41522b25c9c580fd87d5a455651c5f29d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 182,
+   "sim_steps": 672,
+   "calls": 3225,
+   "rows": 32140,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2003.9,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 20.119,
+   "max_lag_s": 0.0016,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 6,
+   "request_busy_s": 2.1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.48,
+   "peak_processes": 8,
+   "peak_disk_gb": 6.45,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h/replay.mp4",
+  "duration_s": 1.88,
+  "fps": 25.0,
+  "frames": 47,
+  "sha256": "4075879a6f624570ffeee060c2608ad6dbb8f375728e3ab4245b7d2e23850633"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s橙球位于右臂安装的蓝色方杯中；视频0.40–1.28 s右臂把杯移向杠杆小篮上方，视频1.36–1.84 s杯逐渐倾斜，尚未移杯清场。逐帧检查全部47帧，没有出现装球后杯子撤离的状态，首次装球事件未完成。"
+     },
+     {
+      "t": 1.8,
+      "log_step": 96,
+      "text_zh": "观察：log step 96中机器人服务返回episode=4、control_steps=182、sim_time_s=1.82、done=true、reason=failed；log step 95的最后一局控制器记录仍为ph=load1。视频1.80–1.84 s相应显示倾杯动作结束，不能把agent在log step 99一度自述“球已入篮”当作达成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.00–1.56 s，右臂panda-1安装的蓝色方杯从下方托住橙球并向杠杆小篮搬运，随后倾杯；球尚未完成向小篮的转移及移杯清场。左臂锤头未接触杠杆，不记双臂协作。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.84,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.84 s左臂锤头仅在压垫上方小幅调整后悬停，未见敲击杠杆、小篮抬起、球离篮自由飞行及随后落杯的过程；右杯一直处于首次装球的移近和倾斜动作，没有弹起后接球事件。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.84,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.84 s只见右杯携带初始球向小篮靠近并开始倾斜，未见发射后接回球、再倒回小篮并撤杯的过程。"
+     },
+     {
+      "t": 1.84,
+      "log_step": 95,
+      "text_zh": "推断：首次装球和弹起后接球均未达成，且log step 95最后一局记录始终处于控制器的load1阶段，因此按本事件的前置顺序，再次装球未达成。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.84,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.84 s轨道上的独立蓝色开口箱持续移动，箱内未见橙球；未见第二次敲杠杆或球飞入箱内并随箱留存，终帧视频1.84 s箱内仍为空。该状态条件没有成立区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 1.8,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频1.36–1.84 s右臂正在小篮上方倾杯，杯尚未清场，左锤未开始发射；log step 95记录最后一局（attempt 3，即episode 4）停在load1，log step 96机器人服务确认该局已failed并冻结在仿真1.82 s。推断：log step 3给出的控制周期为0.01 s，182个控制步对应仿真1.82 s，与视频约1.80 s的倾杯终止姿态核对一致，故以视频1.80 s作首次装球失败的导航锚点；此前没有已完成的装球可修复。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/未提供状态日志；本次视频仅为总览视角，视频1.60–1.84 s球与杯壁的局部接触受杯沿及机械手遮挡，无法测定接触力、穿透深度或实测运动超限。log step 106的服务状态仅报告reason=failed，没有具体失败事件；评分字段infra_error=0、sim_error=0，支持按已发生的物理评分失败处理。agent在log step 121自述怀疑倾杯时球撞杯壁引起excessive_penetration，但其诊断是离线估算，不能排除其他失败触发项；因此现象和根因均留空，不把未完成倒球本身标成位姿不准或没保持住。评分器也未报告六项原生指标的数值，均保留null。",
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  }
+ },
+ "summary_zh": "评分对象为最后一局episode 4：右臂用安装杯托球移至杠杆小篮上方，并在视频约1.4 s开始倾杯；首次装球及清场未完成，四个节点最终均未达成。断点为首次装球的操作中，视频约1.8 s动作终止，log step 96的服务结果确认该局failed。缺少具体失败事件和接触监测，无法验证agent关于球撞杯壁造成过深穿透的猜测，现象与根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点均未达成、断点在首次装球（操作中，视频约1.8 s）与视频帧及log step 96/114的服务读数（control_steps=182、reason=failed）一致；失败具体事件无法由视频或服务读数判定，现象与根因留空并附gap_zh可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:35:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "85b04450716c00515dd398fb10ebe2594e00e0fa75d7306b0e4c92285536f98d",
+   "video_sha256": "4075879a6f624570ffeee060c2608ad6dbb8f375728e3ab4245b7d2e23850633",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 242,
+   "sim_steps": 439,
+   "calls": 5,
+   "rows": 2000,
+   "resets": 1,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 3140.6,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 13.139,
+   "max_lag_s": 0.0015,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 0.426,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv/replay.mp4",
+  "duration_s": 2.48,
+  "fps": 25.0,
+  "frames": 62,
+  "sha256": "75237c3b27a3d452b3d0f3a1ffb18af94747378cadd3e1762d7dd37132302985"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙球位于右臂蓝杯内，杠杆小篮为空；视频 0.60–2.44 s 右杯一直悬在小篮后上方，未出现向小篮倾杯倒球、随后移杯清场的过程，左臂却逐渐向发射器俯下。"
+     },
+     {
+      "t": 2.44,
+      "log_step": 52,
+      "text_zh": "观察：视频 2.44 s 结束时未见球落入小篮，亦无装球后的清场；log step 50 重置后，log step 51 启动最终在线局，log step 52 的机器人服务状态为 done=True、reason=failed、control_steps=242。该最终局与本视频的短时运动一致；此前会话调试不计入节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右臂固定安装的蓝色方杯在开局从下方托住橙球；装球尝试中杯未到小篮上方完成倾倒。左臂的异常运动未能确认产生何种接触，不据此虚构击打或抓握。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.44 s 没有球从小篮弹起、自由飞行再落进右杯的过程，右杯未完成首次装球；成功参考视频约 8.7–10.0 s 的发射与接球形态在本视频中未出现。推断：本节点的首次装球前置及发射接稳条件均未完成。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.44 s 没有首次发射后接球，也没有右杯把接回的球再次倒入小篮并移开的过程。推断：再次装球未启动且未达成。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.44 s 右侧开口箱随轨道移动，箱内未见橙球，也没有第二次发射或球随箱移动的留存过程；成功参考视频约 16.3–17.8 s 的再发射入箱结果未出现。本节点终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 2.4,
+   "log_step": 52,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.60–2.44 s 首次装球阶段中，右杯未在杠杆小篮上方倾倒清场，左臂反而逐渐俯向发射器，至视频 2.44 s 终止仍未完成装球。log step 50–52 确认这段为最后一次重置后提交的在线局，机器人服务报告 failed；视频中没有后续修复。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.20–2.44 s 左臂手部持续降低至发射器附近，右臂蓝杯仍悬在小篮后上方且保持开口向上；装球所需的杯口对准小篮、倾倒和移杯清场均未发生。球未被送入目标篮，这与成功参考视频约 5.6–7.0 s 可见的篮内橙球及移杯结果不同。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：控制脚本把两臂的动作列顺序写反。log step 21 的 build_rows 明确以 ARM1/Q0_P1 为 right_way 生成 qp，却写入 A[:,0:7]；以 ARM0/Q0_P0 为 left_way 生成 ql，却写入 A[:,8:15]。任务接口规定 panda-0 在前，log step 5 的 target 布局也先列 panda-0、再列 panda-1；log step 27、29 的离线核对仍把前七列当右臂，未发现此错误，log step 51 最终执行同一 gen.py。视频 0.60–2.44 s 恰为左臂执行大幅运动、右杯未倾倒的结果，支持该指令映射错误导致首次装球失败；不能据此确定最终触发的具体安全检查。"
+   }
+  ],
+  "gap_zh": "没有状态日志；已检查 inputs/，未提供逐帧接触、原生阶段计时或具体 failure_reason。log step 52 仅报告通用 failed，因此无法确定终止由哪对物体接触或哪项运动检查触发；末段球在右杯内的精确位置被杯壁遮挡，不能把 agent 在 log step 53 猜测的掉球或禁碰当作已观察事实。六项原生指标在评分器字段中均未报告，故保留 null。"
+ },
+ "summary_zh": "评分在线局在首次装球时结束，四个节点均未达成：右杯未向小篮倒球，后续发射、接球、再次装球和入箱均未发生。视频中的左臂异常俯下与日志里两臂动作列写反相符，归因为控制错误；缺少状态接触记录及具体终止原因，无法进一步确认触发的物理检查。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点均未达成、断点 ball_loaded_1 与视频一致（2.48 s 视频中右杯未向小篮倒球，左臂下俯）；时钟、日志步号合法，校验通过。根因'控制·控制'已标为推断，依据日志中 build_rows 的列写入与 panda-0 在前的约定，视频与之相符；动作向量列序未被日志直接打印，故置信度保守。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:39:22Z",
+  "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/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe7173ca4ee953a3cc9eda673b305d9768551f4853416d4861e7e8ca13322981",
+   "video_sha256": "75237c3b27a3d452b3d0f3a1ffb18af94747378cadd3e1762d7dd37132302985",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp.json

@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "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": 347,
+   "sim_steps": 3402,
+   "calls": 20,
+   "rows": 3485,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 907.6,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 102.011,
+   "max_lag_s": 0.1722,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 1550,
+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 1.642,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.304,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.355,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp/replay.mp4",
+  "duration_s": 3.52,
+  "fps": 25.0,
+  "frames": 88,
+  "sha256": "03092825f89731f8590f15bfabdad4a90d85b0c98b3f353cada62684bf4b68f1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，橙球在右臂安装的蓝杯内，小篮为空；视频 0.80–1.80 s，右臂带球移近杠杆并倾杯。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 146,
+      "text_zh": "观察：视频 1.80 s、2.80 s、3.20 s 及最后一帧视频 3.48 s，橙球仍在倾斜右杯的内侧下缘；视频 2.00–3.48 s 已逐帧检查，未见球脱杯后在小篮内停留，右杯也未完成倒球后清场。log step 146 的已执行脚本将右杯移至预设倒球姿态、固定等待后回撤；相较成功参考视频 6.20 s 可清楚看到的篮内橙球，本次首次装球未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–3.48 s，右臂安装的蓝色方杯承托、运送橙球；右臂倾杯后球仍留在杯内侧，未转移到杠杆小篮。左臂先避让、后返回，未见其与右杯同时承托球，不标双臂协作。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.48,
+      "log_step": 149,
+      "text_zh": "观察：视频 0.00–3.48 s 未见橙球从小篮弹起、自由飞行并落入右杯；视频末尾橙球仍在首次装球所用的倾斜右杯内，左锤只是从避让位返回。log step 149 的机器人服务状态显示最后在线局 episode=4、control_steps=347、reason=failed，未执行完计划。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.48,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–3.48 s 只出现首次带球倾杯，未发生首次发射和接回后的第二次装球；最后一帧视频 3.48 s 橙球仍在原右杯内，小篮未见装入的球。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.48,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–3.48 s，独立蓝色滑箱沿轨道移动但箱内没有橙球；视频末尾橙球可见于右杯内，未发生再次装篮后的发射入箱与随箱留存。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": 2.8,
+   "log_step": 146,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.80–2.80 s 右臂已倾杯并停留，但橙球仍留在杯内侧下缘；视频 2.80–3.48 s 右杯开始回撤、左锤返回，始终未见球转移到小篮。log step 149、151 的机器人服务将最后在线局报告为 episode=4、control_steps=347、reason=failed；首次装球一直未修复。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 2.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.80 s、2.80 s、3.20 s 和 3.48 s，右杯已明显倾斜，橙球仍靠在杯内侧下缘，随杯运动，没有离开承载杯进入目标小篮；首次装球所需的脱杯释放未发生。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 146,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 146 的已执行控制器把固定 q_dump_clean 作为倒球姿态，停留50个控制步后直接向接球姿态插值；视频 1.80–2.80 s 显示该倾杯姿态仍让橙球留在杯壁内侧，回撤时球也未脱杯。该杯姿与杯壁形成的承载几何没有实现释放到篮中的接触转换；缺少接触力与球的精确状态，不能进一步断定摩擦或某个数值参数错误，也未验证本实例中的替代杯姿。"
+   }
+  ],
+  "gap_zh": "没有状态日志，机器人服务在 log step 149、151 只给出通用 reason=failed，没有原生阶段和细分判负原因。视频 3.20–3.48 s 左锤与右杯逐渐靠近并在投影中重叠，但仅凭总览不能确定实际接触对、穿透深度或是否由运动限值触发终止，故不另加碰撞或违反约束现象；杯内球与杯壁的精确作用力也无法测定。log step 155–159 是该在线局结束后的脚本修改与离线数值检查，未重新执行，不计入节点进度。"
+ },
+ "summary_zh": "评分视频仅包含最后在线局的首次倾杯装球尝试：右杯移动并倾斜，橙球直到视频 3.48 s 仍在杯内，四个节点均未完成，断点为首次装球。推断倾杯承载几何未能释放球；log step 149、151 确认该局已失败，之后修改的控制器没有再次执行。缺少状态日志及细分判负字段，末尾工具靠近是否触发禁碰或其他检查不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频仅 3.52 s（最后在线局 347 控制步），四个节点均未达成、断点 ball_loaded_1 与帧一致：右杯倾斜后橙球直到 3.48 s 仍在杯内，未进入杠杆小篮（对照参考视频 6.2 s 篮内有球）。时钟、证据与 gap_zh 无误；球在低分辨率下较小，但未见与标注矛盾的帧。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:36:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "72bda37961d3ecb89a30cd482b2a1c163931d58b6e53a5880855139e2d41d2ff",
+   "video_sha256": "03092825f89731f8590f15bfabdad4a90d85b0c98b3f353cada62684bf4b68f1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 361,
+   "sim_steps": 2480,
+   "calls": 533,
+   "rows": 2060,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 836.8,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 74.356,
+   "max_lag_s": 0.1213,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 778,
+   "late_steps": 333,
+   "requests_refused": 1,
+   "request_busy_s": 1.672,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 6.435,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.025,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm/replay.mp4",
+  "duration_s": 3.68,
+  "fps": 25.0,
+  "frames": 92,
+  "sha256": "fdf496b35ace4c9cdfbce62250024c5d2628d1b083f3a6ac938bf91e3fd5c0f2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙球在右臂安装的蓝色方杯内，小篮为空；机器人随后将右杯移向发射器上方并倾转。"
+     },
+     {
+      "t": 3.16,
+      "log_step": 98,
+      "text_zh": "观察：视频 2.40–3.16 s 橙球仍可见于倾斜的右杯内侧、靠近杯沿和安装端；下方杠杆小篮一直为空。视频 3.20–3.64 s 球被右腕及杯壁遮挡，小篮仍为空，未出现装球并移杯清场；log step 98 的最后一局日志停在脚本状态 pour2，报告 DONE(status) failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–3.16 s，右臂固定安装的方杯从下方及内壁承托橙球，机器人搬运并倾杯尝试首次装篮；左臂把锤移开，未见锤接触杠杆或球。不重复标记夹爪与安装工具的关系。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.64,
+      "log_step": 98,
+      "text_zh": "观察：视频 0.00–3.64 s 左锤抬起后停在杠杆外侧，未敲击杠杆；橙球未进入小篮，未见从杠杆弹起后再落入右杯。右杯内原有球不算发射后接球，首次装球尚未完成。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.64,
+      "log_step": 98,
+      "text_zh": "观察：视频 0.00–3.64 s 只出现一次右杯搬运及倾转，小篮始终为空；没有第一次发射接球，更没有接回后再次装篮。log step 98 的最后一局控制脚本仍在首次倾杯状态 pour2 时结束。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–3.64 s 独立蓝箱沿轨道移动，箱内未见橙球；左锤始终未发射球。视频最后一秒逐帧检查仍为右杯在高处倾转、移动箱为空，未形成随箱留存。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_loaded_1",
+   "t": null,
+   "log_step": 98,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.00–3.64 s 机器人正在用右杯搬运并倾倒初始球；视频 3.16 s 球仍在杯内侧，小篮为空，之后球被右腕遮住，小篮始终未装入球。log step 98 记载最后一局在脚本状态 pour2 报告 failed，log step 110 的机器人服务状态确认 episode=4、done=true、reason=failed、control_steps=361。首次装球未完成且没有后续修复，具体触发失败的瞬间不可见，故不设视频时刻。"
+  },
+  "unmet": {
+   "ball_loaded_1": false,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中没有状态日志；评分字段和 log step 110 的服务结果只给 failed，没有具体接触、越界或运动超限原因。视频 3.20–3.64 s 球和右杯安装区域被右腕遮挡，未见明确掉球、碰撞或超限事件，故现象与根因均留空。agent 自述球早已落桌并因 out_of_bounds 结束（log step 116、117），但视频 2.40–3.16 s 仍见橙球在右杯内侧，该自述与画面不符，不能据此标没保持住或控制根因。原生六项连续指标也均未由评分字段报告。"
+ },
+ "summary_zh": "评分视频对应最后一局，机器人仅尝试首次装球：右杯携球移动并倾转，球未进入杠杆小篮，四个节点均未完成。断点为首次装球的操作中；视频末段遮挡了球及安装区域，服务仅报告 failed，无法确定具体失败现象和根因，agent 自述的早期落桌与画面不符。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成与视频一致：末局仅右杯携球倾转，小篮始终为空；断点 ball_loaded_1 操作中合理；现象与根因留空并有 gap_zh，证据不足以支持具体现象，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8d490377f31e1bce7e18258bab663001f8c3d0dbe875d4af754526392bb3a09f",
+   "video_sha256": "fdf496b35ace4c9cdfbce62250024c5d2628d1b083f3a6ac938bf91e3fd5c0f2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd",
+ "taskKey": "pandadyn/d09_lever_launch_catch_reload",
+ "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 745,
+   "sim_steps": 1724,
+   "calls": 491,
+   "rows": 3855,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1959.8,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 3.0,
+   "clock_s": 51.673,
+   "max_lag_s": 0.0105,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 4.465,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.735,
+   "peak_processes": 43,
+   "peak_disk_gb": 1.623,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd/replay.mp4",
+  "duration_s": 7.52,
+  "fps": 25.0,
+  "frames": 188,
+  "sha256": "8ea14233c4bc72224b00de77791f2ff4341b26098bf82e81eb3ccefa2f4472ee"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_loaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.08,
+      "log_step": null,
+      "text_zh": "观察：视频3.40–3.84 s右臂蓝杯倾斜覆盖小篮上方；视频3.88–4.08 s橙球从杯下出现并落在杠杆小篮内，视频4.20–5.28 s持续留在近水平的小篮中，右杯随后抬起、转正并退开。"
+     },
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "推断：视频5.28–5.64 s右杯已明显离开装篮位置，橙球仍在小篮内；据装球后移杯的可见过程判定首次装球及清场约在视频5.4 s完成，时间不确定度约0.3 s。无状态日志，不能逐项量测毫米级位置、相对速度及原生装球计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频0–3.84 s右臂安装的蓝色方杯承载并运送橙球，随后倾杯将球倒入杠杆小篮；视频4.20–5.64 s杯子移开，未见夹爪直接夹球。"
+     }
+    ]
+   },
+   "ball_caught_after_launch": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.44,
+      "log_step": 87,
+      "text_zh": "观察：视频6.48–7.40 s右杯空杯下降到接球位置，橙球仍在小篮内；视频7.44–7.48 s左锤下压杠杆压垫、小篮与球刚开始抬升，末帧球仍在小篮上方，未进入右杯。log step 87的本局服务回报episode=4、control_steps=745、sim_time_s=7.45、done=true、reason=failed，与视频终止动作一致；这些是服务状态，不是agent的完成判断。"
+     },
+     {
+      "t": 7.48,
+      "log_step": null,
+      "text_zh": "观察：成功参考视频8.80–10.00 s可见小篮明显上翻、球飞向右杯并在随后带杯移开时留在杯内；本次视频截至7.48 s最后一帧没有这一接住过程，故该节点未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频7.40–7.48 s左臂安装锤头向下敲击杠杆压垫，小篮随之抬升；候选名称：击打，现有“怎么碰”词表没有击打项。右杯虽已就位，但未见它接触或承托发射后的球，因此不填托/舀，也不记双臂同时承载。"
+     }
+    ]
+   },
+   "ball_loaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.48,
+      "log_step": null,
+      "text_zh": "观察：本次视频0–7.48 s仅出现一次右杯向小篮倒球；随后右杯移至接球位置，终止前橙球仍在首次装球的小篮处，未发生接住后再次携球返回、倒球和清场的过程。"
+     }
+    ]
+   },
+   "ball_in_moving_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.48,
+      "log_step": null,
+      "text_zh": "观察：本次视频0–7.48 s沿轨道移动的独立蓝箱始终未接到橙球；视频6.48–7.48 s逐帧检查仍见球位于杠杆小篮处，既��第二次装篮发射，也未留在移动箱内。成功参考视频16.64–17.92 s可见球离篮、进入独立滑箱并随箱移动，本次未出现该结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "loaded_hold_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_free_interval_s",
+   "unit": "s",
+   "threshold": 0.04,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "launch_ball_height_m",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cup_retention_s",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "cart_abs_rail_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_retention_s",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught_after_launch",
+   "t": 7.44,
+   "log_step": 87,
+   "where": "操作中",
+   "evidence_zh": "观察：视频7.40–7.48 s机器人左锤正在下压杠杆压垫，球随小篮刚开始升高，右杯还未接到球；log step 87的第4局服务状态在control_steps=745时返回done=true、reason=failed。推断：首个未修复的步骤是正在执行的首次发射接球，而非尚未开始的再次装球或入箱。log step 86的补发修正因本局已结束而被拒绝，不能作为判负前的控制脚本崩溃。"
+  },
+  "unmet": {
+   "ball_loaded_1": true,
+   "ball_caught_after_launch": false,
+   "ball_loaded_2": false,
+   "ball_in_moving_box": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/有本次视频、运行日志和成功参考，但没有独立状态日志；log step 87只给出服务通用reason=failed，未给出具体失败事件、接触对、穿透深度或安全监测触发项，末态proprio文本也有截断。视频7.40–7.48 s只显示敲击启动、小篮及球初始抬升便结束，无法分辨异常碰撞、接触力或运动超限，也不能把尚未来得及发生的接球判为接触失误，因此失败现象和根因均留空；首次装球的精确阈值及清场时刻也只能由画面近似判断。"
+ },
+ "summary_zh": "观察：评分视频对应log step 82启动的第4局；右杯把球倒入杠杆小篮并移开，约视频5.4 s完成首次装球，最终达到1/4节点。观察：视频7.44–7.48 s左锤首次敲击、球刚开始抬升时服务判负，断在“弹起后接球”的操作中，未接稳、未再次装球或入箱。观察：日志未报告具体失败事件且无独立状态日志，不能确定终止的物理机制，现象与根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（仅首次装球达成，约视频4.1–5.4 s）、断点（弹起后接球、视频7.44 s、log step 87 服务判负）与空的现象/根因（附gap_zh）均与视频和日志一致，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:37:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0cad534bd09628faf08342f8d9fc46dd31551182e19fdf4cca5efc4a0c71f3d1",
+   "video_sha256": "8ea14233c4bc72224b00de77791f2ff4341b26098bf82e81eb3ccefa2f4472ee",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1721,
+   "executed_rows": 1721,
+   "sim_steps": 1721,
+   "physics_steps": 17210,
+   "sim_time_s": 17.21,
+   "phases_done": 4,
+   "valid": 0,
+   "replay_wall_s": 39.7,
+   "replay_timeout_s": 472.1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 54,
+   "agent_resets": 29,
+   "agent_sim_steps": 3079,
+   "agent_replays": 29,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 0.666,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.998,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i/replay.mp4",
+  "duration_s": 17.28,
+  "fps": 25.0,
+  "frames": 432,
+  "sha256": "9ac9056c23069a1c838c4385ba5fe13bfb7eef0bfc009ca4143407b0f861a483"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.60 s，橙球先向上飞行再下落；视频 0.64–0.80 s，球进入Panda末端的蓝色方杯，之后在杯内小幅移动。"
+     },
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "推断：视频 1.12–1.28 s，橙球已在杯中停留，视频 1.36–1.60 s又随杯上升而未飞出；结合评分器phases_done=4，首次稳定接球完成约记为视频 1.2 s，时刻有约0.3 s视觉估计误差。该节点为锁存事件，后续倒球不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.64–1.60 s，Panda末端安装的蓝色方杯用杯底及杯壁承接、承托橙球；手指未直接抓球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.60–6.80 s，Panda倾转蓝杯，把橙球倒向远离基座的灰槽；视频 6.80–12.40 s，橙球沿该槽向下游移动，杯在球上方撤离后移向下游。"
+     },
+     {
+      "t": 13.16,
+      "log_step": null,
+      "text_zh": "观察：视频 12.80–13.16 s，橙球从槽出口附近的橙色斜板处弹出，随后落入移到下游的蓝杯；视频 13.16–13.92 s，球在杯内滚动后停留，视频 14.00–15.00 s球随杯离开接球处上升。"
+     },
+     {
+      "t": 13.9,
+      "log_step": 160,
+      "text_zh": "推断：根据视频 13.76–14.24 s的杯内稳定及随后带球离开，将完成时刻约记为视频 13.9 s，误差约0.3 s。log step 160中最后保存的1721行轨迹经服务重播报告phase=4、moving_cart_delivery，且与本次评分器的1721动作、phases_done=4及视频末段一致，支持此前入槽、反弹及再接球均已验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 5.60–6.80 s，Panda末端蓝杯承托并倾倒橙球；视频 13.12–14.24 s，同一只杯从下方接回并继续承托球。两段先后发生，记录同一杯—球接触链。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.00–16.20 s，Panda将接回的橙球连杯抬起、向小车方向搬运并下降，球仍在末端杯中；导轨上的另一蓝色开口箱是目标小车。"
+     },
+     {
+      "t": 17.2,
+      "log_step": 160,
+      "text_zh": "观察：视频 16.20–17.24 s，Panda逐渐倾杯、腕部向基座折回，目标小车内未出现橙球。log step 160的最终保存及重播结果为1721行、phase=4、success=false、self_collision，末端事件仍含ball:tool接触；评分器同时记录phases_done=4、valid=0，未完成球与杯分离后在移动车内稳定随行的验收。"
+     },
+     {
+      "t": 17.24,
+      "log_step": null,
+      "text_zh": "观察：已与成功参照视频 17.80–19.00 s比较，参照中球从杯离开落入小车并随车移动；本次视频直到最后一帧 17.24 s均未出现这种入车结果。参照只用于辨认目标及完成形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 14.00–17.24 s，Panda通过末端蓝杯承托橙球向小车搬运并开始倾转；log step 160的最终重播末端仍记录ball:tool接触，未见球进入小车。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_in_moving_cart",
+   "t": 17.2,
+   "log_step": 160,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.60–17.24 s，Panda正持杯倾转准备送球入车，腕臂向靠近基座的方向折回，随后画面终止，球未入车。log step 160是最后保存的1721行轨迹的重播，报告moving_cart_delivery阶段self_collision、valid=false，并记录panda_link1与panda_link5接触；log step 162确认交付仍为1721行，本次评分器也执行1721行且phases_done=4。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 17.2,
+    "log_step": 160,
+    "evidence_zh": "观察：视频 16.80–17.24 s，机械臂持杯倾转时上部腕臂逐渐折向基座附近。log step 160的最终轨迹重播在仿真 17.201 s记录contact:panda_link1:panda_link5及failure，并以self_collision结束；视频约 17.2 s也在这一折叠姿态终止。因此此处是机器人连杆自碰，阻断送球入车。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 17.2,
+    "log_step": 160,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 29给出的Arm.row将每个工具目标姿态转为关节逆解，log step 111把上一关节解加入seed；log step 154为入车阶段指定升杯、下降和倾转的连续工具目标，log step 158仅再限制小车目标横坐标。最终log step 160保存并重播的轨迹仍使panda_link1与panda_link5自碰，视频 16.80–17.24 s亦显示对应的向内折叠。任务目标及接球顺序均已正确执行，故把入车末段未得到避自碰关节轨迹归于轨迹或逆解；不把agent在log step 163所称的“逆解分支”当作已独立证实的具体内部原因。"
+   }
+  ],
+  "gap_zh": "本次没有逐帧状态日志；25 fps总览不能直接量测25 ms接触历史、精确相对速度或0.18 s稳定窗口，两次接球完成时刻依据视频稳定和随后带球移动近似定位，并由评分器完成四阶段支持。自碰的具体连杆对来自与交付行数、终止阶段及视频末态相符的最终服务重播（log step 160），总览不能独立分辨碰撞接触点；逆解是否跳分支及内部求解过程没有逐步记录。",
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": true,
+   "ball_in_moving_cart": false
+  }
+ },
+ "summary_zh": "本次交付完成首次接球和经指定槽反弹后再接球，最终为2/3节点；完成时刻约为视频 1.2 s及视频 13.9 s。送球入移动小车时，Panda的关节轨迹向内折叠并在视频约 17.2 s发生连杆自碰，服务终止，球未进入小车。无逐帧状态日志，精确接球稳定窗口及自碰接触点依靠视频近似定位并结合最终重播及评分阶段核对。",
+ "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（1.2 s、13.9 s达成，入车未达成）、断点ball_in_moving_cart、自碰现象和轨迹/逆解根因均与视频、log step 160（phase=4、self_collision、1721行）及phases_done=4一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:19:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4024bb09dfbaa7c3ad2a3c3919e4b6a93b6c025b228b5cc46cafb7d66dbc782f",
+   "video_sha256": "9ac9056c23069a1c838c4385ba5fe13bfb7eef0bfc009ca4143407b0f861a483",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu.json

@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1800,
+   "executed_rows": 1800,
+   "sim_steps": 1800,
+   "physics_steps": 18000,
+   "sim_time_s": 18.0,
+   "phases_done": 3,
+   "valid": 1,
+   "replay_wall_s": 42.0,
+   "replay_timeout_s": 480.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 92,
+   "agent_resets": 0,
+   "agent_sim_steps": 76743,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 0.535,
+   "peak_processes": 11,
+   "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/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu/replay.mp4",
+  "duration_s": 18.04,
+  "fps": 25.0,
+  "frames": 451,
+  "sha256": "f0176f31582e6cf97aeefe5b2d1f6782bc6b0d8af7572a3b8cd587b38bb8de48"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频0.60 s橙球下降到机械臂前方，视频0.68 s已落入末端蓝杯，视频0.80、0.88、1.00及1.40 s仍由杯底承托，随后随杯升起和搬运；首次稳定接球完成时刻约为视频0.9 s。"
+     },
+     {
+      "t": 1.4,
+      "log_step": 200,
+      "text_zh": "观察：评分器reward.phases_done=3；log step 200是最终生成并保存提交文件后的运行输出，其服务状态为phase=3、phase_name=downstream_catch，与视频的首次接球、入槽及反弹顺序一致，支持首次接球已通过并锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.68–1.40 s，Panda末端刚性安装的蓝色方杯从下方接住并承托橙球，随后带球抬升；作用端为杯底和杯壁。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": null,
+      "text_zh": "观察：视频9.80 s球仍在倾斜蓝杯下沿，视频10.00 s球离杯下落，视频10.20–11.20 s球在离基座较远的灰槽中向下游移动，视频11.40 s到达该槽下方的橙色斜板。"
+     },
+     {
+      "t": 11.68,
+      "log_step": null,
+      "text_zh": "观察：视频11.40–11.64 s，机械臂将蓝杯降到反弹板下游，球反弹后下降；视频11.68–11.84 s球从靠机械臂一侧进入杯内，随后在杯底滚向另一侧。视频12.20 s之后至视频18.00 s球始终可见留在杯内，未送往小车。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 200,
+      "text_zh": "观察：评分器reward.phases_done=3且success=0；log step 200的最终提交运行服务状态仍为phase=3、phase_name=downstream_catch、valid=true、failure_reason=null，末端球与杯接触且近乎静止，与视频18.00 s的杯内留球一致。推断：入槽与反弹已通过，但原生第二次接球验收未通过，因此本合并事件节点从未完成；不能仅凭球最终留杯就补记通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机械臂以蓝杯承托并搬运首次接住的球，视频9.80–10.20 s倾杯将球送入远侧槽；视频11.68–12.20 s同一只杯再次从下方接到球，之后球在杯内停留。该实际接触不等于原生接球验收完成。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程小车沿导轨移动；视频11.68 s第二次入杯后，机械臂停在反弹板下游，视频13.00、14.00、15.00、16.00、17.00、17.40、17.80及18.00 s球仍在机械臂末端的浅蓝杯内，旁边较深的蓝色小车为空，未出现向车中倒球的动作。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 200,
+      "text_zh": "观察：log step 200最终提交运行的服务状态仍为downstream_catch，��未进入moving_cart_delivery；评分器success=0、phases_done=3，与视频未送车一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 11.7,
+   "log_step": 200,
+   "where": "操作中",
+   "evidence_zh": "观察：视频11.40 s球已到指定反弹板，视频11.68–12.20 s机械臂用下降中的蓝杯接到球，之后球留在杯内至视频18.00 s；log step 200最终提交运行仍停在downstream_catch，评分器phases_done=3，第二次接球未验收。推断：首个未修复失败属于经槽反弹接球，锚点取视频约11.7 s的再次入杯过程；后续送车尚未开始。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/没有逐帧状态日志；视频为25 fps单一总览，log step 200最终提交运行的服务状态虽明确第二次接球未通过，却未逐项输出该次接球的飞行时长、入杯平面穿越位置、接触历史及连续保留计时。视频11.68–12.20 s显示球进入并留在蓝杯，视频17.00–18.00 s仍未离杯，未见持续漏接或球掉出。推断：无法确定失败是哪个精确接球条件未满足，也不足以将杯沿附近入球归为某个具体运动或接触故障，故现象和根因均留空；会话中其他试验的碰撞及安全限失败不能当作本次提交的失败。",
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  }
+ },
+ "summary_zh": "本次提交在视频约0.9 s完成首次接球，随后将球倒入指定远侧槽并经过反弹板，但评分器只完成三个原生阶段，因此DAG最终完成1/3。视频约11.7 s球再次进入蓝杯并留至视频18.00 s，原生第二次接球验收仍未通过，断点为经槽反弹接球；送入移动小车未尝试。缺少逐帧接球谓词与计时记录，无法确认精确拒绝条件或根因，故不强填现象与原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：视频约0.7–0.9 s首次入杯，随后倒球入远侧槽、经反弹板，视频11.68 s再次入杯并留至18 s，评分器phases_done=3且success=0，断点取经槽反弹接球合理。无状态日志，无法确定精确拒绝条件，现象与根因留空并附gap_zh可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:23:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8c1d692569647ecd252a9a7410659215a7d89341b5ad16e145f3ae5542067432",
+   "video_sha256": "f0176f31582e6cf97aeefe5b2d1f6782bc6b0d8af7572a3b8cd587b38bb8de48",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 368,
+   "executed_rows": 368,
+   "sim_steps": 368,
+   "physics_steps": 3680,
+   "sim_time_s": 3.68,
+   "phases_done": 1,
+   "valid": 1,
+   "replay_wall_s": 15.3,
+   "replay_timeout_s": 336.8,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 62,
+   "agent_resets": 61,
+   "agent_sim_steps": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 0.549,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos/replay.mp4",
+  "duration_s": 3.72,
+  "fps": 25.0,
+  "frames": 93,
+  "sha256": "ce27d75c4afbdc3ab5f53b7ef0cb04beacf8fefd46cf5e12aa3e5d5dd59f1777"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–0.68 s，橙球从空中下降进入机械臂末端的蓝色方杯；视频 0.80–1.36 s 球留在杯底附近，随后随杯上升。"
+     },
+     {
+      "t": 1.2,
+      "log_step": 101,
+      "text_zh": "推断：视频约 1.2 s 已完成首次稳定接球；此后直到视频 3.68 s 球仍由杯承托。最终保存轨迹的运行输出在 log step 101 报告 phase1、仿真 1.18 s，评分器字段 phases_done=1 与所见一致；达到时间取视频近似值，未逐项量测原生接触和速度阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.68–1.36 s，固定在 Panda 手部的蓝杯从下方承接橙球并由杯底、杯壁容纳；手指未直接夹球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.4–2.2 s，机械臂抬高装有橙球的蓝杯，随后水平转向；视频 2.68–3.68 s 的逐帧检查中，球始终在杯内，没有倒入灰槽、滚槽、碰反弹板及第二次入杯。"
+     },
+     {
+      "t": 3.68,
+      "log_step": 101,
+      "text_zh": "观察：视频 3.68 s 最后一帧，杯仍在灰槽下游一侧的空中承托球。log step 101 的最终保存输出为“!!IK fail [0.09 0.16 0.47]”及“SAVING rows=368 fail=None ph=1”；评分器执行368行、phases_done=1，与本段只完成首次接球一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.4–3.68 s，Panda 末端蓝杯持续托住橙球，机械臂抬杯并转向，进行送槽前的持球搬运；本次未倒球，也未发生下游再次接球。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0–3.68 s，导轨上的独立蓝色小车一直为空；最后一帧橙球仍在机械臂末端蓝杯中，未向小车交付球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 3.68,
+   "log_step": 101,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.4–3.68 s，机械臂已托球抬杯和转向，正在准备送球入槽，但球始终未离杯；log step 99、101 在转向后均报告下一送槽位姿逆解失败，并保存368行、phase=1、failure_reason=None的部分轨迹。推断：此次未修复的断点是经槽反弹接球步骤的入槽准备阶段，视频 3.68 s 为停止处的导航锚点。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "观察：log step 99 将 aim 改为多种子逆解并限制与当前关节配置的距离，求解无合格结果则在发出下一段动作前返回失败；log step 101 将距离门限由1.3放宽至1.9后，仍输出“!!IK fail [0.09 0.16 0.47]”，随即保存368行、fail=None、ph=1。视频 3.68 s 也结束在托球转向之后。推断：agent 的求解器未找到其验收条件允许的送槽配置，导致后续搬运和倾杯动作没有生成；这不证明该位姿在物理上不可达。",
+    "source_zh": "日志",
+    "log_step": 101
+   }
+  ],
+  "gap_zh": "本次交付只含首次接球及托球抬杯、转向，未含求解失败后的送槽或倾杯动作；视频没有可确认的错位执行、脱落、碰撞或接触失效，故现象层留空，不能把未执行目标称为一次运动偏差。log step 97–98 保存的614/616行测试有禁碰，log step 102 自述“forbidden_tool_fixture_contact”沿用了旧测试结果；最终 log step 99–101 保存的368行结果为fail=None且与视频一致，不据旧测试标碰撞。inputs/没有逐帧状态日志，25 fps画面不能独立精测接球的25 ms接触历史及相对速度；首次接球时间约为视频 1.2 s，结合评分器phases_done=1确认。所有原生指标均未在评分器字段中逐项报告，value留null。"
+ },
+ "summary_zh": "本次评分轨迹在视频约 1.2 s 完成首次接球，随后托球抬杯并水平转向，最终仅完成1/3节点；球没有入槽、反弹再接回或进入小车。最终脚本在送槽目标位姿的逆解失败后保存368行部分轨迹，断点为经槽反弹接球的操作中，根因为控制·轨迹或逆解。交付视频结束于视频 3.68 s 的托球准备姿态，没有可确认的具体物理失误，故现象层留空；无逐帧状态日志，精确接球阈值以画面及评分器阶段数共同判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：球约视频1.2 s被杯接住并保持到3.68 s，后两节点未达；断点在经槽反弹接球的操作中（托球转向后IK失败保存368行），根因轨迹或逆解有日志支持，现象层留空并有gap_zh说明，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:22:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "83b259092f47dfe20cf4604f7b84cf9bfb60263e8743462b06ba2f58c4c8f055",
+   "video_sha256": "ce27d75c4afbdc3ab5f53b7ef0cb04beacf8fefd46cf5e12aa3e5d5dd59f1777",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "replays": 2,
+   "instance_ok": 1,
+   "n_actions": 1907,
+   "executed_rows": 1907,
+   "sim_steps": 1907,
+   "physics_steps": 19070,
+   "sim_time_s": 19.07,
+   "phases_done": 5,
+   "valid": 1,
+   "replay_wall_s": 34.2,
+   "replay_timeout_s": 490.7,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 45,
+   "agent_resets": 4,
+   "agent_sim_steps": 3814,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz/replay.mp4",
+  "duration_s": 19.12,
+  "fps": 25.0,
+  "frames": 478,
+  "sha256": "eeaf7b75b33b7998243403ec76d1a2c78cd52f4db886dadb2fa9cb7ff54b2e16"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频0.48–0.64 s，橙球从空中下降到Panda末端蓝色方杯；视频0.72–1.36 s，球留在杯内，随后机械臂携球抬升。作用端是已安装的杯，未见夹爪直接夹球。"
+     },
+     {
+      "t": 1.04,
+      "log_step": 41,
+      "text_zh": "推断：结合视频0.88–1.36 s的杯内停留，将首次接住并稳定保留的完成时刻估在视频1.04 s附近（约±0.2 s）。log step 41记录最终重新生成并保存的1907行轨迹重播成功、phase=5；评分器reward.phases_done=5，支持首次接球验收通过，毫秒接触历史和相对速度不能由画面独立量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "Panda末端已安装的蓝色方杯从下方接住下降的橙球，杯底及杯壁承托、容纳球；视频0.64–1.36 s可见球入杯并留下。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.32,
+      "log_step": null,
+      "text_zh": "观察：视频5.84–6.24 s机械臂在远侧灰槽入口上方倾杯，视频6.24 s可见橙球离开杯口向下落，视频6.32–7.20 s球进入远侧槽的上游区域。视频7.20–12.64 s，球沿该槽向下游移动，空杯离开入口并下降到槽末端前下方等待。"
+     },
+     {
+      "t": 13.36,
+      "log_step": null,
+      "text_zh": "观察：视频12.64–12.80 s，橙球离开远侧槽末端、落向下方橙色斜板并改变运动方向；视频12.88–12.96 s球从斜板向杯飞行，视频13.04 s已落入杯，视频13.20–13.60 s留在杯内，随后随杯被抬起。"
+     },
+     {
+      "t": 13.36,
+      "log_step": 41,
+      "text_zh": "推断：按视频第二次入杯后的稳定停留，将经槽反弹再接球完成时刻估在视频13.36 s附近（约±0.2 s）。log step 41的最终交付重播phase=5及评分器phases_done=5支持该阶段验收通过；所标时刻来自视频，未把agent工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机械臂以蓝杯承托橙球并倾倒入远侧灰槽，空杯转移到下游，再从下方接住由橙色斜板反弹飞来的球；两次先后发生的杯与球接触记为同一工具链，见视频6.24 s及13.04–13.60 s。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.96,
+      "log_step": null,
+      "text_zh": "观察：视频14–17.80 s，Panda携球移到导轨上蓝色小车上方并倾杯；视频17.88 s球已离杯下落，视频17.96–18.12 s可见橙球在小车开口内，杯留在其上方并与球分离。"
+     },
+     {
+      "t": 19.08,
+      "log_step": 41,
+      "text_zh": "观察：已逐帧检查视频18.40–19.08 s，小车继续沿导轨移动，杯在车上方保持分离；球在车内的较低位置被前侧车壁遮住，未见球飞出。log step 41记录最终保存轨迹的新进程重播success=true、phase=5、valid=true、failure_reason=null；评分器reward.success=1、all_success=1、deterministic=1、phases_done=5。"
+     },
+     {
+      "t": 19.08,
+      "log_step": null,
+      "text_zh": "推断：视频可见球实际入车且末段小车仍运动，结合评分器成功判定，将完整连续0.7 s验收完成记在末帧视频19.08 s附近（约±0.1 s），而不是球刚入车时。车内末段球被车壁遮挡，精确速度、局部坐标和接触历史由评分通过支持，不能独立从像素测得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "Panda用末端蓝杯承托第二次接回的橙球并倾杯，使球离杯落入沿导轨移动的蓝色小车；视频17.80–18.12 s可见此过程。小车是接收容器，并非机器人移动底盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分轨迹依次完成首次杯接球、经远侧指定灰槽滚动并由橙色斜板反弹后再接球、倒入移动小车，三个语义节点最终均为真；完成时刻分别估在视频1.04 s、13.36 s和19.08 s附近，评分器记录五个原生阶段全部完成且两次重播成功。推断：杯承托、倾倒和下游接球的位置及时机配合使该次交付成功，没有失败断点。证据缺口：没有状态日志，也没有独立参考录像；末段车壁遮住低处球，精确接触历史、速度及保留窗口由可见转移过程与评分器成功结果共同支持，七项原生连续指标均未由评分器报告数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点均为真，时刻与视频帧一致，无失败断点；contact_actual 为手持工具·托/舀，合理；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:19:04Z",
+  "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/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ddde2c191b58420b244e2e31cf8a4f96a44ee745089b7435e8a7e93a1bc5a9e3",
+   "video_sha256": "eeaf7b75b33b7998243403ec76d1a2c78cd52f4db886dadb2fa9cb7ff54b2e16",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj.json

@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 1295,
+   "sim_steps": 3641,
+   "calls": 52,
+   "rows": 3151,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 913.6,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 25.0,
+  "frames": 325,
+  "sha256": "86a9c7a18395c700c80377dac2d21c0bcf4c59ae8b51dbd2d3e1ebb1a779c79a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.56–0.68 s，橙球从空中落进机械臂末端的蓝色方杯；视频 0.68–1.60 s 球留在杯底，随后视频 2.0–6.0 s 随杯抬升并移到槽上方。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：由视频 0.68–1.60 s 的持续杯内容纳及后续随杯运输，首次接球约在视频 1.0 s 完成（视觉估计，约有 0.2 s 不确定性）；该节点为锁存事件，后续主动倒球不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机械臂末端固定安装的蓝色杯以杯底及杯壁承接、容纳橙球；夹爪未直接夹球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.48,
+      "log_step": 61,
+      "text_zh": "观察：视频 3.0–9.48 s，机械臂用蓝杯携球移向较远的指定槽，随后视频 9.48–11.52 s 在槽上方逐渐翻转蓝杯倒球；视频 12.72–12.96 s 可见橙球仍在较远槽靠上游橙色端挡的一侧，蓝杯向下游下降，未见球完成反弹再落回杯内。"
+     },
+     {
+      "t": 12.96,
+      "log_step": 72,
+      "text_zh": "观察：视频 12.72–12.96 s，蓝杯下降到橙色反弹板附近并碰到固定装置，录像结束时杯内为空；log step 72 的机器人服务返回 episode=4、done=true、why=forbidden_tool_fixture_contact。与成功参考视频中反弹后球落入下游杯内并随杯移走的可见结果相比，本次未完成再次接球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机械臂用固定蓝杯承托橙球并运到较远槽上方，随后翻杯倒出；本次没有发生反弹后的再次承接。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 12.96 s 附近，蓝杯移至橙色反弹板区域并发生工具与固定装置的碰撞（log step 72 服务确认）。候选名称“碰撞”：属于非预期接触，现有托/舀、抓握、推/扫等方式不能准确描述；精确碰撞部件对未提供。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.96,
+      "log_step": 72,
+      "text_zh": "观察：视频全程至 12.96 s，沿导轨移动的蓝色深箱小车保持空置；末段橙球仍在高处灰槽内，机械臂未将球送入小车，也未出现球随车稳定移动的结果。log step 72 已返回本局终止，后续日志仅保存失败记录。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 12.95,
+   "log_step": 72,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.72–12.96 s，机械臂正把倒球后的空杯移向下游接球位置，杯降到橙色反弹板区域，尚未接回球即因碰到固定装置终止。log step 57 重置为第 4 局，log step 74 保存的序列正是该局；log step 72 服务记录 control_steps=1295、sim_time_s=12.95、why=forbidden_tool_fixture_contact。推断：依据 log step 8 的 control_dt=0.01 s，将该局 control_steps×0.01 映射为视频约 12.95 s，已与视频 12.96 s 的碰撞终止画面核对；这是经槽反弹接球步骤内的下游移杯失败。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 12.95,
+    "log_step": 72,
+    "evidence_zh": "观察：视频 12.80–12.96 s，机械臂末端蓝杯向橙色反弹板区域降低，末帧杯与固定装置发生碰撞而未能继续到下游接球位置；log step 72 的机器人服务明确返回 forbidden_tool_fixture_contact 并终止本局。球尚未回杯，不把这次碰撞另记为丢球或违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：下游移杯的实际执行未保持避障间隙。log step 68 的脚本对预生成关节目标做碰撞距离检查并分段提交，log step 69 报告其模型中的最小计划间隙约 0.0184 m，但同一步服务返回的第 5、7 关节实测值相对当前目标分别相差约 0.245、0.242 rad；随后 log step 72 服务报工具碰撞，视频 12.96 s 显示杯停在反弹板区域。这些记录支持移杯执行及避障控制不足；计划间隙是 agent 自建模型输出，不能视为真实无碰轨迹已经验证，故不强分控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或原生阶段完成事件，首次接球时间由可见稳定留杯估计，无法精确复核 25 ms 接触历史和速度门限；评分器未报告 DAG 所列原生指标数值。服务确认工具碰撞，但未给出精确碰撞部件对；现有日志虽显示关节跟踪偏差，仍不足以把根因唯一细分为轨迹、几何模型或反馈控制问题。"
+ },
+ "summary_zh": "评分视频对应最后一次重置后的第 4 局：约在视频 1.0 s 首次接住橙球，随后携球到指定槽上方倒出，最终完成 1/3 个节点。机械臂在经槽反弹接球步骤中把空杯移向下游时，于视频约 12.95 s 碰到固定装置而被服务终止，未完成再次接球或入车；日志支持移杯避障与执行控制不足。缺少逐帧状态和精确碰撞部件对，无法精确核验接球阈值或进一步确定控制子类。",
+ "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、接触标签与断点均与视频和 log step 72 一致：约 1.0 s 球入杯，倒球后未完成反弹再接球，小车始终为空；被挡/碰撞现象有服务读数支持，根因推断已标注为推断。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:26:22Z",
+  "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/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a4603c41efdbdc12af6aa8df5b0e02b6749034cc697f20ac7f056289880ef82",
+   "video_sha256": "86a9c7a18395c700c80377dac2d21c0bcf4c59ae8b51dbd2d3e1ebb1a779c79a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 421,
+   "sim_steps": 3188,
+   "calls": 31,
+   "rows": 2708,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 726.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.519,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.564,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r/replay.mp4",
+  "duration_s": 4.28,
+  "fps": 25.0,
+  "frames": 107,
+  "sha256": "d32b36210f51ed9ebdc0883ad25bc52d0c4d1a1cc6028ec7cd1b3a62cb9730f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.52–0.68 s 橙球下降进入Panda末端蓝杯，视频 0.72–1.20 s 球留在杯底，随后随杯抬升并被运至灰槽上方。推断：计入约0.18 s的稳定保留，首次接球约在视频 0.9 s 完成（目视时间约有0.1 s误差），此event节点此后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.68–1.20 s，固定在Panda末端的蓝色方杯从下方承接并托住橙球，夹爪没有直接夹球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 125,
+      "text_zh": "观察：视频 1.20–2.80 s，Panda用蓝杯承球抬升并移到灰槽上方；视频 2.80–3.36 s 倾杯，球移向低侧杯壁但没有离杯入槽。视频 3.36–4.24 s 杯向槽出口方向下降，橙球始终可见于杯内，未出现自行滚槽、反弹和下游再次接球。log step 125 的最终脚本按固定时长倾杯后即执行下降接球路径。"
+     },
+     {
+      "t": 4.2,
+      "log_step": 126,
+      "text_zh": "观察：视频 4.08–4.24 s 蓝杯下降到灰槽出口与橙色反弹板邻近区域，末帧球仍在杯内；log step 126 明确最终重置为episode 4并执行，服务在仿真 4.21 s 返回failed及forbidden_tool_fixture_contact，log step 127 确认episode 4、control_steps=421且done=True。推断：这是本视频所示评分局的工具与场景夹具禁碰终止，非先前三个测试局的进展；没有完成本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.20–4.24 s，Panda末端蓝杯持续承托橙球，搬至槽上方并倾斜，球未离杯；未发生下游第二次接球。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 4.08–4.24 s 杯进入槽出口附近，log step 126 服务报告forbidden_tool_fixture_contact。候选名称“碰撞”：末端杯工具组件与场景夹具发生非预期碰撞，既非托球也非有意推扫；总览及日志未给出确切接触部件对，不能细分为杯壁或适配杆碰到哪一块夹具。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.24,
+      "log_step": 126,
+      "text_zh": "观察：视频全程 0.00–4.24 s 橙球仅经历开场飞行及被末端蓝杯承托；视频 3.20–4.24 s 导轨上的独立蓝色小车可见为空，末帧球仍在机械臂杯内。log step 126 的最终episode 4已因禁碰终止；未开始将球送入移动小车，也没有车内稳定随行窗口。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 4.2,
+   "log_step": 126,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.80–4.24 s，Panda尝试倾杯送球后向下游降杯，球仍在杯内，末端进入灰槽出口附近。log step 126 显示最终episode 4在仿真 4.21 s 因forbidden_tool_fixture_contact结束；log step 127 读取同局control_steps=421且done=True。推断：结合log step 9的control_dt=0.01 s，421×0.01=4.21 s与视频约4.2 s的接近夹具及终止位置相符；断点为尚在进行且未修复的经槽反弹接球步骤。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 4.2,
+    "log_step": 126,
+    "evidence_zh": "观察：视频 3.92–4.24 s，Panda带着仍在杯内的橙球，将杯降至灰槽出口及反弹板邻近区域；log step 126 的最终评分局服务返回forbidden_tool_fixture_contact并终止，log step 127保持同一终止状态。推断：工具组件与固定场景夹具发生碰撞，阻断本步骤；不另将同一次碰撞重复标为违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 125 的最终脚本以逐航点IK及关节CubicSpline生成固定时序动作，先倾杯36°，再沿T_clear、T_catch航点下降；分块提交后只检查done，不以球是否已经离杯或阶段进展调整这段动作。视频 3.20–4.24 s 球仍在杯内，杯继续下降进入槽出口区域；log step 126证实工具夹具碰撞终止。推断：实际倾杯及下降控制未能完成放球并维持对夹具的间隙；现有记录不足以把碰撞唯一归为插值轨迹、伺服跟踪或具体参数问题，故停在控制大类。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；总览可判断球始终未离杯和后两节点未达，但无法独立量测首次接球的精确0.18 s保留及相对速度。服务给出最终评分局工具夹具碰撞原因，却未给确切接触部件对；不能确定是杯壁还是适配杆接触哪一块夹具，也不足以细分控制根因。inputs/run.json的task_text为空，任务说明从log step 10及DAG读取；日志内部分工具输出本身被截断。"
+ },
+ "summary_zh": "最终评分局完成首次接球，约在视频 0.9 s 达成，最终保留1/3节点；橙球随杯抬升、移到槽上方并倾杯，但到视频 4.24 s 仍未离杯，未完成经槽反弹接球或送入移动小车。视频约4.2 s降杯至槽出口附近时，最终episode 4的服务报告工具夹具禁碰并终止，根因归控制，不能把先前三个测试局的结果计入本次进度。没有状态日志，精确保留阈值、碰撞部件对及控制子因无法独立核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "首次接球（视频约0.6–0.9 s入杯并随杯保持）、后两节点未达、断点为经槽反弹接球（log 126 的forbidden_tool_fixture_contact，sim 4.21 s≈视频末帧）、现象被挡/碰撞与根因控制均有帧与服务读数支持；未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:26:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e3ac11776a7eba6e4e5ce54f14c982524e4bd4b6f3976d9c0a3a6ce19536246",
+   "video_sha256": "d32b36210f51ed9ebdc0883ad25bc52d0c4d1a1cc6028ec7cd1b3a62cb9730f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec.json

@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 779,
+   "sim_steps": 2641,
+   "calls": 108,
+   "rows": 2401,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1993.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec/replay.mp4",
+  "duration_s": 7.84,
+  "fps": 25.0,
+  "frames": 196,
+  "sha256": "3902ae1a8f75b679e2e3185f1632daa1c1d263976d206f1b731c8854d51e5322"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.56–0.72 s，橙球从空中下降进入机械臂保持水平的蓝杯；视频 0.80–1.36 s 球留在杯底，视频 1.60–4.00 s 又随杯升起并运到槽上方，没有飞出。首次稳定接住约在视频 0.96 s 达成，时间为视觉近似；这是锁存事件，之后倒出不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机械臂末端固定安装的蓝杯以杯底、杯壁承接橙球；夹爪没有直接夹球，初次接球时杯基本保持不动。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": 40,
+      "text_zh": "观察：视频 4.40–5.60 s，机械臂把装球的蓝杯翻转向远离基座的槽；视频 6.40–7.80 s 可见橙球已离杯、在该槽上游橙色端挡附近，空杯随后转平、下移。直到视频 7.80 s 末帧，球未到下游反弹板，机械臂也未在板下方接回球，故入槽只是此节点的部分进展。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 41,
+      "text_zh": "观察：log step 41 的机器人服务返回 episode 4、初始 control_steps=0，随后返回 DONE failed forbidden_tool_fixture_contact；log step 42 的服务状态为同一局 control_steps=779、done=True。视频最后的下移在槽架边缘终止，与这次工具禁碰失败相符；不把重置前各局的进展计入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.60–4.40 s，机械臂末端蓝杯从下方托住橙球并运到槽上方，随后翻杯放球；本局没有第二次承接。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 7.60–7.80 s 蓝杯及暗灰适配杆贴近槽架并终止运动，log step 41 的服务报 forbidden_tool_fixture_contact。候选“擦碰”：工具与场景构件发生非预期碰撞，不属于抓握、托舀、推扫或压擦等作业接触；具体是杯还是适配杆、对应哪一块构件，画面不能分辨。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频全程至 7.80 s，沿前方导轨运动的深蓝色小车一直为空，末帧橙球仍在高处指定槽上游；机械臂未完成第二次接球，也没有向小车倒球。该节点未达成且未开始操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 7.8,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.80–7.80 s，机械臂正在放球入槽后的同一步内转平、移开空杯，橙球仍在指定槽上游；视频 7.60–7.80 s 工具下移至槽架边缘时本局结束。log step 41 的服务报 forbidden_tool_fixture_contact，log step 42 确认 episode 4 已失败且没有重置余量。服务 control_dt=0.01（log step 6），本局最后 control_steps=779（log step 42）对应约视频 7.79 s，与所查看的末段停止位置核对相符；锚点取视频 7.80 s。经槽反弹后接回这一连续步骤未完成，也没有随后修复。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 7.8,
+    "log_step": 41,
+    "evidence_zh": "观察：视频 7.60–7.80 s，机械臂的蓝杯和适配连接部分下降到两槽所在构件的边缘附近，运动就此停止；log step 41 的本局服务反馈明确为 forbidden_tool_fixture_contact（任务工具与场景构件禁碰），log step 42 确认本局 done=True、reason=failed。球此时仍在槽内，未发生反弹接回。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 7.8,
+    "log_step": 40,
+    "source_zh": "日志",
+    "evidence_zh": "推断：机械臂倒球后撤杯的实际运动未保持与槽架的间隙。log step 40 的本局控制脚本把抬升、转平、横移和下降串成整段 path，run_path 先计算逆解再分块提交；其中检查实测高度及倾角的 gate 位于整段 run_path 之后，未在这些动作间校核实际间隙。视频 6.40–7.80 s 可见空杯在转平过程中降低到槽架处，log step 41 随即报工具碰撞。该证据支持控制执行失败，但不足以区分逆解偏差、伺服跟踪滞后或具体轨迹误差，故不细分子类。"
+   }
+  ],
+  "gap_zh": "观察：本作业没有状态日志；本局 log step 41 未打印逐块实测位姿或原生阶段读数。25 fps 总览不能独立量测接球的毫秒接触窗口、精确相对速度，首次接稳时间按可见留杯及随杯运动近似；禁碰由本局服务反馈确认，但具体工具—构件接触对以及控制误差来源无法进一步分辨。DAG 所列七项原生指标均未在评分器字段中报告，value 留 null。agent 最终总结（log step 45）将本局碰撞归于运球段，但视频明确显示已倒球后才终止，节点与断点以视频为准。"
+ },
+ "summary_zh": "评分对象是最后的 episode 4：机械臂用蓝杯首次接稳橙球，完成 1/3 个节点，随后将球倒入指定槽，但未完成经槽反弹后的接回，移动小车一直为空。视频约 7.80 s，空杯转平、下移至槽架处时，机器人服务报工具禁碰并结束本局；控制脚本没有在整段撤杯动作的中途验证实测间隙。缺少逐帧状态及本局连续位姿读数，碰撞的具体接触对和控制子类无法确定；前面重置局的进展不计入。",
+ "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（1/3，仅首次接球达成）、断点（route_rebound_ball_recaught，视频约 7.8 s）、被挡/碰撞现象与控制类根因均与视频和 log 一致；control_steps=779 对应约 7.79 s 的映射已说明且与末帧核对相符，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:25:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "761f2e603cad5f1c00dc228903abf494d79fb8c1a25b353c6fcf56b97cec34d7",
+   "video_sha256": "3902ae1a8f75b679e2e3185f1632daa1c1d263976d206f1b731c8854d51e5322",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--muqsise.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--muqsise",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 599,
+   "sim_steps": 599,
+   "calls": 16,
+   "rows": 570,
+   "resets": 0,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1183.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--muqsise/replay.mp4",
+  "duration_s": 6.04,
+  "fps": 25.0,
+  "frames": 151,
+  "sha256": "0baca3800f0997efd2a8e615575bc4156e73c092d9f1c2beceaf61f2f3715273"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 16,
+      "text_zh": "观察：视频 0.64–0.68 s，开场橙球落入机械臂末端蓝杯；视频 0.88–1.12 s，球保持在杯底，随后在视频 1.2–2.8 s 随杯抬升和移向槽的入口，没有飞出。log step 16 的现场服务返回 control_steps=100、done=False。"
+     },
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "推断：由视频 0.88–1.12 s 的稳定杯内停留及随后的随杯搬运，首次接球已完成，含稳定窗口的到达时刻约记为视频 1.1 s；这是锁存事件，后续按计划倒出不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.64–1.12 s，Panda末端固定蓝杯的杯底、杯壁承接并容纳橙球；夹爪没有直接夹球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.64,
+      "log_step": 32,
+      "text_zh": "观察：视频 3.2–4.44 s，机器人逐渐倾斜仍盛球的蓝杯；视频 4.48–4.84 s，橙球离杯落入右侧指定灰槽，并向前端滚动。该步实际已开始，但入槽本身不等于完成经槽反弹再接球。"
+     },
+     {
+      "t": 5.52,
+      "log_step": 36,
+      "text_zh": "观察：视频 5.24–5.40 s，球从槽口落向其下的橙色斜板，再向前下方飞离；视频 5.48–5.60 s，球已低于反弹板，而机器人蓝杯仍在槽口上方且倾斜，未在球的下游接住球。视频 5.64–6.00 s，球经过桌面前缘下落，始终未回杯。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 43,
+      "text_zh": "观察：log step 43 的现场机器人服务返回 done=True、reason=failed、why=out_of_bounds、control_steps=599；此时视频末段也显示球已掉到桌外。奖励字段 resets=0；该记录属于这一局已结束的现场回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.2–4.44 s，机械臂固定蓝杯承托首次接住的橙球，搬到指定槽上方并倾斜倒出；之后杯未再次接触或承接橙球。记录实际持球送槽的杯—球接触，不将未发生的二次接球计入接触。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 43,
+      "text_zh": "观察：视频全程 0.00–6.00 s，导轨上的蓝色小车没有接收到橙球；球先在机器人杯内，再经槽和斜板掉到桌外，机器人没有完成二次接球后的向车内倾倒。视频 5.64–6.00 s，球与小车明显分离；log step 43 服务已判该回合越界失败。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 5.5,
+   "log_step": 36,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.36–5.60 s，橙球从指定斜板向前下方飞离，机器人蓝杯却仍在高处向接球区移动，球从杯下方经过，未被重新承接；之后球掉到桌外，直到视频 6.00 s 都未修复。log step 43 现场服务以 out_of_bounds 结束该局。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 5.5,
+    "log_step": 36,
+    "evidence_zh": "观察：视频 5.36–5.60 s，球经过斜板后迅速下降，杯子仍高于球且尚未恢复水平；视频 5.64–6.00 s，机器人继续降杯时球已经落到桌边并掉下。机器人未赶上运动球的承接时窗。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.5,
+    "log_step": 36,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：返回动作的执行未能在球到来前把杯送到承接位。log step 36 的脚本将高位返回姿态与低位接球姿态分别作为保持0.55 s及0.65 s的关节目标；log step 58–59 对同次返回的实测记录显示，低位目标已下发时杯仍高且倾斜，实测关节尚明显偏离目标。视频 5.36–5.60 s 直接显示杯仍在球的上方，球已下落；因此可归到控制，现有证据不足以进一步区分轨迹时序设计与伺服跟踪的责任。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，也没有首次接球或二次接球的原生phase完成字段；首次接球到达时刻由视频稳定停留近似判断，25 ms接触历史及精确相对速度不能独立量测。日志未充分区分返回轨迹时序和伺服响应的影响，根因保留在控制大类。log step 62 的模型过滤发生在 log step 43 服务已结束物理回合之后，未把这次既有的物理失败当作外因中断。所有原生连续指标的数值均未由评分器报告。"
+ },
+ "summary_zh": "机器人完成首次接球（约视频 1.1 s，锁存），将球倒入指定槽，但未在经槽、斜板后的下落过程中及时将杯移到下游承接位，最终完成1/3节点。断点为经槽反弹接球，视频约 5.5 s 显示球在杯下方落空，log step 43 的现场服务随后以 out_of_bounds 终止；log step 62 的模型过滤发生在该物理失败之后。没有状态日志或原生阶段完成记录，首次接球的精确保留窗口及控制子原因仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首次接球（约视频 1.1 s，球在杯内随杯搬运）、经槽反弹接球未达成、入车未达成均与视频一致；断点（经槽反弹接球，约视频 5.5 s 球从斜板落下而杯仍在高处）、动态时机现象与控制根因（已标推断并承认无法细分）有视频和 log step 36/43/58–59 支持。log step 43 的 control_steps=599 与视频 6.0 s 对应，未发现时钟换算问题。",
+    "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": "2026-10-30T04:45:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work_rerun1/runs/pandadyn-s01-cup-route-delivery-i00-standard--muqsise/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/pandadyn-s01-cup-route-delivery-i00-standard--muqsise/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a36a8fa38554cf754c8ba0627bc4b97573c1221fc8e383598622b21aedd61ada",
+   "video_sha256": "0baca3800f0997efd2a8e615575bc4156e73c092d9f1c2beceaf61f2f3715273",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 2500,
+   "sim_steps": 7057,
+   "calls": 118,
+   "rows": 5146,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2373.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "db8392b798ca7c252c27e991126e398536a1d49b5ee342ef26cb4480421e731e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.72,
+      "log_step": null,
+      "text_zh": "观察：视频 0.56–0.72 s，开场飞行的橙球下降到机械臂末端蓝杯内；视频 0.80–1.60 s，球在杯内停止明显滚动，未飞出。"
+     },
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "推断：依据视频 0.88–1.28 s 的连续杯内停留，将首次稳定接球完成锚点取视频约 1.1 s（视觉估计，误差约 0.2 s）；视频 2.0–4.0 s 球继续随杯搬运，支持接球已完成。此事件完成后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.72–1.60 s，Panda末端固定的蓝色方杯从下方接住并承托橙球，作用端为杯底及杯壁。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 160,
+      "text_zh": "观察：视频 4.0–7.0 s，机械臂将带球蓝杯置于远侧灰槽上方并晃动；逐帧检查视频 7.60–9.60 s，杯倾斜时橙球只移到杯内低侧杯沿，杯恢复水平时球仍留在杯内，未掉入灰槽。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 163,
+      "text_zh": "观察：视频 10.2–14.6 s，橙球始终随蓝杯从槽上方移到下游接球位置，未出现球沿灰槽滚动、触橙色反弹板后飞回杯的过程。log step 163 的“ball at rest in cup -> caught”是agent脚本输出，并非评分服务的阶段确认。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：成功参考视频 inputs/oracle/replay.mp4 的视频 10.0–12.4 s 可清楚看到球在灰槽内向下游移动，参考视频 12.8–13.6 s 出现板旁飞行及入杯；本次视频对应操作中没有这些可见事件，球仍随杯移动。参考仅用于辨认完成外观。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 182,
+      "text_zh": "推断：本次视频 7.60–14.60 s 显示倒球未使球离杯，之后也未重试入槽，故经槽反弹接球未完成。agent在 log step 182 自述“phases 1–4 completed”与本次视频不符，节点按视频判定为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 4.0–14.6 s，末端蓝杯承托橙球、晃动并倾斜尝试向灰槽倒球，随后仍带同一球移到下游；实际没有球离杯后的再次承接。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.8,
+      "log_step": 163,
+      "text_zh": "观察：视频 14.8–18.2 s，机械臂带着杯内球移到蓝色小车上方；视频 18.4–20.2 s 倾杯时，球滚到杯内低侧，未越过杯沿落入车内。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 174,
+      "text_zh": "观察：视频 20.4–22.0 s，机械臂抬起仍装球的倾斜杯；视频 24.08–25.00 s（含末帧）球仍在杯内，小车内未见球。log step 174 的机器人服务返回episode=4、control_steps=2500、done=true��reason=failed；这是最终现场局的结果，未报告节点完成事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 14.8–21.4 s，Panda末端蓝杯承托橙球向移动小车搬运并倾斜尝试倒出；球保持在杯内，没有形成球与小车的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better"
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 8.4,
+   "log_step": 160,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.60–9.60 s，机械臂在指定远侧灰槽上方向前倾杯，橙球留在杯内低侧杯沿；随后机械臂调平杯并带球移到下游，未完成离杯入槽、滚槽和反弹。视频 10.2–14.6 s 未修复该步，之后转去小车；这是最早尝试后一直未完成的步骤。"
+  },
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 8.4,
+    "log_step": 160,
+    "evidence_zh": "观察：视频 7.60–9.60 s 的逐帧画面显示蓝杯已明显倾斜，但橙球贴在杯内低侧杯沿，没有脱离杯并进入下方灰槽；视频 10.2–14.6 s 球仍由杯携带到下游。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.4,
+    "log_step": 160,
+    "evidence_zh": "推断：log step 160 显示agent脚本执行slosh、level、pour_tilt后又执行level_back和ready；视频 7.60–9.60 s 显示实际倾杯及调平，却没有产生使球越过杯沿的相对运动。因此倒球动作的控制未实现所需释放；缺少实测姿态、接触力和完整控制段，不能进一步确定具体控制子类。",
+    "source_zh": "视频 / 日志"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "t": 14.0,
+    "log_step": 163,
+    "evidence_zh": "推断：log step 163 中agent脚本仅以“ball at rest in cup -> caught”宣布接回，并立即进入“PHASE5 cart delivery (caught=True)”；但视频 7.60–14.60 s 显示原球未离杯、未经过灰槽和反弹板。脚本将一直留在杯内的球误认为反弹后接回，驱动其跳过未完成的经槽步骤并转去小车，直至视频 25.00 s 都未重试；log step 182 仍自述前四阶段完成。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，也没有本次评分服务的原生阶段完成事件；首次接球完成时间是视频估计，25 ms接触历史、精确局部坐标及相对速度无法从25 fps总览独立量测。log step 160 的脚本中段在输入记录内已截断，不能据此定位倒球控制的具体参数或跟踪问题。agent在 log step 163、182 的阶段完成说法与视频矛盾，按视频判定；不把它们当作评分器读数，也不采信其“只有入车失败”的结论。"
+ },
+ "summary_zh": "评分局完成首次接球（视频约 1.1 s），最终为 1/3；向指定灰槽倾杯时球没有离杯，因此经槽反弹接球未完成，末段向小车倾杯后球仍留在杯内。断点为视频约 8.4 s 的经槽倒球操作：倒球控制未实现释放，脚本随后又将原球在杯内静止误判为接回成功而转去小车。缺少逐帧状态及原生阶段读数，精确阈值和控制子类无法核验；agent自述前四阶段完成与视频不符。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧对照视频：球自开场入杯后至 25 s 始终留在蓝杯内，未入灰槽、未触反弹板、未入车；节点值、断点（经槽倒球，视频约 8.4 s）、接触标注与现象/根因均有视频支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:27:04Z",
+  "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/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "58cfec02f68e81e2a4c9ea29dada56cd9cfd6fa288f98f51d15569cb709dabeb",
+   "video_sha256": "db8392b798ca7c252c27e991126e398536a1d49b5ee342ef26cb4480421e731e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 613,
+   "sim_steps": 1615,
+   "calls": 26,
+   "rows": 1465,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1515.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5/replay.mp4",
+  "duration_s": 6.2,
+  "fps": 25.0,
+  "frames": 155,
+  "sha256": "a794bf761f3a51813080c0a81261e71b78f2f8561a2b0852a0a360608672147a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.64,
+      "log_step": 40,
+      "text_zh": "观察：视频 0.60–0.72 s，橙球下落到机械臂末端的蓝色方杯内，随后在杯内向靠近适配杆的一角滚动，没有飞出杯。log step 40 显示最后一次重置为 episode 4，并保持初始关节姿态至 control_steps=130；此前各局不计入本次进度。"
+     },
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "推断：视频约 0.92–1.28 s，橙球在杯角连续停留，视频 1.6–4.8 s 又随杯抬起并搬到槽上方，故按可见的稳定接球结果，将首次接球记为约视频 1.1 s 达成并锁存。成功参考片的视频 0.8–1.2 s 同样呈现球稳定留杯的结果；参考片不作为本局事实。精确入杯窗口未由原生阶段字段确认，详见证据缺口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.64–1.28 s，Panda末端刚性安装的蓝色杯从下方承接橙球，杯底、杯壁承托球；不是夹爪直接抓球。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": 41,
+      "text_zh": "观察：视频 1.6–4.8 s，机械臂持杯内橙球上抬、移到两槽上游附近；视频 5.08–6.16 s，杯子逐渐倾斜并接近橙色端挡区域，橙球仍可见于杯内或杯沿内侧。整段未出现球沿槽滚下、碰下游斜板反弹及第二次入杯的动作。"
+     },
+     {
+      "t": 6.12,
+      "log_step": 41,
+      "text_zh": "观察：视频 6.08–6.16 s，倾斜蓝杯下缘已贴近槽上游橙色端挡附近，运动在这里结束。log step 41 的现场机器人服务返回 control_steps=613、done=True、failed、forbidden_tool_fixture_contact，表明工具与场景固定构件发生禁碰；没有完成经槽反弹接回。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 1.6–6.16 s，机械臂用蓝杯承托并搬运橙球，随后倾杯尝试送入指定槽；未发生第二次接球。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：log step 41 现场服务报告 forbidden_tool_fixture_contact，视频 6.08–6.16 s 蓝杯位于槽上游端挡附近。候选方式“碰撞”：这是杯或其刚性适配件与固定构件的非预期接触，现有抓握、托/舀、推/扫、压/擦均不能准确描述；服务未给出具体构件对。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.16,
+      "log_step": 41,
+      "text_zh": "观察：视频 0–6.16 s，小车沿前方导轨移动；橙球先入机械臂蓝杯，再随杯到槽上游，末帧仍在杯沿内侧，未转入下方的小车。机器人未启动向小车交球，因此没有在移动车内稳定随行的窗口。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 6.12,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.08–6.16 s，机器人正在槽上游倾杯送球，球尚未完成滚槽、反弹和接回，杯下缘接近端挡区域后停止。log step 41 的现场服务明确返回 forbidden_tool_fixture_contact；失败发生在经槽反弹接球步骤的送球动作中。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 6.12,
+    "log_step": 41,
+    "evidence_zh": "观察：视频 6.08–6.16 s，机械臂蓝杯倾斜到槽上游橙色端挡附近，杯下缘与构件边缘在画面中相贴；log step 41 的现场服务以 forbidden_tool_fixture_contact 结束本局，确认存在工具与场景构件的碰撞。球未进入后续滚槽反弹流程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 4.9,
+    "log_step": 41,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 13 的 ik_path 返回每段逆解误差的最大值；log step 39 的末局 f2 脚本只打印此误差，随后无条件 run(Q2)。log step 41 显示搬杯路径误差约 9.99e-8，而倾杯路径误差达到 2.084999589358838，脚本仍提交该倾杯关节序列，接着现场服务报告工具碰撞。该证据支持未收敛的倾杯逆解被执行，导致实际路径偏离所求杯姿态；不据此推断任务目标或步骤顺序错误。"
+   }
+  ],
+  "gap_zh": "本局无逐帧状态日志，现场服务记录也未提供 phase、incoming_catch 完成事件、接触构件对或具体接触点。首次接球按视频中稳定留杯并随杯搬运的结果作视觉推断；25 fps 总览不能精确验证 25 ms 飞行历史、0.052 m 入杯窗口及相对速度门限。agent 在 log step 44 对此前相同静杯接法提出“可能未计入接球”的猜测，但没有末局原生阶段读数可核实，不能把该自述当作未完成的事实；本标注的首次接球时间及其原生验收仍有不确定性。碰撞由末局现场服务确认，具体是杯壁还是适配件碰到哪一构件不能细分。",
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  }
+ },
+ "summary_zh": "评分视频对应 log step 40 重置后的第4局；视觉上橙球约在视频 1.1 s 稳定留杯并随杯搬运，三个节点中首次接球记为达成，后两步未完成。机器人在经槽反弹接球的倾杯送球动作中，于视频约 6.12 s 碰到场景固定构件而终止；日志显示倾杯逆解未收敛仍被执行。首次接球的精确原生入杯窗口与阶段事件缺失，因此该节点依据可见结果推断，存在验收不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频和日志一致：橙球约0.6 s入杯并随杯搬运，约6.1 s倾杯到端挡附近时本局以 forbidden_tool_fixture_contact 结束；未收敛的倾杯逆解（误差2.08）仍被提交，该根因有日志支持。首次接球节点依据可见结果推断，已在 gap_zh 中说明不确定性，处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:26:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf88ae1e08d283c5c099dadd67e5654c260720141945b845e6b5531414c83d05",
+   "video_sha256": "a794bf761f3a51813080c0a81261e71b78f2f8561a2b0852a0a360608672147a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3",
+ "taskKey": "pandadyn/s01_cup_route_delivery",
+ "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626",
+ "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": 422,
+   "sim_steps": 3799,
+   "calls": 25,
+   "rows": 795,
+   "resets": 3,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 1866.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3/replay.mp4",
+  "duration_s": 4.28,
+  "fps": 25.0,
+  "frames": 107,
+  "sha256": "ca171636e2240b3a5733e537025dcc2c3815d362f2d1cacaccbf68e2c13be721"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "incoming_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.56–0.68 s，橙球从空中下落进机械臂末端蓝色方杯；视频 0.72–0.88 s 在杯内短暂弹动、滚向靠机械臂一侧。"
+     },
+     {
+      "t": 1.12,
+      "log_step": 97,
+      "text_zh": "推断：视频约 0.92–1.60 s，橙球稳定留在杯内，随后视频 1.80–3.80 s 随杯抬升、移向槽上方；首次稳定接球约在视频 1.1 s 达成，含连续 0.18 s 停留，时间为目测近似。log step 97 的服务状态为最后一局 episode=4、control_steps=160、done=false；节点依据上述画面判定，并非采用 agent 的接球自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机械臂末端固定安装的蓝色方杯从下方承接橙球，杯底和杯壁容纳并承托球；视频约 0.68 s 起可见球在杯内。"
+     }
+    ]
+   },
+   "route_rebound_ball_recaught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 102,
+      "text_zh": "观察：视频 1.80–3.80 s，机械臂用蓝杯承托橙球，抬升后移到远离基座的指定槽上游上方，正在执行送球入槽的准备运动。"
+     },
+     {
+      "t": 4.24,
+      "log_step": 102,
+      "text_zh": "观察：视频 3.84–4.24 s，机械臂开始倾杯，橙球仍在杯内并移至杯的右侧边缘；最后一帧仍未见球进入灰槽，未发生沿槽滚动、反弹及下游再接球。与成功示例可见的离杯滚槽和下游接回相比，本局在入槽前即结束；log step 102 服务返回 control_steps=422、done=true、reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 1.80–4.24 s，机械臂的蓝杯实际承托橙球移向指定槽，并开始倾斜；本局结束时球仍由杯容纳，没有下游再承接的接触。"
+     }
+    ]
+   },
+   "ball_in_moving_cart": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.24,
+      "log_step": 103,
+      "text_zh": "观察：视频全段 0.00–4.24 s，小车内未出现橙球；末帧橙球仍在指定槽上方的机械臂蓝杯内，机械臂没有执行向小车放球。log step 103 确认最后一局 episode=4、done=true、resets_left=0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "catch_free_flight_duration",
+   "unit": "s",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "incoming_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "downstream_catch_retention_duration",
+   "unit": "s",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "ball_cup_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_cart_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cart_rail_speed_abs",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "moving_cart_delivery_duration",
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "route_rebound_ball_recaught",
+   "t": 4.2,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.84–4.24 s，机械臂在指定槽上游上方倾杯，橙球尚未离杯，本局就在这一操作中结束；log step 102 的提交后状态为 control_steps=422、done=true、reason=failed，log step 103 确认这是 episode=4 的终止状态。该步骤从送球入槽起始，尚未进行槽内滚动及反弹再接球。"
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 4.2,
+    "log_step": 102,
+    "evidence_zh": "推断：视频 3.84–4.24 s 的倾杯运动在完成前终止，球仍留杯内。log step 95 的阶段 B 脚本指定在 0.8 s 内倾杯至 85°；log step 102 对实际提交参考序列计算的关节峰值速度为 [0.90,1.39,1.15,1.98,3.55,1.93,2.14] rad/s，随后服务返回 failed。任务 robot_safety_limit 对第五关节参考运动也规定 1.01×2.61≈2.636 rad/s 上限，因此该轨迹存在速度安全限违规；终止由该违规触发的判断结合了诊断与末段画面，服务未返回具体安全事件枚举。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 51 给出的 plan_tool_path 仅对工具位姿按固定时长做最小加加速度插值、逐点求逆解，没有关节速度限幅或时间伸缩；log step 95 的阶段 B 将 85° 倾杯段设为 0.8 s，log step 102 的参考轨迹诊断确实得到第五关节 3.55 rad/s 的峰值。工具位姿轨迹转为关节指令后不满足关节安全限，解释了视频约 4.2 s 倾杯中断。log step 104–106 在本局终止后才加入关节速度检查和时间伸缩，离线诊断峰值降到 2.24 rad/s；这些修改未在受评局执行。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，服务在 log step 102–103 只给出 reason=failed，未给出具体 limit_violation 事件、实际关节速度或触发安全量；安全限终止依据提交轨迹的超速诊断与视频末段推断，不能独立排定哪个安全量最先触发。首次接球的局部坐标、相对速度及 25 ms 接触历史无法从总览精确量测，完成时刻约为视频 1.1 s。",
+  "unmet": {
+   "incoming_ball_caught": true,
+   "route_rebound_ball_recaught": false,
+   "ball_in_moving_cart": false
+  }
+ },
+ "summary_zh": "受评最后一局在视频约 1.1 s 完成首次接球，随后机械臂承托球移向指定槽，最终完成 1/3 个节点。视频约 4.2 s 在倾杯入槽过程中终止，球仍在杯内，尚未滚槽反弹或入车；提交参考轨迹的第五关节峰值速度为 3.55 rad/s，支持控制轨迹超安全限的归因。服务未提供具体安全事件或实测运动日志，终止原因及首次接球精确时刻存在上述推断缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首次接球（视频约 1.1 s）、后两节点未达、断点（倾杯入槽中因关节速度超限终止）与 log step 102 的 3.55 rad/s 诊断一致；违反约束/轨迹或逆解的推断已标注为推断并写明缺口，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:29:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ed1146f46fc93f5d923b2a5cea02b82d3b0ca4669a2192e661841c05ee9cfe9f",
+   "video_sha256": "ca171636e2240b3a5733e537025dcc2c3815d362f2d1cacaccbf68e2c13be721",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}