diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--5ptxwj3.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6955d3574739a089a4a956db7d4a4414ae87b2 --- /dev/null +++ b/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，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:29:22Z", + "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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dnj8qcs.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e57232f1193be65705965252d49fb35a4056f4 --- /dev/null +++ b/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视频时间。" + }, + "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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--idee9hb.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c2cc669cd5718c10cde253db74499732177a2e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--9iiavhg.json new file mode 100644 index 0000000000000000000000000000000000000000..5ca3632672429c7c8f399d5321640f5c0093aa59 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--bvnzujv.json new file mode 100644 index 0000000000000000000000000000000000000000..9633fbfdaa9e1a8365a5db8882671290acf9ff32 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fydwecc.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc20b21f15cb40cfd37b5b200e160b1f23d4680 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--fzyzed6.json new file mode 100644 index 0000000000000000000000000000000000000000..637b1f0adbf8abeab05a9d24eb7a0c02df4577fc --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--ge4tipr.json new file mode 100644 index 0000000000000000000000000000000000000000..066baa64898970ca903572dd422ad05f63e76e81 --- /dev/null +++ b/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，接稳时间和内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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--i8uwsqs.json new file mode 100644 index 0000000000000000000000000000000000000000..ff67c93477e8e2ee495fbc9f9c524cb392b14ceb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--qgz6whw.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a80b8594bab472a48ef1629ab53cb451cb3db9 --- /dev/null +++ b/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，但杯的归属、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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--y8whjbd.json new file mode 100644 index 0000000000000000000000000000000000000000..7153b7b157bbb4af43430e24e2aab3fc9f74971a --- /dev/null +++ b/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，左臂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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--58gjhym.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac79ef5077f8e691e81ff10ca72a1e5bfeeeca0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--94hu8nc.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4b6ae239fd61b56e0d6e1a6388a10cb3ca6f14 --- /dev/null +++ b/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；左臂移开以准备接回球，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、速度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": 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"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": [ + { + 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0000000000000000000000000000000000000000..b264808da16b41382310e566d75dea5b5228defd --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--nqgt2sz.json new file mode 100644 index 0000000000000000000000000000000000000000..84f745eef16916b189e2c59ca4243b09bf455a29 --- /dev/null +++ b/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，规划归因也包含推断，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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--ubuse8f.json new file mode 100644 index 0000000000000000000000000000000000000000..df7369711ffb1d8d4f748472e6839537045c4d34 --- /dev/null +++ b/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，左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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--vuhswur.json new file mode 100644 index 0000000000000000000000000000000000000000..12f44900a0ec3093b93eadf9a1a252d57ceb47de --- /dev/null +++ b/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 的分析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" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard-realtime--xapurep.json new file mode 100644 index 0000000000000000000000000000000000000000..a030abafe27790587c8b60847356235d977b73b4 --- /dev/null +++ b/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": 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a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--fjjndge.json new file mode 100644 index 0000000000000000000000000000000000000000..a86cdda92015a09ca92f6d8ca51bd2a42cfefd55 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--kv2zua5.json new file mode 100644 index 0000000000000000000000000000000000000000..868c714f02c4dc28b862c00936b1dfaf65d5a41d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--neyqcjc.json new file mode 100644 index 0000000000000000000000000000000000000000..739c2e6f9ab0d582f0cab336ae6a8d4294046a17 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--tibk5yu.json new file mode 100644 index 0000000000000000000000000000000000000000..1a55ad6d7aca7f7e8fad4c9863200d3773111f50 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--vxxdfma.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3657d22d5fb30ebaade28663d029e390944aea --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--5ggqmp6.json new file mode 100644 index 0000000000000000000000000000000000000000..01738b5f866c01183000557f6b715ccc340e8c59 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--6mjomwg.json new file mode 100644 index 0000000000000000000000000000000000000000..5bcf0321ee07533a8baf1e2b5fa7848af1d9054d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--8kzedmx.json new file mode 100644 index 0000000000000000000000000000000000000000..07a0d5c1950088814d8360babfcbcf8a73202b4b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--ankejdn.json new file mode 100644 index 0000000000000000000000000000000000000000..af51d70f62c6f11e6bdb4c40d00056d8f1e95c19 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--gxbxmtq.json new file mode 100644 index 0000000000000000000000000000000000000000..df700f2e3d444ba02492a8b8d2f95d2930c54554 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--r9egsi2.json new file mode 100644 index 0000000000000000000000000000000000000000..dd49b0265bd1666ab563c535ae3e0501bb622ec5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--swr8v6m.json new file mode 100644 index 0000000000000000000000000000000000000000..e6433c708a2ced79cb6a93e2378c15bf40911415 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--xsvqpiz.json new file mode 100644 index 0000000000000000000000000000000000000000..1fab38fbb131846256c4de7d1be6eb0b7e4dd422 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--3exad4f.json new file mode 100644 index 0000000000000000000000000000000000000000..ca29576ffd535041bc97545672f48e956e0f2382 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--58mwe7l.json new file mode 100644 index 0000000000000000000000000000000000000000..a1146eb33fea2bcc97b4812804a916402b721782 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--dzy3z4h.json new file mode 100644 index 0000000000000000000000000000000000000000..934e9dca3fc32b8db41dd591993fa474f1beb58c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--ewkwnyv.json new file mode 100644 index 0000000000000000000000000000000000000000..28be7aa726b0b8dc7ca914bdf922a0a544afe07a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--klu6azp.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a742cb7a1622fd7c87591f57d406233f59ad8e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--rsbzvbm.json new file mode 100644 index 0000000000000000000000000000000000000000..ac396d44641aa6e98432177ddf976c5bf4a3f9d3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard-realtime--wwbrzqd.json new file mode 100644 index 0000000000000000000000000000000000000000..7d13161833925be3dd55780f412a03a50a2baecf --- /dev/null +++ b/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，既未第二次装篮发射，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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--hefry5i.json new file mode 100644 index 0000000000000000000000000000000000000000..ee23755ac250036ed1b859d5e75ec2b087051d1b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--kdpridu.json new file mode 100644 index 0000000000000000000000000000000000000000..2da13f3842e5d133996dd7bd79c1265cf4f09952 --- /dev/null +++ b/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，尚未进入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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--t9hgaos.json new file mode 100644 index 0000000000000000000000000000000000000000..9756a27bdfd0bc4edded7e18452e71fcc05c05a6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--tdskswz.json new file mode 100644 index 0000000000000000000000000000000000000000..e351f27b45bb7d28e685b9d427d3445f547ac00c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ceuuwyj.json new file mode 100644 index 0000000000000000000000000000000000000000..064ef831c961c936bec9434a852177b457593595 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ghx4t8r.json new file mode 100644 index 0000000000000000000000000000000000000000..a1fefc422553abf1bce44469307d2011da18d406 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--kp7q3ec.json new file mode 100644 index 0000000000000000000000000000000000000000..659e37149f180ee7c6632793ad89b01f19f4cac0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--muqsise.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--muqsise.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9119b75258b51bdfac6cf2b9b798e5bdee0612 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--qikjzfa.json new file mode 100644 index 0000000000000000000000000000000000000000..0b545eb57412cc7e154ef96768c2382623d4556c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--ykrp5j5.json new file mode 100644 index 0000000000000000000000000000000000000000..7cadf31e3be7ea133cab920a849375a9b114ccea --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--zqtdgg3.json new file mode 100644 index 0000000000000000000000000000000000000000..1680118f0074637e80c34393682cea967cf8594a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo.json new file mode 100644 index 0000000000000000000000000000000000000000..760a9bf533779c3bb4d53ff478af1587b3c45700 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 0, + "sim_steps": 0, + "calls": 1, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 880.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.03, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.185, + "peak_processes": 6, + "peak_disk_gb": 0.249, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "5eb94f1d4364a8b4bba85725f01ebabf7d827a2cd524a0d7a15116a57a1e2a9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "incoming_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：本次视频仅有视频 0.00 s 的一帧开场总览，蓝杯位于机械臂末端，未见橙球入杯；log step 4 中机器人服务返回 control_steps=0、rows=0、running=false，调用为 get_obs(seconds=0.0)。" + }, + { + "t": 0.0, + "log_step": 34, + "text_zh": "推断：完整日志中只有 log step 4 读取暂停初态，其余为离线观测分析和运动学计算，直到 log step 34 出现 Gemini 过滤器阻断提示仍无动作提交；评分器记录 n_actions=0、sim_steps=0、rows=0、clock_s=0.0。因此该节点在本次未推进的评分局中从未达成，并非仅据 success=0 判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：log step 4 仅读取暂停初态，评分器 n_actions=0、sim_steps=0；log step 34 出现提供商过滤器阻断，未执行本步骤的工具与球接触。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.00 s 的唯一帧仍是杯、两条灰槽和橙色反弹板的初始布局，没有倒球入槽、反弹或下游接回的运动序列；log step 4 中机器人服务报告 control_steps=0、running=false。" + }, + { + "t": 0.0, + "log_step": 34, + "text_zh": "推断：完整日志中只有 log step 4 读取暂停初态，其余为离线观测分析和运动学计算，直到 log step 34 出现 Gemini 过滤器阻断提示仍无动作提交；评分器记录 n_actions=0、sim_steps=0、rows=0、clock_s=0.0。因此该节点在本次未推进的评分局中从未达成，并非仅据 success=0 判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：log step 4 仅读取暂停初态，评分器 n_actions=0、sim_steps=0；log step 34 出现提供商过滤器阻断，未执行本步骤的工具与球接触。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.00 s 的唯一帧中，导轨上的蓝色小车内未见橙球，机械臂蓝杯仍在开场位置；log step 4 中机器人服务报告 control_steps=0、rows=0、running=false。" + }, + { + "t": 0.0, + "log_step": 34, + "text_zh": "推断：完整日志中只有 log step 4 读取暂停初态，其余为离线观测分析和运动学计算，直到 log step 34 出现 Gemini 过滤器阻断提示仍无动作提交；评分器记录 n_actions=0、sim_steps=0、rows=0、clock_s=0.0。因此该节点在本次未推进的评分局中从未达成，并非仅据 success=0 判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：log step 4 仅读取暂停初态，评分器 n_actions=0、sim_steps=0；log step 34 出现提供商过滤器阻断，未执行本步骤的工具与球接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 34, + "where": "首步前", + "evidence_zh": "观察：log step 34 的最后一条消息为“This request was blocked by Gemini's filters”，此后没有工具调用或任务完成报告；此前 log step 4 仅 get_obs(seconds=0.0)，机器人服务返回 control_steps=0、running=false。视频只有视频 0.00 s 的初态一帧，评分器 n_actions=0、sim_steps=0、rows=0，未交付任何动作，无法定位一个实际操作失败的节点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 34 记录 Gemini 提供商过滤器阻断，发生在任何动作提交及物理结果形成之前；本次视频存在但仅有视频 0.00 s 的初态一帧（视频时长0.04 s），没有后续操作影像，也没有状态日志。推断：按外部因素截断规则及 CASES.md FAIL-5，此例应重试并排除机器人失败归因；现象和根因均留空，不标“没尝试”，不把离线感知或逆解试算中的错误当作评分局的物理失败。保留目录 success=0 仅反映原始记录，不能据此推断机器人能力失败；各原生指标均未报告。", + "unmet": { + "incoming_ball_caught": false, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + } + }, + "summary_zh": "评分局未推进，首次接球、经槽反弹接球和球入移动小车均未达成，节点终值为0/3；本次视频仅有视频 0.00 s 的初态一帧，评分器记录零动作、零仿真步。log step 34 出现 Gemini 提供商过滤器阻断，发生在动作交付之前，故断点记 unknown／首步前，现象及根因留空，此例应按外部因素截断重试并排除机器人失败归因。缺少实际执行过程和状态日志，离线分析不能证明任何接触或物理失败，目录原始 success=0 保留。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "标注符合外部因素截断规则：log step 34 为 Gemini 过滤器阻断，评分器 n_actions=0、sim_steps=0，视频仅有视频 0.00 s 一帧初态；三节点未达成、断点 unknown/首步前、现象与根因为空并带 gap_zh，均成立。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:32:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--8nyrvoo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "09549adebb7b10777cfba3ee9059e1fa1d79a747becec715b27b9679694e7602", + "video_sha256": "5eb94f1d4364a8b4bba85725f01ebabf7d827a2cd524a0d7a15116a57a1e2a9d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--ghwiacw.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--ghwiacw.json new file mode 100644 index 0000000000000000000000000000000000000000..e2e3a9bc77cc0bd475aea383ef2061f903e793c0 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--ghwiacw.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--ghwiacw", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 797, + "sim_steps": 4450, + "calls": 14, + "rows": 3103, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2560.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 88.96, + "max_lag_s": 0.2514, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2500, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 1.123, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.19, + "peak_processes": 9, + "peak_disk_gb": 1.098, + "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-realtime--ghwiacw/replay.mp4", + "duration_s": 8.04, + "fps": 25.0, + "frames": 201, + "sha256": "0a18ce917c52bebd2fad7b77156e9bdc2854f49176bc912697182025d7998d21" + }, + "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 0.60–0.68 s，橙球从上方落入机械臂末端的蓝杯；视频 0.92–1.20 s，球留在杯底并随杯上升，视频 1.50–4.50 s 继续随杯搬运，没有从杯中飞出。推断：首次稳定接住已完成，以视频约 1.10 s 为包含稳定保留窗口的完成锚点，时间有约 0.2 s 不确定性；该事件随后倒球不撤销。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 0.68–1.20 s，Panda末端刚性安装的蓝杯以杯底、杯壁承接和容纳橙球；夹爪没有直接夹球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.68, + "log_step": 127, + "text_zh": "观察：视频 1.50–4.50 s，机械臂将杯内球搬到槽上游上方，视频 4.60–6.56 s 逐渐倾杯，视频 6.56–6.72 s 球出现在上游橙色端挡附近并向槽外支架旁落下；视频 6.76–7.40 s 球在该处低位运动，未沿槽到下游橙色反弹板。视频 7.60–8.00 s，蓝杯仍在槽上方回转，未在下游再次接住球。log step 127 的服务结果仅报告 control_steps=797、done=True、reason=failed，且第一段计划后即结束。" + }, + { + "t": 7.0, + "log_step": 130, + "text_zh": "观察：agent 在 log step 130 自述球“滚下槽、击中反弹板并越过”，但视频 6.56–7.40 s 的球位于上游端挡外侧及其支架旁，没有显示上述通槽和反弹过程；节点依据视频判为未达成，不采用该自述。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.50–4.50 s，Panda末端蓝杯承托橙球并搬运，随后倾杯使球离杯；此次实际接触只有先前的杯内承托与倒出，没有完成下游再承接。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": 127, + "text_zh": "观察：视频 0.00–8.00 s，导轨上的蓝色小车持续可见，未见橙球进入车内；视频 6.76–7.40 s 球在槽外支架旁，视频 7.60–8.00 s 杯仍在槽上方，没有向小车交球。log step 127 报告第一段计划期间该局已失败结束，没有执行后续交车段。" + } + ] + } + }, + "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": 6.7, + "log_step": 127, + "where": "操作中", + "evidence_zh": "观察：视频约 6.56–6.80 s，机械臂倾杯后，球从槽上游端挡附近向槽外支架旁落下，没有通过槽和下游反弹板后接回；直到视频 8.00 s 仍未修复。log step 125 显示最后一次重置，log step 127 显示该局从 control_steps=0 提交并在797步以 failed 结束，故只标此末局，不计前几局调试。" + }, + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.7, + "log_step": null, + "evidence_zh": "观察：视频 6.56–6.72 s，蓝杯倒出的橙球从上游端挡附近落到槽外，视频 6.76–7.40 s 球已在槽外支架旁低位运动，而下游反弹板与接球区域在另一侧。推断：本次倒球的释放位置或方向未把球送入要求的通槽路径，是经槽反弹接球步骤的未修复偏差。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.7, + "log_step": 93, + "evidence_zh": "推断：log step 93 的脚本以预定杯位姿和倾角生成倒球及退回接球动作，log step 114 改为加载预先生成的关节轨迹，log step 127 确认末局按该计划执行；视频 6.56–6.80 s 实际离杯落点偏在槽外，未实现计划所需的入槽运动。目标和顺序明确指向指定槽、反弹后再接球，现有证据支持倒球运动控制未实现所需结果；没有足够数据进一步区分释放几何、动力学估计与伺服跟踪误差。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 无逐帧状态日志；服务在 log step 127 只给出 failed，未给出末局的原生阶段或具体 failure_reason。视频能确认倒球后球在槽外及未再接住，但无法量测25 ms接触历史、精确速度、首次接球0.18 s窗口的完成瞬间，亦不能确认最终由哪一种禁碰或阶段条件终止。agent 在 log step 130、133 所称击中反弹板及 missed_gravity_route 是其诊断，未获画面或服务字段证实；控制根因保留在大类。" + }, + "summary_zh": "末次评分局完成首次接球（视频约 1.10 s），最终完成 1/3 个节点。机器人倾杯时球于视频约 6.70 s 落到槽外支架旁，经槽反弹接回未完成，亦未向移动小车交球；倒球运动控制未得到要求的入槽结果。无状态日志或末局详细终止码，agent 关于球沿槽反弹的自述不获视频支持，不能据此认定精确动力学原因或终止条件。", + "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1达成（视频约1.1 s）、节点2/3未达成、断点为经槽反弹接球（操作中）均与帧一致；倒球后球落到槽结构外侧，位姿不准与控制根因的推断有视频支持，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": "2026-10-30T04:35:09Z", + "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-s01-cup-route-delivery-i00-standard-realtime--ghwiacw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--ghwiacw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b0fe31c4baaa7ab389ce6aed7c64edbdc8da4b73537115d4379289c34a216e64", + "video_sha256": "0a18ce917c52bebd2fad7b77156e9bdc2854f49176bc912697182025d7998d21", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--kyun334.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--kyun334.json new file mode 100644 index 0000000000000000000000000000000000000000..4052b4c9d22c688e09b83c62ee34962165650313 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--kyun334.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--kyun334", + "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": 443, + "sim_steps": 2882, + "calls": 41, + "rows": 2250, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2652.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 57.613, + "max_lag_s": 0.171, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1834, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 0.975, + "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-realtime--kyun334/replay.mp4", + "duration_s": 4.48, + "fps": 25.0, + "frames": 112, + "sha256": "7bdf761bd4ac4729b500c2cb12f56d6efc282462e5a3126bda4974f727532a20" + }, + "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": 45, + "text_zh": "观察：视频0.60–0.68 s橙球下落进入机械臂末端蓝杯，视频0.76–1.28 s球稳定停在杯内；视频1.44–2.72 s杯被抬起并移到槽上游，橙球始终随杯移动。将首次稳定保留完成锚定在视频约0.96 s；25 ms接触历史及精确相对速度无法由视频量测。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.68–1.28 s，Panda末端刚性安装的蓝杯以杯底和杯壁承接橙球，之后承托球随臂移动；夹爪未直接夹球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": 45, + "text_zh": "观察：视频2.56–3.04 s机械臂将仍载球的蓝杯抬高，视频3.20–3.88 s逐渐倾杯；视频3.92–4.44 s杯下降靠近指定槽上游端挡，球仍贴着杯的下侧边缘。全段未出现球沿槽滚下、经下游橙板反弹后再次落杯的过程，故此合并节点未完成。" + }, + { + "t": 4.44, + "log_step": 45, + "text_zh": "观察：视频4.36–4.44 s蓝杯下缘逼近并与指定槽上游橙色端挡附近轮廓相交，录像在此结束；log step 45的第4局记录显示reset后resets_left=0，最后一段watch已返回done=true、reason=failed，随后才出现apply_corr未定义的NameError。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.44–4.44 s，Panda末端蓝杯承托首次接住的球，移到指定槽上游并倾斜；未发生下游第二次承接。" + }, + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：视频4.40–4.44 s蓝杯下缘与路线1上游橙色端挡或相邻槽缘发生非预期碰撞。候选名称“碰撞”；现有托/舀、推/扫、压/擦均不能准确描述这次撤杯下降时的撞碰，精确接触体对无日志确认。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.44, + "log_step": null, + "text_zh": "观察：视频0.00–4.44 s导轨上的蓝色小车一直为空；末帧橙球仍在机械臂末端竖起的杯边，机械臂没有向小车交球。与参考成功视频后段可见的球入车随行状态不同，本局未建立球在移动小车内稳定停留的关系。" + } + ] + } + }, + "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": 4.4, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频3.20–4.44 s机械臂在指定槽上游倾杯并下降，尚未出现完整入槽—反弹—再接球；视频4.40–4.44 s杯下缘与橙色上游端挡附近轮廓相交，回合结束。log step 45确认这是最后重置的第4局，服务已返回done=true、reason=failed。推断：此步在撤杯下降碰到槽端结构时失败，之后未修复。" + }, + "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": 4.4, + "log_step": 45, + "evidence_zh": "观察：视频4.24–4.44 s机械臂使倾斜蓝杯向下靠近路线1上游，末帧杯下缘与橙色端挡及槽缘区域相接、轮廓相交；log step 45同局watch返回failed。推断：撤杯路径与固定槽端结构发生碰撞，阻断后续动作；具体为端挡还是相邻槽缘不能由该视角唯一确定。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 4.4, + "log_step": 37, + "source_zh": "日志", + "evidence_zh": "推断：撤杯到下游的跨阶段路线未绕开槽体。log step 37将C段写为从qB直接插值到下游、杯底高度ZF4=0.18 m的接球姿态；log step 43只把前段倾杯位置提高至0.60 m，未增加C段避开固定槽体的航点，log step 45确认该C段已预提交。视频3.92–4.44 s实际下降进入槽端结构处，与此计划一致；这是预先指定的路径缺少避障余量的证据。" + } + ], + "gap_zh": "无逐帧状态日志或原生阶段完成记录；首次接球依据可见稳定承托及随杯搬运推断，精确完成时刻、25 ms接触历史、相对速度等验收量不能核验。服务在log step 45仅给出failed，未报告具体禁碰名称或接触体对；杯与槽端结构的碰撞根据末帧及前后运动推断。log step 45的NameError出现在服务已结束本局之后，不能据此认定它造成视频中的失败；log step 47修订的绕行控制器未再执行，不计入进度。" + }, + "summary_zh": "评分对象为log step 45最后重置后的第4局：橙球在视频约0.96 s完成首次稳定入杯，随后被抬到指定槽上游，最终完成1/3节点。视频约4.4 s蓝杯下降到槽上游端挡附近发生碰撞，未完成经槽反弹再接球，也未向移动小车交球；提交脚本的高位倾杯至低位接球路径没有绕行航点，支持路线规划不足的归因。缺少原生阶段和接触体对记录，接球精确验收量与具体终止原因无法直接核验。", + "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1/3、断点（route_rebound_ball_recaught，视频约4.4 s蓝杯下降到槽上游橙色端挡处）、碰撞现象与路径规划根因均与视频及log step 37/43/45一致；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": "2026-10-30T04:37:35Z", + "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-standard-realtime--kyun334/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--kyun334/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c507a6264e2ea5b28b68b0704f64bdcc6b1084f612430035f52244260f1b9ff6", + "video_sha256": "7bdf761bd4ac4729b500c2cb12f56d6efc282462e5a3126bda4974f727532a20", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5.json new file mode 100644 index 0000000000000000000000000000000000000000..a4b2f85c387f83bd2797bdc5dc854e7aa983c093 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 802, + "sim_steps": 4919, + "calls": 27, + "rows": 4463, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1861.2, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 98.357, + "max_lag_s": 0.3523, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2500, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 1.149, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.312, + "peak_processes": 14, + "peak_disk_gb": 0.289, + "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-realtime--obqgfp5/replay.mp4", + "duration_s": 8.08, + "fps": 25.0, + "frames": 202, + "sha256": "3fa8941ffbd6e793cef1903fa6cdb40fa1b78a28524a968312b4e7ce6b912d27" + }, + "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，开场飞行的橙球下降到机械臂末端蓝色方杯内；视频0.72–0.88 s球在杯内小幅移动，视频0.92–1.28 s持续停留，随后视频1.60–4.80 s随杯抬起并搬运，没有飞出。" + }, + { + "t": 1.1, + "log_step": null, + "text_zh": "推断：由视频0.92–1.28 s的稳定杯内停留及后续随杯搬运，首次接球已完成，包含0.18 s保留的达成时刻约取视频1.1 s，误差约0.2 s；无逐帧原生阶段记录，不能精确量测局部坐标和相对速度。该节点为锁存事件，后续计划内倒球不撤销。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频0.68–1.28 s，Panda末端固定蓝杯从下方承接并容纳橙球，随后杯底、杯壁承托球一起移动；夹爪未直接抓球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.16, + "log_step": null, + "text_zh": "观察：视频5.60–7.08 s，机械臂将装球蓝杯在较远灰槽上游倾斜；视频7.12–7.20 s橙球离杯下落至该槽上游区域，随后被槽壁遮住。视频7.40–8.04 s蓝杯一边转动一边下降，末帧仍在槽上方，未出现球经橙色斜板反弹后被下游蓝杯稳定接回的结果。" + }, + { + "t": 8.04, + "log_step": 52, + "text_zh": "观察：log step 52的机器人服务状态明确记录最后一局episode=4、control_steps=802、done=true、reason=failed、resets_left=0；视频8.04 s终止时机械臂仍在倾杯后的移位动作中。成功参考视频约12.8–13.6 s可见反弹后橙球在下游蓝杯内，本次评分视频未出现这一结果；参考局仅用于辨认可见结果，不计入本局进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.60–7.08 s，Panda末端蓝杯承托已经接住的橙球，搬到较远灰槽上方并倾斜放出；视频7.12–7.20 s球离杯。没有观察到第二次承接，槽壁遮挡后的接触对不可确认。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.04, + "log_step": null, + "text_zh": "观察：视频0–8.04 s导轨上的蓝色小车内没有橙球；末段蓝杯仍在灰槽上方，机器人未向小车倒球，未出现球脱离杯后在移动车内稳定随行的结果。成功参考视频约17.6–18.4 s显示球入车的可见形态，本局未出现。" + } + ] + } + }, + "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": 8.0, + "log_step": 52, + "where": "操作中", + "evidence_zh": "观察：视频7.12–7.20 s球刚离倾斜蓝杯落向指定槽，视频7.72–8.04 s机械臂正将杯转回并向下游移位，尚未完成反弹后接球；log step 52记录该评分局episode=4在control_steps=802失败终止，之后没有重置或修复。推断：依据log step 3的control_dt=0.01 s，802个控制步约为视频8.02 s，与视频8.04 s末帧中的移杯终止相符，因此断点锚定视频约8.0 s；这是经槽反弹接球步骤内部的失败。" + }, + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 8.0, + "log_step": 53, + "evidence_zh": "观察：log step 52显示最后评分局在control_steps=802失败后停止；紧接的log step 53通过机器人服务get_obs读取冻结末态，本体感知的七关节速度为[-0.34,0.84,-0.36,0.64,-0.37,0.04,-3.28] rad/s，第7关节速率绝对值3.28 rad/s超过DAG中robot_safety_limit的1.01×2.61=2.6361 rad/s门限。视频7.72–8.04 s对应机械臂倾杯后的快速转回和下降。推断：末态存在运动安全限违规；服务仅返回failed，不能据此确定最先触发的是该超限还是其他接触检查。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 8.0, + "log_step": 53, + "source_zh": "日志", + "evidence_zh": "推断：agent提交的快速回杯轨迹未满足伺服可跟踪的运动范围，导致实际杯轨迹严重落后。log step 38、44的脚本用关节三次样条在控制步712后快速移杯，log step 44、51的自检给出dash速度比1.2837、加速度比2.4085（相对脚本所列伺服上限），log step 52仍提交该计划；log step 53的服务实测杯位置[0.127,-0.057,0.464] m，命令行801的计划位置为[0.109,-0.261,0.358] m，当前关节目标与该命令一致，表明跟踪偏差约为y方向0.204 m、z方向0.106 m，同时实测第7关节速度为-3.28 rad/s。视频7.72–8.04 s杯仍在槽上方，支持回杯未按计划到位；无证据将该问题归为感知错误。" + } + ], + "gap_zh": "没有逐帧状态日志和原生阶段完成事件，首次接球达成时间为视频估计，25 ms接触历史、精确相对速度及局部位置阈值无法独立核实。视频7.24–8.04 s橙球被槽壁及杯遮挡，机器人服务末态只给failed而无具体failure_reason或接触对，无法确定最先终止检查是否为关节超速、提前碰球或杯/杆与槽碰撞；不额外标注未证实的碰撞。七项native_metrics未由评分器字段报告，均留null。日志中的前3局及其反弹观测属于会话试验，不作为本局节点进度。" + }, + "summary_zh": "最后评分局完成首次接球（约视频1.1 s，事件锁存），随后搬杯、倾杯，将球放向指定槽；视频约8.0 s在回杯准备下游接球时失败，最终完成1/3节点，未完成反弹后接球及入车。提交轨迹超过伺服速度、加速度范围，末态有明显跟踪偏差及第7关节超速，支持控制轨迹问题；无逐帧状态和具体终止原因，不能确定最先触发的安全或接触检查。", + "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（视频约1.1 s）与未完成反弹接球/入车的节点值和断点（视频约8.0 s，对应控制步802）与视频及log一致；违反约束与轨迹或逆解依据服务实测末态（log step 53）并已标明为推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:25:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--obqgfp5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "18b6c121186fc1a6d807d66da442012990318eca0a7da3f1870343660b303a6c", + "video_sha256": "3fa8941ffbd6e793cef1903fa6cdb40fa1b78a28524a968312b4e7ce6b912d27", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw.json new file mode 100644 index 0000000000000000000000000000000000000000..4fa9b94d4af6f0408e1519f4c0d3efba9e0d9e9a --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw", + "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": 505, + "sim_steps": 5913, + "calls": 13, + "rows": 2312, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 814.2, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 118.235, + "max_lag_s": 0.2318, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4139, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 1.268, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.352, + "peak_processes": 9, + "peak_disk_gb": 0.524, + "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-realtime--pl9gjlw/replay.mp4", + "duration_s": 5.12, + "fps": 25.0, + "frames": 128, + "sha256": "346ea599a23ca10fbc17206005bdaeedd3c2541c2c4263299150bd126052b7e6" + }, + "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": null, + "text_zh": "观察：视频 0.52–0.64 s，橙球从空中下降进入机械臂末端蓝色方杯；视频 0.68–1.28 s，球留在杯内，短暂移动后稳定，随后随杯上升。" + }, + { + "t": 1.1, + "log_step": null, + "text_zh": "推断：视频约 0.9 s 起球相对杯的位置稳定，持续到机械臂携球抬杯，首次接住球约在视频 1.1 s 完成（视觉估时，误差约 0.2 s）；后续倾杯不撤销此事件节点。" + } + ], + "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方杯从下方接住橙球，杯底及杯壁承托球；视频 1.28–3.4 s 球随杯移动。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 133, + "text_zh": "观察：视频 1.28–3.4 s，机械臂携带杯内橙球抬高并移到灰槽上端，随后倾杯，开始经槽送球的尝试。log step 133 的控制脚本为此安排了携球转运及倾杯动作。" + }, + { + "t": 5.04, + "log_step": 143, + "text_zh": "观察：逐帧检查视频 4.0–5.08 s，机械臂继续倾杯，橙球仍位于杯内低侧边缘，未见球沿槽滚下、反弹或再次入杯；末帧停在倾杯姿态。log step 143 的服务状态为 episode=4、control_steps=505、done=True、reason=failed，未报告具体失败事件。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 1.28–5.08 s，机械臂末端蓝杯承托橙球向槽上端移动并倾斜，球滚向杯内低侧；没有发生下游再次接球。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.08, + "log_step": null, + "text_zh": "观察：视频 0–5.08 s，小车沿桌面导轨移动，车内始终未见橙球；视频 5.08 s 橙球仍在高处倾斜的工具杯内，机械臂没有开始向小车送球。" + } + ] + } + }, + "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": 5.0, + "log_step": 143, + "where": "操作中", + "evidence_zh": "观察：视频约 3.4–5.08 s，机械臂正把杯内球倒向灰槽；结束时杯已明显倾斜，球仍在杯内低侧，没有完成入槽—反弹—接回。log step 143 确认最后一局 episode=4 在 control_steps=505 已判 failed；log step 145 随后的重置请求被拒绝，本步没有后续修复。" + }, + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本目录有本次完整视频及运行日志，但没有状态日志；log step 143 的服务只报告 reason=failed，没有原生阶段、接触对、安全检查量或具体失败原因。视频 4.0–5.08 s 已逐帧检查，末段腕部、杯和槽边在总览投影中接近，但不能可靠确认是否实际碰撞，亦不能量测速度、加速度或力矩超限；因此失败现象和根因均留空。首次接球完成时刻为视觉近似，25 ms接触历史和0.18 s保留的精确起点不能独立量测。log step 147 在本局结束后才修改倾杯位置，不能用该修改或 agent 在 log step 150 的总结补记本局进度。" + }, + "summary_zh": "本次评分视频对应日志最后一局 episode=4：机械臂用固定蓝杯首次接住橙球，约视频 1.1 s 完成，最终达成1/3节点。随后机械臂携球到槽上端倾杯，在视频约 5.0 s 失败结束，未完成经槽反弹接回，也未尝试入车。日志只给出通用失败状态，且无状态日志，无法确定具体碰撞、运动限违规或控制根因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（1/3，首次接球约视频 1.1 s）、断点（route_rebound_ball_recaught，约视频 5.0 s，操作中）与视频一致；没有状态日志，只有通用 reason=failed，现象和根因留空并附 gap_zh 是合理的，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:33:03Z", + "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-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--pl9gjlw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8b9bbcb1ef091e12c48b774087aa726051bf3576d129082b154babaff52c590e", + "video_sha256": "346ea599a23ca10fbc17206005bdaeedd3c2541c2c4263299150bd126052b7e6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego.json new file mode 100644 index 0000000000000000000000000000000000000000..fce2904871b780852195f276b62acf53dbcddf73 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 1360, + "sim_steps": 5961, + "calls": 899, + "rows": 3149, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1041.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 119.197, + "max_lag_s": 0.1641, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2854, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 7.628, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.14, + "peak_processes": 10, + "peak_disk_gb": 0.944, + "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-realtime--uhvtego/replay.mp4", + "duration_s": 13.64, + "fps": 25.0, + "frames": 341, + "sha256": "4e3e94b8574f0898db883e5438381cd85de7490baa9629e6147037ac42a1e4ba" + }, + "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": 0.72, + "log_step": null, + "text_zh": "观察：视频 0.64–0.88 s，开场橙球下降进入机械臂末端的蓝色方杯；视频 0.96–1.60 s 球留在杯底，随后视频 2.0–4.5 s 随杯抬升并移向槽上游。" + }, + { + "t": 1.0, + "log_step": 55, + "text_zh": "推断：由视频 0.96–1.60 s 的稳定留杯及后续随杯搬运，首次接球已完成，完成锚点约视频 1.0 s（误差约 0.2 s）；log step 55 的最后一局输出也记录了接球后及抬杯过程。此为锁存事件，后来按要求倒球不撤销。" + } + ], + "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以杯底和杯壁承接橙球并承托抬升，夹爪未直接抓球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 58, + "text_zh": "观察：视频 5.6–7.8 s 机械臂在远侧槽上游倾倒蓝杯，球随后沿该槽向下游移动；机械臂将空杯移至下游低处等待。视频 12.88–13.44 s 可见橙球到达槽末、接触橙色斜板并离板落向杯。" + }, + { + "t": 13.52, + "log_step": 61, + "text_zh": "观察：视频 13.48–13.60 s 橙球落进蓝杯后仍向前壁快速移动，末帧仍在杯内，未显示稳定停留。log step 61 的第 4 局服务结果为 control_steps=1360、done=True、reason=failed，未出现稳定接球完成结果。" + }, + { + "t": 13.6, + "log_step": 61, + "text_zh": "推断：从视频约 13.5 s 才着杯到视频 13.60 s 终止，尚不足连续 0.18 s 稳定留杯，故经槽反弹接球未完成；不能把进入杯口等同于节点达成。log step 7 给出 control_dt=0.01 s，log step 61 的本局 1360 步对应仿真 13.60 s，与视频 13.60 s 的接球末帧核对一致；未使用 agent 工作时间换算视频时间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机械臂末端蓝杯承托橙球移至槽上游并倾倒，随后在下游从下方承接反弹球；末段球已触及杯底但仍在杯内移动，未形成稳定接球。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.6, + "log_step": 61, + "text_zh": "观察：视频全程没有机械臂向导轨上的蓝色小车交球的动作；视频 13.48–13.60 s 橙球仍在末端工具杯中，小车是旁边另一只蓝色开口盒，内部没有球。最后一局在第二次接球阶段结束，未进入入车操作。" + } + ] + } + }, + "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": 13.5, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 13.48–13.60 s 机械臂正在以蓝杯承接指定斜板反弹后的橙球，球进入杯中仍向前壁运动，尚未稳定接住；log step 61 的第 4 局服务在本局 control_steps=1360 时返回 done=True、reason=failed，后续送车动作未发生。" + }, + "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": 13.52, + "log_step": 61, + "evidence_zh": "观察：视频 13.44–13.60 s，反弹球落入等待的杯后迅速由杯后部移向前壁，蓝杯在此段基本停留原处，仅末尾开始小幅移动；机械臂未在终止前跟上来球并使其相对杯稳定。log step 61 显示脚本直到本局仿真 13.51 s 才输出 follow catch，随后服务结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 48–50 的控制代码在球进入杯底附近且来球速度较大时才触发一次跟随目标，将杯的 y 目标从 -0.335 m 改到 -0.39 m；log step 61 记录该触发发生于本局仿真 13.51 s。与视频 13.48–13.60 s 球着杯后继续快速移向前壁、杯尚未跟随的表现结合，承接后的减速稳球控制不足，标为控制；现有证据不足以细分控制子类或确定终止的具体安全检查项。" + } + ], + "gap_zh": "没有逐帧状态日志或原生阶段完成事件，首次接球时间为视频近似判断；评分器未报告七项原生指标值，均填 null。最后一局服务仅返回 failed，日志输出中部分状态被截断，无法确定是否由接球冲击、杯壁接触或运动安全检查触发终止；视频末帧球仍在杯内，不能断言已经脱杯或发生某项违规。根因仅依据接球控制代码与可见动态不匹配作宽泛推断。" + }, + "summary_zh": "评分视频对应 log step 54 重置后的第 4 局：首次接球约在视频 1.0 s 完成，最终完成 1/3 个节点。球已被倒入指定槽并经斜板反弹，但视频约 13.5 s 再次落杯后仍快速移向前壁，尚未稳定留杯即结束，断点为经槽反弹接球，后续送入移动小车未尝试。可见承接跟随不足，控制归因为推断；服务仅报告 failed，缺少具体判负条件和原生指标。", + "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：首次接球约视频1.0 s完成，经槽反弹接球在视频13.6 s终止时尚未稳定（log 13.51/13.60 s球相对杯高度约0.02 m、y向移动快），断点与控制/动态时机归因均有限度地得到支持，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": "2026-10-30T04:36:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uhvtego/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83064e72ba5abb3d0e98d1f32c109536576d9bfa4eeabfad52b9015e0a4ebc17", + "video_sha256": "4e3e94b8574f0898db883e5438381cd85de7490baa9629e6147037ac42a1e4ba", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4.json new file mode 100644 index 0000000000000000000000000000000000000000..254bb99e9d50174191a8ea6b25b2c49a35803c20 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 533, + "sim_steps": 8033, + "calls": 55, + "rows": 4300, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2183.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 160.634, + "max_lag_s": 0.2209, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4100, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 2.163, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.327, + "peak_processes": 12, + "peak_disk_gb": 1.033, + "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-realtime--uuvrpy4/replay.mp4", + "duration_s": 5.4, + "fps": 25.0, + "frames": 135, + "sha256": "47b72b3f11529db70316fb5682c206089231e54f3f7734e7a49a00fccb6ba7ac" + }, + "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，橙球下降进入机器人末端的蓝杯；视频0.72–1.16 s球在杯底滚动后停留，视频1.60–4.40 s随杯抬升及搬运，未飞出。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：依据视频约1.00–1.16 s球在杯内趋于静止及后续持续承托，首次稳定接球约在视频1.2 s完成（约有0.2 s误差）；无原生阶段与相对速度记录，无法逐项量测0.18 s验收窗口。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人末端固定的蓝杯以杯底、杯壁从下方承接下落橙球，球随后停在杯内并随杯移动；无夹爪直接抓球动作。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频1.60–4.40 s，机器人持杯将球抬高并移向远侧槽上游；视频4.52–5.36 s倾杯并降低杯沿，球移到杯的低侧边缘。直到视频5.36 s，球仍位于上游杯沿附近，未出现沿槽滚至下游、反弹后再次落杯的过程。" + }, + { + "t": 5.32, + "log_step": 159, + "text_zh": "观察：视频5.28–5.36 s杯下缘降到远侧槽的橙色端挡边缘，局面随即结束；log step 159的服务返回第4局control_steps=533、done=true、reason=failed。推断：log step 6给出control_dt=0.01 s，末局533控制步对应视频约5.33 s，与所查片尾事件一致；第1至3局及log step 175以后离线修改不属于本段评分视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.60–5.28 s，机器人以固定蓝杯的杯底和杯壁承托橙球，搬到槽上游并倾斜使球向低侧杯沿移动；未完成反弹后接回。" + }, + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：视频5.28–5.36 s蓝杯低侧边缘与远侧槽上游橙色端挡相接，属于非预期碰撞；候选名称“碰撞”，不是有意推扫、托举或压擦。单一总览视角不能分辨最初接触的具体杯面。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.36, + "log_step": null, + "text_zh": "观察：视频0.00–5.36 s，导轨蓝色小车持续移动且可见车内为空；橙球先落入机器人蓝杯，之后一直随杯运至槽上游，末帧仍在倾斜杯的低侧边缘附近，未转移到小车。" + } + ] + } + }, + "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": "route_rebound_ball_recaught", + "t": 5.3, + "log_step": 159, + "where": "操作中", + "evidence_zh": "观察：视频4.52–5.36 s机器人正在槽上游倾杯，蓝杯下缘降到橙色端挡边缘，球尚未经槽反弹接回；log step 159服务确认最后第4局在control_steps=533以failed结束。推断：未修复的失败位于经槽反弹接球步骤的入槽操作，约视频5.3 s；随后没有继续到下游接球。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.3, + "log_step": 159, + "evidence_zh": "观察：视频5.12–5.36 s，机器人倾斜的蓝杯持续靠近槽上游橙色端挡，视频5.32–5.36 s杯下缘与端挡边缘相接，机器人未将杯撤回便结束。推断：发生工具与槽端构件的非预期碰撞；log step 197中agent也自述为杯碰槽壁/端挡，但服务只报告failed，不能确认具体终止代码。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志", + "evidence_zh": "观察：log step 156的脚本生成planF轨迹，log step 157诊断关节目标速度峰值达10.37 rad/s，且所算工具位置在计划运动时刻5.20 s为(0.077,0.16,0.55) m，计划运动时刻5.40 s异常绕至(-0.077,0.389,0.458) m；log step 159确认第4局执行同一planF并再次打印相同速度诊断。log step 161从该局本体感受数据打印控制步520的杯位置为(0.021,0.366,0.496) m，明显偏离该段期望位置；视频4.60–5.36 s也见杯向槽端下降而未按预期移入槽上方。推断：倾杯及恢复段的逆解分支与关节插值未形成可稳定跟踪的连续轨迹，末端偏移使杯撞向槽端。10.37 rad/s为agent计算的目标序列差分，不能当作实测超限或评分器违规判定。" + } + ], + "gap_zh": "没有状态日志及原生阶段、接触对或细分failure_reason；25 fps总览不足以精确核对首次接球的局部速度和0.18 s保留窗口，故完成时刻取视觉近似。片尾可判断杯与槽端构件相接，但不能区分具体杯面或排除同时存在另一禁碰/运动安全限触发；不以agent的近似最低角高度计算确证终止原因。7项原生指标在评分器字段中均未报告，保留null。", + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + } + }, + "summary_zh": "评分视频对应最后第4局：橙球约在视频1.2 s首次稳定落杯，随后随杯抬升，最终完成1/3节点。机器人在经槽反弹接球步骤的上游倾杯操作中偏离预期轨迹，约视频5.3 s杯沿碰向槽端构件后终止，尚未滚槽反弹接回，也未向移动小车交球；同局加载轨迹的速度诊断及工具位置偏差支持控制·轨迹或逆解归因。没有状态日志、阶段事件和细分终止码，首次接球时刻及碰撞的精确接触面存在不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频与log一致：球约1.2 s落杯并随杯搬运，后两节点未达成；断点在经槽反弹接球的倾杯操作，控制·轨迹或逆解有log 157/159/161及197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": "2026-10-30T04:32:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--uuvrpy4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca3dac7797d9d2f83f30609af6ff126f3c123b27f2e6c80bb0b9cac19a428fe8", + "video_sha256": "47b72b3f11529db70316fb5682c206089231e54f3f7734e7a49a00fccb6ba7ac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--zukyjjd.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--zukyjjd.json new file mode 100644 index 0000000000000000000000000000000000000000..c713abc0762850c146a016c15447bd3b9e5e2363 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard-realtime--zukyjjd.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard-realtime--zukyjjd", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "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": 1034, + "sim_steps": 6229, + "calls": 117, + "rows": 2709, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1557.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 124.564, + "max_lag_s": 0.2313, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4419, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 1.361, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 8.465, + "peak_processes": 110, + "peak_disk_gb": 3.153, + "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-realtime--zukyjjd/replay.mp4", + "duration_s": 10.4, + "fps": 25.0, + "frames": 260, + "sha256": "d844d8aeb97c0b7c48d7475bb527ff8d82d3ff1897edd078f1252f6012298c04" + }, + "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": 1.1, + "log_step": null, + "text_zh": "观察：视频0.64–0.88 s橙球落入机械臂末端蓝杯；视频1.04–1.36 s球稳定留在杯底，随后随机械臂抬杯、跨过两槽移动，至倾杯前仍在杯内。首次接稳时间取约视频1.1 s，精确保留窗口无法逐帧量测。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda末端固定蓝杯从下方接住并承托橙球，作用端为杯底及杯壁，夹爪未直接抓球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": 131, + "text_zh": "观察：视频6.64–7.68 s机械臂将有球的蓝杯倾斜；视频7.72–7.88 s球离杯后从指定槽上游端外侧向下掉落，视频8.00–8.16 s已到桌面，未沿槽到下游橙色反弹板。视频9.20–10.36 s球滚向并离开桌沿，蓝杯为空，未再次接回。log step 131记录最后第4局在control_steps=1034时failed，与视频末段相符；该步中agent脚本的球坐标估计未作为接球证据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机械臂用固定蓝杯承托首次接住的球并运至指定槽上方，随后倾杯放出；球离杯后没有再次被杯承接。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.32, + "log_step": null, + "text_zh": "观察：视频8.00–10.32 s橙球在桌面滚动并滚出桌沿；沿导轨移动的另一只蓝色小车始终为空，机械臂仍在把空杯从倒球位置移向下游，没有完成向小车送球。视频10.36 s末帧小车仍为空。" + } + ] + } + }, + "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": 131, + "where": "操作中", + "evidence_zh": "观察：视频7.72–8.00 s机器人倾杯倒出的球从指定槽上游端外侧下落到桌面，未进入沿槽滚动、反弹再接回的路径，此后没有修复。log step 130–131确认这段为最终第4局；log step 136的服务元数据只给出done=true、reason=failed，未提供具体判负规则。" + }, + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 7.8, + "log_step": null, + "evidence_zh": "观察：视频7.60–7.76 s球在接近竖直的蓝杯下沿移动并离杯，视频7.84–8.00 s球从灰槽上游端外侧直落到桌面，未落到槽内形成沿槽滚动；这是倒向静止槽时的落点偏差。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 7.8, + "log_step": 123, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：倾杯释放位置与出球方向组合没有把球导入槽内。log step 123将预定倒球杯位改为[0.15,0.16,0.54]，log step 131确认最终第4局采用该杯位执行tip-mid、tip-full；视频7.60–8.00 s显示球沿杯下沿越过槽上游端外侧并落桌，支持释放接触几何不适配。未据此推断逆解失败、跟踪失稳或特定参数错误。" + } + ], + "gap_zh": "没有逐帧状态/接触日志或原生阶段完成字段，首次接球时间按可见稳定停留估计；无法精确量测速度与保留窗口，也不能确定球是否在离杯瞬间擦碰端挡或槽壁。log step 136的服务仅报告failed，不能判定最终触发的具体终止规则。log step 131中agent脚本反复将固定橙色结构估作球的位置，与视频球已落桌不符，因此不用于节点判断。" + }, + "summary_zh": "评分视频为最后第4局：机械臂约在视频1.1 s首次接稳球，完成1/3节点；视频约7.8 s倾杯时球从指定槽上游端外侧落桌，未完成经槽反弹接回，也未送入移动小车。倒球释放几何未将球导入槽内，球随后滚出桌沿；缺少逐帧接触与原生阶段字段，服务只报告failed，具体终止规则无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点、断点和现象与视频一致：约1.1 s接稳球，约7.8 s倾杯后球落桌，未经槽反弹，小车始终为空。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": "2026-10-30T04:36:42Z", + "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-s01-cup-route-delivery-i00-standard-realtime--zukyjjd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard-realtime--zukyjjd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f5e812e02be5ef2550c88a336f3b7e216dc9582cb7aab8860e8172c368ac94dc", + "video_sha256": "d844d8aeb97c0b7c48d7475bb527ff8d82d3ff1897edd078f1252f6012298c04", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--cuzgvbn.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--cuzgvbn.json new file mode 100644 index 0000000000000000000000000000000000000000..26fe14d03b3def517ac38ce2655d2daa49aff8d3 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--cuzgvbn.json @@ -0,0 +1,383 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--cuzgvbn", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 459, + "executed_rows": 459, + "sim_steps": 459, + "physics_steps": 4590, + "sim_time_s": 4.59, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 16.3, + "replay_timeout_s": 345.9, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 32, + "agent_resets": 35, + "agent_sim_steps": 459, + "agent_replays": 1, + "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-s06-cube-flip-route-recover-i00-privileged--cuzgvbn/replay.mp4", + "duration_s": 4.64, + "fps": 25.0, + "frames": 116, + "sha256": "f25267ee454c1d7f607aa6511dd064fc584fbeb29d1cc1593a9abfd9e2c137fe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 1.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.76, + "log_step": null, + "text_zh": "观察：视频 0.64–0.84 s，Panda 手端安装的蓝色推片接触橙色方块侧面，方块逐渐倾斜；视频 0.96–1.12 s 推片退开，方块继续转动并以另一面落在橙色高台上，视频 1.12–1.40 s 基本不动。" + }, + { + "t": 1.4, + "log_step": null, + "text_zh": "推断：将倾倒并停稳的首次完成锚定在视频约 1.40 s，时间约有 0.1 s 不确定性；评分器 reward.phases_done=4、success=1、all_success=1、deterministic=1 支持惯性倾倒阶段已验收。原侧面身份、脱离时倾角与超过 0.020 s 后的角速度无法由 25 fps 无标记画面独立量出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.64–0.84 s，固定在 Panda 手端的蓝色推片从侧面推橙色方块使其倾倒，随后退开；实际接触为工具推拨。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [ + [ + 2.16, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.76, + "log_step": null, + "text_zh": "观察：视频 1.64–1.92 s，Panda 将蓝色推片降到已倾倒方块的后侧，推动方块从橙色高台远边移向灰色斜槽；视频 2.08–2.24 s 方块离开高台、贴着斜槽倾斜并开始下滑，推片向上撤离。" + }, + { + "t": 2.16, + "log_step": null, + "text_zh": "推断：按方块贴槽并沿坡移动的画面，将本步首次达成锚定在视频约 2.16 s，精确中心 x 与目标面法向无法从该视角定量读取；评分器 reward.phases_done=4、success=1 支持进入斜槽阶段的接触、位置和面朝向条件已满足。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.64–2.04 s，Panda 手端蓝色推片从橙色方块后侧推送，使其从高台进入灰色斜槽，之后抬起推片。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [ + [ + 2.76, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.76, + "log_step": null, + "text_zh": "观察：视频 2.24–2.68 s，橙色方块沿灰色斜槽下滑，Panda 将蓝色推片从方块上方移至下游；视频 2.72–2.80 s 推片与方块下坡侧相遇，方块明显减速，之后停留在斜槽下段。" + }, + { + "t": 2.76, + "log_step": null, + "text_zh": "推断：把下游有效截接锚定在视频约 2.76 s；评分器 reward.phases_done=4、success=1 表明该阶段通过。画面支持自由滑行后由下游工具推挡，但不足以独立量出 0.12 m 自由滑行距离、前一物理步 0.33 m/s 速度和精确接触投影，以上细项依据本次评分成功推定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 2.72–2.80 s，Panda 手端蓝色推片抵在沿斜槽滑来的橙色方块下坡侧，以推挡使其减速；没有夹合或从下方托起。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [ + [ + 4.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.92, + "log_step": null, + "text_zh": "观察：视频 3.08–3.60 s，Panda 抬起蓝色推片并绕至方块上坡侧；视频 3.76–4.12 s 推片再次从后侧推橙色方块，使其从斜槽下端进入蓝色浅收集槽，方块由贴坡倾斜转为平放。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 4.12–4.60 s，方块位于蓝色收集槽内靠近中央处，姿态稳定，推片随后抬开；已逐帧查看视频 3.64–4.60 s，末段未见方块离槽或再次翻面。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "推断：评分器 reward.success=1、all_success=1、phases_done=4、valid=1，与末段方块入槽停留的画面一致，故位置、目标面朝上、低速及连续 0.5 s 的联合验收最终成立；将完成时刻保守锚定在视频约 4.60 s。没有逐帧阶段计时或速度记录，精确首次达标时间有约 0.1 s 不确定性。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 3.76–4.12 s，Panda 手端安装的蓝色推片从方块上坡侧推送橙色方块进入蓝色收集槽；其后推片抬开，方块在槽内保持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分录像中，Panda 用安装推片依次完成方块惯性倾倒、进入斜槽、下游截接及推入收集槽，四个节点最终均成立；视频约 4.60 s 方块已在蓝色收集槽内停稳，与评分器 success=1、phases_done=4 及两次确定性成功回放一致。没有失败断点；日志中的参数试验与重置未作为评分轨迹的节点证据。无状态日志且方块各面没有标记，精确阶段时间、面身份及毫秒级接触与速度条件不能逐项直接量出，结合连续画面与评分器成功结果推定；评分器未报告各项原生指标数值，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": "成功运行，四个节点均达成，时间与视频一致（倾倒约1.4 s、入槽约2.2 s、截接约2.8 s、入收集槽约4.6 s），contact_actual 均为手持工具·推/扫，无失败断点；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": "2026-10-30T04:18:43Z", + "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-s06-cube-flip-route-recover-i00-privileged--cuzgvbn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--cuzgvbn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "06d37b20639eda6cc51733433e41413066ebcc0548bb81b7b264b1065c2a6dd0", + "video_sha256": "f25267ee454c1d7f607aa6511dd064fc584fbeb29d1cc1593a9abfd9e2c137fe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6.json new file mode 100644 index 0000000000000000000000000000000000000000..287536f925ef046d280c6189a919096a9191ad0c --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6.json @@ -0,0 +1,401 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1107, + "executed_rows": 1107, + "sim_steps": 1107, + "physics_steps": 11070, + "sim_time_s": 11.07, + "phases_done": 2, + "valid": 1, + "replay_wall_s": 32.2, + "replay_timeout_s": 410.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 55, + "agent_resets": 94, + "agent_sim_steps": 5201, + "agent_replays": 5, + "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": 0.73, + "peak_processes": 13, + "peak_disk_gb": 1.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6/replay.mp4", + "duration_s": 11.08, + "fps": 25.0, + "frames": 277, + "sha256": "0f8262e4fe0b56e998438816311db36fc7d58cd463ae1274b37395bbf84b091c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 2.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.84, + "log_step": null, + "text_zh": "观察：视频 1.72–2.04 s，机械臂的蓝色推片短推橙色方块，随后停止前进，方块脱离推片继续倾倒并换面落在高台上；视频 2.04–2.8 s 方块保持不动。" + }, + { + "t": 2.3, + "log_step": 125, + "text_zh": "推断：以视频约 2.3 s 作为倾倒后停稳验收完成的近似时刻；log step 125 对最终交付文件的原生回放报告 phase=2，且事件含 momentum_face_flip、oriented_chute_entry，与评分器 phases_done=2 一致，支持惯性脱离及目标面判据已通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 1.72–1.84 s，Panda 手端安装的蓝色推片从侧面短推橙色方块，随后脱离，方块自行倾倒；夹爪未夹住方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 6.8–7.12 s，机械臂的蓝色推片将高台远边的橙色方块推过边缘，方块转落到灰色斜槽表面并沿槽向下移动；视频约 7.0 s 已明显进入斜槽。" + }, + { + "t": 7.0, + "log_step": 125, + "text_zh": "推断：视频约 7.0 s 是入斜槽的近似达标时刻，精确位置及未标记的目标面朝向由最终交付回放的阶段结果辅助确认：log step 125 报告 oriented_chute_entry 已完成、phase=2，评分器亦报告 phases_done=2。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机械臂用安装的蓝色推片从方块后方推送，使橙色方块从高台远边进入灰色斜槽，视频 6.8–7.12 s 可见。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.48, + "log_step": null, + "text_zh": "观察：视频 7.2–7.8 s，橙色方块沿灰色斜槽向下滑动，蓝色推片仍位于它的上游侧，未先到下坡侧迎挡；视频 7.48–7.8 s 方块越过槽末端进入蓝色收集槽。" + }, + { + "t": 9.2, + "log_step": 125, + "text_zh": "观察：视频 8.8–9.4 s 推片才移到已在收集槽内的方块附近，视频 10.0–11.04 s 未见重新滑行并被下游截接；log step 125 最终交付文件回放仍为 phase=2、downstream_intercept、success=false、valid=true、failure_reason=null。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 7.0–7.3 s，蓝色推片在方块上游侧追推，随后移向截接位置；实际未形成所需的下坡侧迎挡，视频 8.8–9.4 s 的接近发生在方块已进入收集槽之后。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频约 7.8 s 橙色方块自行滑入蓝色浅槽，随后停在槽内；视频 10.0–11.04 s 方块仍在那里。" + }, + { + "t": 11.04, + "log_step": 125, + "text_zh": "推断：虽有方块在收集槽内停下的外观，但本节点的验收明确包含已完成前三阶段；最终交付回放在 log step 125 始终为 phase=2，缺少 downstream_intercept，故本节点不成立，并非仅由 reward=0 推断。" + }, + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 的生成脚本在等待截接后设有 phase<3 即返回的分支，后面的绕行及推入底槽代码位于该分支之后；log step 125 交付的修改版仍停在 phase=2，视频亦未见完成截接后再推入的动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_intercepted", + "t": 7.5, + "log_step": 125, + "where": "操作中", + "evidence_zh": "观察：视频 7.4–7.8 s，方块滑过斜槽下端并进入收集槽，机械臂的推片仍在上游，错过下坡侧截接；视频 8.8–11.04 s 没有恢复这一步。log step 125 的交付回放与评分器均只完成前两阶段，回放有效且未触发失败约束。" + }, + "unmet": { + "cube_face_tipped": true, + "cube_on_chute": true, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 7.5, + "log_step": 125, + "evidence_zh": "观察：视频 7.2–7.8 s 方块持续沿斜槽下滑，而蓝色推片落在其后方；方块到达底槽时推片尚未到达下坡截接位置，视频 8.8–9.4 s 才接近已停下的方块。此后至视频 11.04 s 没有形成有效截接；log step 125 的最终回放停在 downstream_intercept。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 109, + "evidence_zh": "推断：生成脚本将上游追推与下游占位按串行方式安排，启动截接转移过晚。log step 109 设 x_release=0.268、x_cm_int=0.335，并在方块达到释放位置后才执行 race to the intercept pose；log step 119 将该转移改为增量伺服，log step 125 以 incr=1、ivmax=0.35 保存最终文件。视频 7.2–7.8 s 显示这套跨阶段安排未给推片留出先到下坡侧的时间，方块先进入底槽；证据支持该交付策略的时序安排失败，不支持所有合法方案均不可行。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志；25 fps 总览不能直接核验 20 ms 脱离、前一物理步速度及全部未标记面的精确朝向，前两步的细阈值通过交付文件回放 phase=2 与评分器 phases_done=2 辅助确认，达标时间为画面近似值。视频能确定截接转移落后，但无法仅由画面区分全部关节跟踪及安全限幅细节；根因只归于日志和画面共同支持的跨阶段时序安排。" + }, + "summary_zh": "评分尝试完成惯性倾倒和进入斜槽，最终为 2/4 个节点；方块虽自行进入底槽停下，但未完成必需的下游截接，因此底槽联合验收也未达成。视频约 7.5 s 推片仍在方块后方，串行追推后再转移到下坡侧的安排错过截接时机，交付回放确认仅完成两阶段且 valid=true。无状态日志，倾倒脱离等细阈值依原生阶段结果辅助确认，节点时刻按视频近似标注。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频及交付回放一致：前两节点达成，方块在视频约7.5 s自行滑入底槽而推片仍在上游，截接未达成，断点与动态时机现象成立。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:19:38Z", + "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-s06-cube-flip-route-recover-i00-privileged--l5ddyf6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--l5ddyf6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e3134aed019eb3683269e8ac7848566f78d848f0133d688b627219910cf62613", + "video_sha256": "0f8262e4fe0b56e998438816311db36fc7d58cd463ae1274b37395bbf84b091c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--mj7kjts.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--mj7kjts.json new file mode 100644 index 0000000000000000000000000000000000000000..a845ab163db793a837af3eb3bbf8ef7082fcc3ef --- 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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-s06-cube-flip-route-recover-i00-privileged--mj7kjts/replay.mp4", + "duration_s": 11.24, + "fps": 25.0, + "frames": 281, + "sha256": "2943ce389b634207723de81584db2b91aead595bce3460b0312c3cf418cbd6c2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 1.48–1.64 s，Panda 手端蓝色推片短推方块后向前上方离开，橙色方块继续绕底边倾倒；视频 1.72–2.08 s 方块以新的一面平放在高台上，随后持续停在原处。" + }, + { + "t": 2.0, + "log_step": 281, + "text_zh": "推断：将包含停稳窗口的完成时刻近似标为视频 2.0 s（约半秒精度）；评分器 reward.phases_done=2，且交付文件生成末态及两次新进程回放均停在 phase=2（log step 240、256、281），支持惯性倾倒及目标面验收已通过。25 fps 画面本身不能逐物理步核实 20 ms 脱离条件。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 1.48–1.64 s，Panda 手端安装的蓝色推片从侧面推橙色方块并脱离，使其继续倾倒；没有使用二指夹爪夹持方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [ + [ + 8.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.72, + "log_step": null, + "text_zh": "观察：视频 8.32–8.64 s，Panda 的蓝色推片从后方把橙色方块推至高台远边；视频 8.68–8.80 s 方块离开高台，调整至贴合灰色斜槽的姿态并沿槽下滑。首次达标时刻近似记为视频 8.7 s。" + }, + { + "t": 8.8, + "log_step": 256, + "text_zh": "观察：log step 240、256 对该交付轨迹的两次新进程回放均报告 phase=2、phase_name=downstream_intercept、valid=true，终态哈希与最后生成文件的 log step 281 一致；评分器也记录 phases_done=2，与视频中的入槽一致。此节点为锁存事件，随后继续滑走及再次翻面不撤销已完成的入槽。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频约 8.32–8.64 s，Panda 手端蓝色推片在橙色方块上坡侧接触并向高台远边推送，随后推片离开方块，方块进入灰色斜槽。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.88, + "log_step": null, + "text_zh": "观察：逐帧查看视频 8.68–9.40 s，方块从灰色斜槽滑至蓝色收集槽，Panda 的蓝色推片一直处于方块上坡侧且高于它，没有越到下坡侧与方块相遇；视频 9.20–11.20 s 方块停在收集槽，推片停在斜槽上方，两者仍分离。" + }, + { + "t": 11.2, + "log_step": 281, + "text_zh": "观察：最后生成的交付文件在 log step 281 报告 success=false、phase=2、phase_name=downstream_intercept、valid=true、failure_reason=null；log step 240、256 的新进程回放得到相同终态哈希。评分器 phases_done=2 与可见的截接缺失一致，不能把上游推送的接触算作下游截接。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端蓝色推片尝试向下游移动并以推挡方式截接；视频 8.68–9.40 s 它始终落在滑动方块后上方，未实际建立本步所需的下坡侧推挡接触。此前上游推送接触已记入入斜槽节点。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.2, + "log_step": null, + "text_zh": "观察：视频 9.00–9.20 s，橙色方块自行冲入蓝色收集槽并再次翻滚；视频 9.24–11.20 s 它停在槽内，Panda 推片没有接触或继续推送它。外观上的入槽停住并未伴随有效下游截接。" + }, + { + "t": 11.2, + "log_step": 281, + "text_zh": "推断：此节点从未满足完整验收。log step 281 的交付末态仍为 phase=2，缺少判据明确要求的第三阶段历史；同条记录中方块四元数 wxyz≈(0,0.0067,0.99998,0) 表明局部 -x 目标面已转到近水平法向，而非朝世界 +z，与视频 9.04–9.20 s 的再次翻面一致。方块虽然最终位于收集槽，仍不能记为本步完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_intercepted", + "t": 8.9, + "log_step": 256, + "where": "操作中", + "evidence_zh": "观察：视频 8.68–9.20 s，Panda 正把推片向下游移动，但方块已沿斜槽从推片前下方滑过，未被推片从下坡侧截住，随后自行翻滚入蓝色收集槽；直至视频 11.20 s 均未修复。log step 256 的交付回放及 log step 281 的最后生成结果均停在 downstream_intercept，评分器 phases_done=2。" + }, + "unmet": { + "cube_face_tipped": true, + "cube_on_chute": true, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 8.9, + "log_step": null, + "evidence_zh": "观察：视频 8.68–9.04 s，橙色方块沿灰槽快速下滑，Panda 蓝色推片向前移动时仍在方块的上坡侧和上方；方块先到槽底，推片没有及时到下坡侧建立迎面截接。视频 9.20–11.20 s 两者保持分离，所需截接窗口已经错过。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 8.9, + "log_step": 258, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：截接的运动协调与停止控制未实现所需接触。log step 235 的该候选生成记录显示，方块中心已到 (0.348,-0.006,0.066) m 时推片仍在 (0.314,0.012,0.135) m 且 contact=false，log step 237 随后显示推片停在约 (0.310,0.011,0.137) m；这些记录的最终哈希与 log step 240、256 的交付回放及 log step 281 相同。log step 258 可读的脚本还把 phase=2 且方块 x>0.34 m 当作 touched=True 并转为保持当前关节位姿，无须实际接触或 phase>=3；这与视频 8.9 s 后推片停在后上方的表现一致。最终修改未完整展开，故保留在控制大类，不断言是逆解不可达或某个伺服参数错误。" + } + ], + "gap_zh": "没有逐帧状态日志；25 fps 总览不能独立量出毫秒级脱离、接触前一物理步速度及精确面角，前两阶段以可见动作和交付回放原生 phase=2、评分器 phases_done=2 共同确认。多次会话试验与最终交付已按终态哈希区分；最后几次 edit 的补丁正文未显示，控制细分及最终脚本逐行因果仍有缺口。DAG 各项连续原生指标未在评分器 reward 中报告，value 均留 null。" + }, + "summary_zh": "本次交付完成惯性倾倒（约视频 2.0 s）和进入斜槽（约视频 8.7 s），最终为 2/4 节点。视频约 8.9 s 的下游截接中，推片落在滑动方块后上方并停止，错过接触窗口；方块自行翻滚入收集槽，仍缺有效截接历史且目标面已不朝上，根因归控制。没有逐帧状态日志，毫秒接触判据依交付回放阶段与评分器字段辅助确认，控制细分受最终补丁正文缺失限制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与标签一致：约 1.6–2.2 s 方块被推片短推后倾倒并平放在高台，约 8.7 s 进入斜槽，9.0–9.2 s 自行滑入收集槽而推片留在上方，截接未发生；断点、现象与控制根因均有支撑，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": "2026-10-30T04:20:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--mj7kjts/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--mj7kjts/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f856daab2cf6aac82209142a9a8b1d12ca87d305a41994eedfa57187f6e33956", + "video_sha256": "2943ce389b634207723de81584db2b91aead595bce3460b0312c3cf418cbd6c2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--mjn5jvj.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--mjn5jvj.json new file mode 100644 index 0000000000000000000000000000000000000000..9db8cc24a503f99b53606b562fb0c90ce6af9d7d --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--mjn5jvj.json @@ -0,0 +1,378 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--mjn5jvj", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2377, + "executed_rows": 2377, + "sim_steps": 2377, + "physics_steps": 23770, + "sim_time_s": 23.77, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 42.2, + "replay_timeout_s": 537.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 5, + "agent_resets": 4, + "agent_sim_steps": 4754, + "agent_replays": 4, + "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-s06-cube-flip-route-recover-i00-privileged--mjn5jvj/replay.mp4", + "duration_s": 23.84, + "fps": 25.0, + "frames": 596, + "sha256": "4584d529cbb91c64de4176fefe8a07efd4eed6a9d32d1c3d365cc19a5b711e75" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 3.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 2.8–3.1 s，Panda 手端蓝色推片短推橙色方块，方块绕底边倾倒；视频 3.2 s 推片已向上游抬离，方块继续落下，视频 3.3–3.8 s 方块换面后停在橙色高台上。" + }, + { + "t": 3.6, + "log_step": 26, + "text_zh": "推断：log step 26 的模拟器输出登记 momentum_face_flip 阶段于仿真 3.539 s 完成，最后接触倾角约 0.599 rad；该前缀由 log step 27 保存，后续恢复并延长，最终交付经 log step 117、122 的新进程重放成功及评分器 phases_done=4 核实。与视频 3.3–3.8 s 落稳相符，取视频约 3.6 s 达成；目标面身份及毫秒级脱离判据由原生阶段验收支持。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端固定安装的蓝色推片从侧面短推橙色方块，随后抬离，使方块靠惯性倾倒；未用夹爪夹持方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [ + [ + 13.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.68, + "log_step": null, + "text_zh": "观察：视频 6.4–7.4 s，Panda 用蓝色工具把方块推到高台远边后抬离，方块仍留在高台；视频 13.4–13.8 s，侧转的固定工具组件再次推挡方块，视频 13.68、13.72 s 方块已离开高台原位置进入灰色斜槽，随后沿槽下移，部分接点被机械手遮挡。" + }, + { + "t": 13.8, + "log_step": 103, + "text_zh": "推断：log step 92、101 的恢复与延长操作保留同一交付前缀，log step 103 的模拟器 flags 记录 phase=2、phase_started=仿真 13.678 s；与视频 13.68–14.0 s 斜槽进入及下移一致。最终评分器 phases_done=4、valid=1 支持正确面入槽的验收，首次达成取视频约 13.7 s；此事件随后锁存。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端蓝色固定工具组件（推片及刚性侧向适配杆）先将橙色方块推至高台远边，侧转后再推挡它进入灰色斜槽；侧转阶段局部接点被机械手遮挡，未见夹持。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [ + [ + 17.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.0, + "log_step": 101, + "text_zh": "观察：视频 14.6–15.8 s，Panda 的侧转工具组件将斜槽上的方块向上游推回；视频 16.3–17.3 s，方块再次沿槽向下游运动，工具先行移到收集槽附近，视频 17.32–17.7 s 方块在工具上游侧停止继续下滑。机械手遮住瞬时相遇处的大部分区域。" + }, + { + "t": 17.32, + "log_step": 107, + "text_zh": "推断：log step 106 从 restartslide 前缀重放并执行截接，log step 107 的模拟器输出在仿真 17.303 s 登记第三阶段事件，报告 free_slide=0.1609248 m、incoming_speed=0.3333283 m/s，之后 phase=3、cube–tool 接触非零；log step 108 保存该前缀，log step 115 保存完整交付。视频 16.3–17.7 s 的重新放滑、工具先行和方块停下与此相符，取视频约 17.3 s 为有效截接；最终两次重放与评分器四阶段完成支持隐藏接点的判定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端侧转的蓝色固定工具组件（含刚性适配杆）推挡橙色方块：先沿斜槽把方块推回上游，重新放滑后在下坡侧挡住它；瞬时接点受机械手遮挡，接触由对应前缀的 cube–tool 记录支持。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [ + [ + 23.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.8, + "log_step": null, + "text_zh": "观察：视频 19.5–22.4 s，橙色方块停在蓝色收集槽入口附近，Panda 抬起工具并绕到方块上游；视频 22.5–23.2 s 蓝色推片缓慢推方块下移、从斜槽转平落入蓝槽，视频 23.3–23.8 s 方块在槽内保持同一姿态和位置，最后一帧视频 23.8 s 仍如此。" + }, + { + "t": 23.8, + "log_step": 114, + "text_zh": "推断：log step 114 的模拟器输出于仿真 23.768 s 登记 pocket_delivery、phase=4，终态方块中心约 (0.39376,-0.00600,0.05700) m，低速且目标面朝上；log step 115 保存这条完整轨迹，log step 117、122 核实新进程重放均成功且终态哈希相同，评分器也记录 success=1、phases_done=4、valid=1。交付的 2377 控制步按每步 0.01 s 共仿真 23.77 s（log step 115、117），与视频 23.84 s 总长及视频 23.3–23.8 s 的末端停稳核对一致；含连续 0.5 s 验收的达成锚点取视频约 23.8 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端蓝色推片从橙色方块上游侧缓慢推挡，将方块从灰色斜槽末端送入蓝色收集槽；方块由槽底承托，未用夹爪抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次交付完成全部 4 个节点：视频约 3.6 s 惯性倾倒停稳、视频约 13.7 s 正确入斜槽，推回上游重新放滑后于视频约 17.3 s 有效截接，视频约 23.8 s 完成入槽停稳验收；评分器 success=1、phases_done=4，且两次新进程重放成功、终态一致。实际接触均为 Panda 手端固定工具组件对方块的推挡，侧转入槽和截接阶段部分接点被机械手遮挡，最终以推片缓慢送入蓝槽。无独立状态日志，方块各面无标记且毫米级接触、毫秒级脱离和精确速度无法仅凭视频判定，相关细节结合已核实交付前缀的原生事件及成功评分确认；DAG 的 20 项原生指标未在评分器 reward 中单独报告，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": 8, + "summary_zh": "成功运行，4 个节点均与视频帧和评分器 phases_done=4 相符：约 3.6 s 倾倒停稳、约 13.7 s 入斜槽、约 17.3 s 截接、约 23.8 s 入槽停稳（0.5 s 保持判据在视频末尾达成）；contact_actual 均为手持工具推/扫，与帧一致；failure 为 null 合理。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 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"run_json_sha256": "419846b8ac5fc2bba35fb95899fe58c3c288679361aae8e113c38348e452d3f5", + "video_sha256": "4584d529cbb91c64de4176fefe8a07efd4eed6a9d32d1c3d365cc19a5b711e75", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw.json new file mode 100644 index 0000000000000000000000000000000000000000..988c2801ed48f3e7efa1283fab875dcf91904f4c --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw.json @@ -0,0 +1,388 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "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": 617, + "sim_steps": 2187, + "calls": 84, + "rows": 2068, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 751.6, + "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-s06-cube-flip-route-recover-i00-standard--7czd3jw/replay.mp4", + "duration_s": 6.24, + "fps": 25.0, + "frames": 156, + "sha256": "993abd8c2c67a8251a70a3d58447345f31bf06c2b8042672d7fd05fee86de898" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 2.16, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.64, + "log_step": 50, + "text_zh": "观察：视频 1.32–1.60 s，Panda 手端蓝色推片向前短推橙色方块；视频 1.64–1.88 s，推片向上后退，方块继续向前倾倒、落在相邻面上。" + }, + { + "t": 2.16, + "log_step": null, + "text_zh": "推断：连续跟踪视频 1.48–1.88 s 的倾倒方向，原朝机器人侧面转为朝上；视频 1.92–2.20 s 方块在高台上姿态稳定且推片已离开，约视频 2.16 s 计入倾倒后停稳。其可见过程与成功参考视频 0.80–1.40 s 相符；脱离角及毫秒级惯性判据未获原生事件逐项确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.32–1.60 s，Panda 固定安装的蓝色推片从橙色方块上游侧推其上部，随后抬起脱离；未用夹爪夹持。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [ + [ + 5.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.88, + "log_step": 55, + "text_zh": "观察：视频 2.68–5.32 s，推片在高台上低位推移方块到台边；视频 5.52–5.88 s 方块越过台边并转为贴着灰色斜槽滑下，视频 5.92–6.20 s 保持同一朝上面的连续姿态。" + }, + { + "t": 5.88, + "log_step": null, + "text_zh": "推断：视频 5.88 s 方块已整体离开高台、进入斜槽上段，目标面随坡朝上，判为入斜槽完成；约时误差 0.1 s，精确中心坐标与面法向角没有原生事件记录。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 2.68–5.32 s，Panda 的蓝色推片从后方低位推动橙色方块到高台远边；之后推片抬起，方块落到灰色斜槽。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": 59, + "text_zh": "观察：已逐帧查看视频 5.20–6.20 s；方块沿灰色槽下滑，推片先在上方，随后向下追近方块上缘，直到末帧也未见下坡侧迎挡截接。成功参考视频 2.40–2.92 s 则能看到推片提前处于方块下坡侧并迎挡；本次没有这一可见过程。log step 59 的服务结果为 episode=4、control_steps=617、done=true、reason=failed，未报告截接阶段完成。" + }, + { + "t": 6.12, + "log_step": 57, + "text_zh": "观察：log step 57 的截接目标为工具位置 (0.38,0.012,0.058) m，但该调用末端服务实测为 (0.302,0.017,0.123) m；视频 6.12 s 推片仍在方块上方，未达到低位迎挡位置。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 6.12–6.20 s，Panda 的蓝色推片下降至滑动方块的上缘附近，末帧两者影像相接；总览不能确定实际接触是否发生及接触面，且无接触对日志。该步已实际尝试。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": 59, + "text_zh": "观察：视频 5.20–6.20 s 蓝色底端收集槽始终为空，末帧橙色方块仍在灰色斜槽内，尚未到收集槽，更没有入槽后连续停稳；服务在 log step 59 结束最后 episode。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_intercepted", + "t": 6.12, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 5.88–6.20 s 方块已在斜槽上滑行，机器人正将推片从上方向下移向截接位置，尚未形成下坡侧迎挡；log step 59 的 episode=4 在 control_steps=617 时 reason=failed，log step 60 确认回合已结束，之后没有修复。前三次 episode 的回收或报错不属于本视频。" + }, + "unmet": { + "cube_face_tipped": true, + "cube_on_chute": true, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 6.12, + "log_step": 57, + "evidence_zh": "观察：视频 5.88–6.20 s 方块已自由下滑，Panda 推片仍由上方追着下降，未能及时形成下坡侧的低位迎挡。log step 57 调用结束时工具仍比截接目标高约 0.065 m、在其上游约 0.078 m；随后 log step 59 在继续运动时回合结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 50、55、57 的动作顺序是先倾倒、推至台边、抬高避让，再移向下游截接，目标方向符合任务；但 log step 57 的脚本只将单个逆解关节目标重复发送 0.4 s，调用结束时服务实测工具仍在 (0.302,0.017,0.123) m，未到所设 (0.38,0.012,0.058) m，且关节仍高速运动。结合视频 5.88–6.20 s 的追近过程，截接运动未与方块滑行同步，归为控制；现有证据不足以细分伺服跟踪、轨迹时长或接触控制问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或原生阶段、接触及失败事件明细；log step 59–60 仅报告 failed，不能把其他 episode 的 forbidden_tool_fixture_contact 或 limit_violation 当成本次触发原因。倾倒的脱离角、20 ms 脱离和入斜槽姿态阈值依连续画面合理推断，无法逐项测量；最后推片与方块是否实际接触、是否触及槽壁亦不能可靠确认。截接未及时就位是可见问题，具体导致服务终止的物理事件未知。" + }, + "summary_zh": "本次评分视频对应 log step 50 重置后的第4个 episode：约视频 2.16 s 完成惯性倾倒并在高台停稳，约视频 5.88 s 进入斜槽，最终进度 2/4。机器人在下游截接时推片仍从方块上方追近，未及时就位，回合随即失败，方块未进入蓝色收集槽。缺少原生阶段和终止事件，倾倒的细时序依连续画面推断，不能确定最后的碰撞或限值触发项。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度 2/4、截接未达成、断点 cube_intercepted、动态时机现象与控制根因均与视频及 log step 57/59 的服务读数一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:22:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--7czd3jw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e42f17daf1fc1b1beed04c4e7aa6be45e2d79a01a4042f9e9883e1ad270f2bc1", + "video_sha256": "993abd8c2c67a8251a70a3d58447345f31bf06c2b8042672d7fd05fee86de898", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--89vbtdv.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--89vbtdv.json new file mode 100644 index 0000000000000000000000000000000000000000..3ded5abb2d16a4bbc4f7074624d35033c7247447 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--89vbtdv.json @@ -0,0 +1,355 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--89vbtdv", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "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": 0, + "sim_steps": 0, + "calls": 2, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 818.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.141, + "peak_processes": 9, + "peak_disk_gb": 0.247, + "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-s06-cube-flip-route-recover-i00-standard--89vbtdv/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "7ecdd4c8788a49cf225dd782d03a9e5abc373a80d28863953d3806327201a02f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 5, + "text_zh": "观察：本次视频唯一帧（视频 0.00 s）中橙色方块仍以初始姿态立在橙色高台上，蓝色推片位于方块侧后方且与方块分离；未出现短推、脱离后倾倒或换面停稳。评分器记录 n_actions=0、sim_steps=0、rows=0，log step 5 的机器人服务读数亦为 control_steps=0、sim_time_s=0.0。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0；本次视频 0.00 s 的唯一帧仅呈现初始场景，会话在 log step 27 的 API 错误后结束。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频唯一帧（视频 0.00 s）中橙色方块仍在橙色高台上，灰色斜槽内没有方块；评分器记录 n_actions=0、sim_steps=0，未执行进入斜槽的动作。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0；本次视频 0.00 s 的唯一帧仅呈现初始场景，会话在 log step 27 的 API 错误后结束。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频唯一帧（视频 0.00 s）中灰色斜槽下游为空，橙色方块仍在高台，蓝色推片未位于方块的下坡截接处；评分器记录 n_actions=0、sim_steps=0，没有自由滑行或截接过程。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0；本次视频 0.00 s 的唯一帧仅呈现初始场景，会话在 log step 27 的 API 错误后结束。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频唯一帧（视频 0.00 s）中底端蓝色收集槽为空，橙色方块仍在高台；评分器记录 n_actions=0、sim_steps=0，方块未被送入收集槽。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付动作轨迹：评分器记录 n_actions=0、rows=0；本次视频 0.00 s 的唯一帧仅呈现初始场景，会话在 log step 27 的 API 错误后结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 27, + "where": "首步前", + "evidence_zh": "观察：log step 27 的最终消息为“API Error: Claude's response exceeded the 32000 output token maximum”；此前 log step 20、22、24、26 均无工具调用或可见回复文本。评分器记录 n_actions=0、sim_steps=0、rows=0，且本次视频唯一帧（视频 0.00 s）仍为初始场景，首个物理步骤尚未开始即发生会话中断。" + }, + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次视频共一帧、时长 0.04 s，已检查视频 0.00 s 的唯一帧；inputs/ 中没有状态日志。log step 27 明确报告模型响应超过 32000 token 上限的 API 错误，评分器记录没有动作或仿真步，且未见此前完成并验证交付的记录。推断：按 CASES.md FAIL-5，此次属于物理尝试开始前的外部 API/CLI 中断，应重测；保留 catalog 的 success=0，但不归入机器人能力失败，不标“没尝试”或臆造根因。缺少任何实际执行过程，无法评价接触、控制或规划能力；各原生指标均未由评分器报告。" + }, + "summary_zh": "观察：本次视频唯一帧（视频 0.00 s）中方块仍在高台、推片未接触方块、斜槽及收集槽为空，四个节点均未达成，评分器记录 n_actions=0、sim_steps=0。观察：会话以 log step 27 的响应超过 32000 token 上限的 API 错误结束；推断：这是首步前的外部中断，按 FAIL-5 留空失败现象与根因并应重测，catalog 的 success=0 保持原值。观察：成功参考视频展示了倾倒、入斜槽、下游截接与入槽的可见变化，仅用于视觉对照；本次缺少动作过程与状态日志，不能据此归因机器人能力。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅一帧（视频 0.00 s）为初始场景，四个节点均未达成；n_actions=0、sim_steps=0；log step 27 为 API 输出超限错误，按 FAIL-5 作为首步前外部中断、两层留空并写 gap_zh 的处理与规则一致。", + "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": "2026-10-30T04:17:36Z", + "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-s06-cube-flip-route-recover-i00-standard--89vbtdv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--89vbtdv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b04a51464f2629d76df998b2c183c3c6ec42619c56a53a75d899cf1436c6573", + "video_sha256": "7ecdd4c8788a49cf225dd782d03a9e5abc373a80d28863953d3806327201a02f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--elrbzra.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--elrbzra.json new file mode 100644 index 0000000000000000000000000000000000000000..6a64b85637d8bf53053869799a2ac7ac6407bab3 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--elrbzra.json @@ -0,0 +1,403 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--elrbzra", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "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": 1308, + "sim_steps": 3074, + "calls": 83, + "rows": 2396, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1270.9, + "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-s06-cube-flip-route-recover-i00-standard--elrbzra/replay.mp4", + "duration_s": 13.12, + "fps": 25.0, + "frames": 328, + "sha256": "318631bd8bc13b4d0b699e57b5c4b927211b9cfe676650c9f2648e0b7d857429" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": 90, + "text_zh": "观察：视频 1.84–2.16 s，机器人蓝色推片从上游侧推橙色方块，方块向斜槽方向平移；视频 2.28–4.80 s，推片退开后方块仍以原姿态立在高台，未出现越过平衡点的约九十度倾倒。" + }, + { + "t": 10.72, + "log_step": 109, + "text_zh": "观察：视频 8.24–8.80 s 的再次推动仍只使方块沿台面前移；视频 10.72 s 方块才从高台边缘落向斜槽，此前没有在高台上倾倒换面后停稳，故首步始终未完成。" + }, + { + "t": 2.8, + "log_step": 91, + "text_zh": "推断：log step 86 的重置开启最后的 episode 4，后续无重置；log step 91 的 control_steps=280，按任务控制周期 0.01 s 对应视频 2.80 s，已与该帧推片退至上游、方块停在高台的状态核对。之前回合的调试结果不计本次进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.84–2.16 s，Panda 手端固定的蓝色推片接触橙色方块上游侧并推移它，随后撤回；没有夹爪抓握。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.96, + "log_step": 109, + "text_zh": "观察：视频 10.68–11.12 s，机器人再次从后侧推动方块，方块从橙色高台边缘落入灰色斜槽并开始向下滑；这是真实的移入斜槽尝试。" + }, + { + "t": 11.12, + "log_step": null, + "text_zh": "推断：首步 cube_face_tipped 未完成，且方块到离开高台才发生倾斜，因此这次进入斜槽不满足在完成惯性倾倒阶段之后达标的 event 条件，节点未锁存；不是仅凭总分为零判定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 8.24–8.80 s 及视频 10.68–10.80 s，机器人用蓝色推片抵着橙色方块上游侧向高台远边推，后一次使方块离台进入斜槽。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.6, + "log_step": 115, + "text_zh": "观察：视频 11.00–11.60 s，方块自行沿灰色斜槽滑到蓝色收集槽，机器人推片仍在高台附近；视频 11.68–12.44 s 推片才移向下游，经过方块上方。未见运动方块在斜槽上与下坡侧推片相遇。" + }, + { + "t": 12.8, + "log_step": 118, + "text_zh": "观察：视频 12.08–13.08 s，方块已停留在蓝色槽内，机器人推片继续向槽外的下坡方向移动并降低；不是斜槽上的有效截接，前置阶段也未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 11.68–13.08 s，机器人将蓝色推片移向下游并降低，尝试用推片抵挡方块；推片抵达时方块已自行入槽，推片从方块上方经过，未见实际建立截接接触。此项记录实际使用的推片与推挡尝试，不表示截接成立。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.68, + "log_step": null, + "text_zh": "观察：视频 11.52–11.68 s，橙色方块自行从斜槽进入蓝色收集槽，之后至视频 13.08 s 末帧一直可见其留在槽内；不是方块未到容器。" + }, + { + "t": 13.08, + "log_step": 121, + "text_zh": "推断：本节点验收明确包含前三阶段依序完成；首步惯性倾倒和下游截接均未完成，所以虽最终物体位于槽内，本节点仍为 false。未见完成截接后再送入槽的独立操作。log step 121 服务返回 done=True、reason=failed，与整局失败一致，但未报告具体失败事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_face_tipped", + "t": 2.28, + "log_step": 90, + "where": "操作中", + "evidence_zh": "观察：视频 1.84–2.28 s，机器人推片推开并撤离，方块只有平移，没有自行倾倒换面；视频 4.80 s 仍保持原姿态。后续推动直到视频 10.72 s 方块离开高台，也没有补成高台上的惯性倾倒停稳，因此最先未修复的失败是 cube_face_tipped。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.28, + "log_step": 90, + "evidence_zh": "观察：视频 1.84–2.84 s，推片接触后方块向前滑移，撤片后仍以原来的面朝上，没有要求的约九十度换面；视频 8.24–8.80 s 的再推也未修复高台上的朝向。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，最终回合也未输出原生阶段、目标面法向、脱离时间或具体 failure_reason；25 fps 画面无法量出毫秒级脱离和全部阈值，所有原生指标均未报告，故填 null。可见高台上始终未完成换面足以判定首步未达；不据最终 reason=failed 猜测禁碰或限值事件。观察：log step 89 的路径使用五次平滑插值，log step 90–91 的最终指令为前进至 x=0.05 m、撤至 x=-0.08 m，各用仿真 0.80 s；log step 93 确有工具高度及关节跟踪偏差。推断：这些偏差只是候选原因的旁证，尚未证明其导致方块未倾倒；视频 1.84–2.28 s 只推移而未换面，也不能唯一确定接触几何、推片脱离方式、速度剖面或反馈跟踪谁是根因。没有方块倾角、角速度、接触力记录或能隔离上述因素的对照，故根因层留空；部分控制器修改和采样输出已截断，最终终止的具体触发条件亦不能确定。", + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + } + }, + "summary_zh": "观察：评分视频对应 log step 86 重置后的最后回合；机器人在高台上多次推移方块，但未完成惯性倾倒换面停稳，四个节点最终均未达标。推断：最先未修复的断点是 cube_face_tipped，现象为位姿不准；方块虽在视频 11.68 s 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"kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kbwdquh/replay.mp4", + "duration_s": 3.76, + "fps": 25.0, + "frames": 94, + "sha256": "a47053921e2c2e894b47cac2e53f220fccfecb0f8954ba004f0f952c7748b579" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.36, + "log_step": 111, + "text_zh": "观察：视频 1.12–1.40 s，Panda 安装的蓝色推片抵住橙色方块侧面并向前上方移动，方块轻微倾斜；视频 1.48–1.68 s 推片抬离，方块回到近初始直立姿态。视频 1.8–3.72 s 仍未见方块越过平衡点并换面躺稳，故本节点未完成。" + }, + { + "t": 3.72, + "log_step": 112, + "text_zh": "观察：视频 3.40–3.72 s 推片再次靠近方块侧面，方块仍在高台；log step 111 明确重置进入 episode 4 后运行并保存最终回合，log step 112 的该回合服务结果为 done=True、why=flip_recontact_before_balance、control_steps=369。此前 episode 1–3 为会话试验，不用于本视频进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.12–1.40 s，Panda 手端固定安装的蓝色推片单侧短推橙色方块，随后向上抬离；夹爪没有夹住方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.72, + "log_step": 111, + "text_zh": "观察：视频 2.92–3.72 s 推片下降并向高台上方块靠近，末段从后侧接近并接触方块；方块始终留在橙色高台，灰色斜槽为空。log step 111 的脚本此时已提交命名为 Phases 2–4 的动作，但实际执行因 flip_recontact_before_balance 提前终止，没有入斜槽结果。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 3.40–3.72 s，蓝色推片从高台上方块后侧靠近并在末段再次接触；log step 111 将此段用于推入斜槽，log step 112 证实再接触触发终止，未将方块推出高台。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.72, + "log_step": null, + "text_zh": "观察：已检查视频 0–3.72 s 的全程总览及末秒逐帧，橙色方块没有进入灰色斜槽，也没有沿槽自由滑行，Panda 推片始终在高台一带；未发生下坡侧截接。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.72, + "log_step": null, + "text_zh": "观察：视频 0–3.72 s 底端蓝色收集槽始终为空，末帧橙色方块仍在高台；未发生入槽或槽内停稳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_face_tipped", + "t": 1.6, + "log_step": 111, + "where": "操作中", + "evidence_zh": "观察：视频 1.28–1.68 s 方块被推得轻微倾斜后回正，未靠惯性完成换面；视频 1.8–3.72 s 一直未补成此步。视频 3.40–3.72 s 推片下降并再次靠近仍在高台的方块；log step 111–112 确认最终 episode 4 以 done=True、why=flip_recontact_before_balance 结束，该服务终止事件对应视频约 3.7 s 的末段画面。最先失败且未修复的是惯性倾倒，后续入斜槽动作没有修复该步。" + }, + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 1.6, + "log_step": 111, + "evidence_zh": "观察：视频 1.28–1.40 s 方块仅小幅倾斜，视频 1.48–1.68 s 在推片离开后回正，视频 2.0–3.72 s 仍以原姿态留在高台。它没有像成功参考视频 0.80–1.12 s 那样连续转过平衡点后换面落稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 1.12–1.68 s 已显示推片实际建立侧面接触、短推并抬离，但方块只摇动回正，说明这次倾倒控制未产生足以完成换面的运动。缺少接触力、脱离角度及角速度轨迹，不能进一步区分接触几何、推动强度和伺服跟踪问题，故仅标控制大类。" + }, + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：log step 108 的控制脚本在第一段执行后只以 res1.meta.get(\"done\") 判断是否退出，随后仅测量方块中心位置，就无条件生成推入斜槽的下一阶段，没有核实倾倒后的目标面或阶段完成。log step 111 确认最终回合实际走了该分支；视频 2.92–3.72 s 显示方块仍未倾倒，机器人却下降并重新接触，随后服务在 log step 112 报 flip_recontact_before_balance。未验证前置结果就跨阶段推进，使首步失败未被处理且触发再次接触。" + } + ], + "gap_zh": "没有状态日志，也没有原生阶段完成、接触力、方块姿态及角速度的连续记录；25 fps 总览无法量化毫秒级脱离和微小角度，因此各原生指标值保留 null，控制根因不细分。视频节点均可判为未达；再次接触的具体物理步依据最终回合服务 why 字段确认，视频末段提供邻近画面，未将 agent 工作时间换算为视频时间。" + }, + "summary_zh": "本次评分对应 log step 111 重置后的 episode 4：机器人短推并抬离方块，但视频 1.6 s 左右方块回正，未完成惯性倾倒，最终四个节点均未达成。脚本未核实倾倒成功就继续入斜槽动作，在视频 3.72 s 附近再次接触方块，服务以 flip_recontact_before_balance 终止；log step 116 的后续代码修改没有再执行，不能视为修复。缺少状态与力学记录，无法细分倾倒控制失败的机制或量化原生指标。", + "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、断点(cube_face_tipped)、时钟(控制步100 Hz，第二段约2.85 s起，与视频2.9 s推片下降相符)均无误；唯一问题是第二个现象“违反约束”记的是评分器终止本回合的规则(flip_recontact_before_balance)，按S14/S15不应单独记为现象，只能写进证据。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点均未达成、断点 cube_face_tipped（操作中）、时钟（控制步 285→约 2.85 s 起第二段，总 369 步=3.69 s，与视频 3.76 s 相符）与 log 引用（step 111/112 为最终 episode 4）均核对无误；视频全程方块留在高台、斜槽与收集槽为空。现象“位姿不准”与根因“控制”有视频依据，评分终止规则只在证据中出现，符合 S14/S15。第二根因（推理/规划）是对跨阶段无校验的推断，已标注为推断，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": "2026-10-30T04:30:45Z", + "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-s06-cube-flip-route-recover-i00-standard--kbwdquh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kbwdquh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kbwdquh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kbwdquh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41d40d2babe816b4d9e6efbc380cae9590ef7221b9662546341d415ce248e7b4", + "video_sha256": "a47053921e2c2e894b47cac2e53f220fccfecb0f8954ba004f0f952c7748b579", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge.json new file mode 100644 index 0000000000000000000000000000000000000000..794984e0c7fa8991ae90b2f64cdd4f1394f812aa --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge.json @@ -0,0 +1,400 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "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": 629, + "sim_steps": 2928, + "calls": 45, + "rows": 2728, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1515.2, + "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-s06-cube-flip-route-recover-i00-standard--kwszmge/replay.mp4", + "duration_s": 6.36, + "fps": 25.0, + "frames": 159, + "sha256": "d2ecfd6dd28e3444ca2aaa1598ebd92770c3269b5b1f6f6c18d8e796178879f2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [ + [ + 3.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.48, + "log_step": 48, + "text_zh": "观察：视频 2.32–2.68 s，Panda 手端蓝色推片短推橙色方块并向上离开，方块继续向斜槽方向倾倒，换到相邻面落在橙色高台上；视频 2.80–3.40 s 方块位置及朝向基本不变，推片已明显脱离。" + }, + { + "t": 3.1, + "log_step": 48, + "text_zh": "推断：连续倾倒方向支持原朝机器人的侧面成为顶面，停稳并等待约 0.25 s 后，以视频约 3.1 s 记本事件达成（约 ±0.2 s）。与成功参考视频 0.80–1.50 s 的倾倒及停稳外观相符；本次 log step 48 确认第 4 次 episode 执行了该段动作，但未报告 phase，20 ms 脱离及精确角速度条件无法直接核实。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手端安装的蓝色推片从橙色方块靠机器人一侧短推，随后向上脱离；未用二指夹爪夹持方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.92, + "log_step": 51, + "text_zh": "观察：视频 5.20–6.20 s，Panda 将转过方向的蓝色推片端部抵住方块并前推，方块向灰色斜槽入口移动且发生平面内转动，但仍停在橙色高台远边；视频 6.24–6.32 s 方块没有沿灰色槽面下移。" + }, + { + "t": 6.28, + "log_step": 53, + "text_zh": "观察：视频约 6.28 s，蓝色工具到达高台与斜槽接合处并贴近斜槽侧壁，运动随后停止；本次第 4 次 episode 的 log step 53 返回 done=True、failed、forbidden_tool_fixture_contact，log step 54 确认终局。成功参考视频 2.40–2.80 s 可清楚看到方块离开高台沿槽面下降，本次始终没有该变化。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 将蓝色推片绕竖直轴转向后，用其端部推动橙色方块到高台远边，方块同时偏转；末段工具在斜槽入口附近碰到固定场景部件，服务报 forbidden_tool_fixture_contact。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.32, + "log_step": 53, + "text_zh": "观察：视频 0.00–6.32 s 方块始终在高台区域；视频 5.20–6.32 s 的连续帧显示它只移到台边，没有进入斜槽自由下滑，也没有与下坡侧推片相遇。成功参考视频 2.60–3.20 s 所见的下游截接在本次未发生。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.32, + "log_step": 54, + "text_zh": "观察：视频 0.00–6.32 s 蓝色浅收集槽始终为空；视频 5.20–6.32 s 尤其是最后一帧，橙色方块仍在高台边缘，未进入收集槽，未出现成功参考视频 4.00–4.60 s 中的槽内停稳结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_on_chute", + "t": 6.28, + "log_step": 53, + "where": "操作中", + "evidence_zh": "观察：视频 5.60–6.32 s，Panda 正将倾倒后的方块推向斜槽，方块偏转后停在高台边；视频约 6.28 s 工具在槽入口侧壁附近相碰并停下。log step 53 返回 forbidden_tool_fixture_contact，log step 54 确认第 4 次 episode 已失败且结束；该推入斜槽步骤未完成，也未再修复。" + }, + "unmet": { + "cube_face_tipped": true, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.92, + "log_step": 51, + "evidence_zh": "观察：视频 5.20–6.20 s，Panda 手端蓝色推片推动橙色方块向斜槽入口移动，方块发生平面内偏转并停在橙色高台远边；视频 5.92 s 及 6.32 s 可见方块仍在台边，未进入灰色斜槽沿槽面下移。第一次推送的位姿结果未达到入槽要求，随后重新接近时才发生工具与固定场景的禁止接触（log step 53）；两者是同一未完成步骤中的不同现象。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 6.28, + "log_step": 53, + "evidence_zh": "观察：视频 6.16–6.32 s 蓝色推片从方块侧边继续移向斜槽入口，末段贴到槽入口近侧壁区域后停止；同一评分回合的 log step 53 明确返回 forbidden_tool_fixture_contact。工具与固定场景的禁止接触终止了仍在进行的推入斜槽动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 51 的脚本在连续推进后侧移撤片，未追加停稳段；log step 53 随即从 qnow() 的实测姿态生成回退轨迹。服务在这次回退仅推进 8 个控制步（621→629）就报告工具碰固定场景，且工具实测位置从 (0.156,-0.0368,0.169) 继续移至 (0.1671,-0.0479,0.1639)，视频 6.20–6.32 s 也显示其仍向槽边移动。agent 在 log step 55、57 自述新轨迹没有衔接尚在追踪旧目标的伺服运动，造成侧向过冲；这些记录支持控制衔接未处理运动滞后，尚不足区分轨迹生成与反馈控制子类。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志及逐阶段 phase/事件账本。惯性倾倒按视频连续运动推断达成，25 fps 无法精确核实最后接触倾角、超过 20 ms 的脱离以及物理步角速度阈值；log step 57 的 agent 自述也承认没有阶段确认。工具碰固定场景由第 4 次 episode 的服务结果确认，具体碰撞形状及伺服内部状态未记录，斜槽侧壁的定位由末帧与 agent 自述共同支持。DAG 的所有原生指标在 reward 中均未报告，故 value 为 null；成功参考仅用于外观比较，不充当本次状态证据。" + }, + "summary_zh": "评分视频对应最后的第 4 次 episode：约视频 3.1 s 可推断完成方块惯性倾倒，随后推片将方块推至高台远边，但方块未进入斜槽，后续截接与入槽停稳均未发生。推入斜槽时工具在视频约 6.28 s 碰到固定场景而终止，日志支持未处理伺服运动滞后的控制衔接问题。倾倒的毫秒级接触历史和原生阶段确认缺失，因此第一节点及细分控制机制保留推断性质。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点时间、断点（cube_on_chute，操作中）和 final 均与视频、日志一致；唯一问题是现象层漏掉了第一次推送本身就没把方块送上斜槽（方块偏转并停在高台边），只记录了终止性的工具碰撞。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（cube_on_chute，操作中）与视频总览一致；第一轮意见已采纳，现象与根因有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:31:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--kwszmge/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "76e8966fb4c99cf77183b6642ccf1726d688d76785210cdff8d97e6b0143193d", + "video_sha256": "d2ecfd6dd28e3444ca2aaa1598ebd92770c3269b5b1f6f6c18d8e796178879f2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--lux5ysh.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--lux5ysh.json new file mode 100644 index 0000000000000000000000000000000000000000..68e4f8041bd78796cc2ff06be4f738da01c3af25 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--lux5ysh.json @@ -0,0 +1,355 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--lux5ysh", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "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": 2437, + "calls": 75, + "rows": 2387, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1523.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.362, + "peak_processes": 10, + "peak_disk_gb": 1.068, + "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-s06-cube-flip-route-recover-i00-standard--lux5ysh/replay.mp4", + "duration_s": 4.28, + "fps": 25.0, + "frames": 107, + "sha256": "3d445d4133ca0c8f39484d81527204ea94bd9079d48d0801518328e456f3110d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.2, + "log_step": 88, + "text_zh": "观察：视频 1.04–1.44 s，Panda 手端蓝色推片抵到橙色方块侧面，方块略向斜槽方向平移，仍以原姿态立在高台上；视频 1.6–3.8 s 也未出现成功参考视频 0.8–1.12 s 中的越过平衡点并换面落稳过程。" + }, + { + "t": 4.24, + "log_step": 88, + "text_zh": "观察：视频 4.00–4.24 s，机器人再次把蓝色推片送向方块上部侧面，末帧方块仍在高台上，未完成约 90 度倾倒并停稳。log step 88 的 episode 4 执行返回 DONE failed flip_recontact_before_balance，随后服务状态为 done=True、reason=failed、control_steps=421；这是该回合的服务反馈，并非 agent 的完成自述。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.04–1.44 s 和 4.16–4.24 s，固定安装于 Panda 手端的蓝色推片从侧面推橙色方块；方块发生小幅平移，末次接触由 log step 88 的本回合服务失败码进一步确认。夹爪未夹持方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.24, + "log_step": 88, + "text_zh": "观察：视频 0–4.24 s，橙色方块一直位于高台，未越过高台远边进入灰色斜槽；视频 3.20–4.24 s 逐帧检查可见斜槽为空。log step 88 在第二次倾倒尝试即收到 episode 4 失败反馈，未执行脚本后续的推入斜槽动作。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.24, + "log_step": 88, + "text_zh": "观察：视频 0–4.24 s，方块未离开高台，灰色斜槽上没有自由滑行的方块；机器人推片也未到斜槽下端截接。log step 88 的本回合在倾倒阶段终止，未进入脚本的下游截接段。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.24, + "log_step": 88, + "text_zh": "观察：视频 0–4.24 s，斜槽末端的蓝色浅收集槽始终为空，末帧方块仍在高台；没有送入收集槽或在槽中央停稳的过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_face_tipped", + "t": 4.2, + "log_step": 88, + "where": "操作中", + "evidence_zh": "观察：视频 4.00–4.24 s，机器人正在高台上第二次用蓝色推片推方块，方块未完成倾倒；log step 88 的 episode 4 服务反馈为 flip_recontact_before_balance，表示已登记脱离后、尚未越过倾倒平衡点又发生工具接触，本回合随即结束。第一次未倾倒的结果也未被此次重试修复。" + }, + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.2, + "log_step": 88, + "evidence_zh": "观察：视频 4.16–4.24 s，机器人蓝色推片处于方块上部侧面，方块尚未倾倒落稳；log step 88 的本回合服务明确返回 flip_recontact_before_balance。推断：推片未在方块靠惯性越过平衡点的过程中保持脱离，再接触发生过早，打断了本步要求的自由倾倒过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：第二次短推的停点和脱离安排未让推片避开倾倒方块的运动路径。log step 88 的实际执行代码把推片前表面终点设为估计方块后表面 b+0.020 m，随后重复同一关节目标 140 行，整段返回后才安排 retract_flip2；该段服务反馈为 flip_recontact_before_balance，且视频 4.16–4.24 s 可见推片仍贴近方块上部侧面，支持接触几何与撤离安排不适配的归因。成功参考视频展示了短推后自行倾倒，但本回合未验证替代停点，故可行替代记未知。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志；25 fps 总览无法独立分辨毫秒级脱离、再次接触的精确瞬间及小倾角，相关事件依据 log step 88 的 episode 4 原生服务失败码确认，视频 4.2 s 仅为重试接触段的近似锚点。日志脚本打印的累计仿真时间不是视频时钟，未据其定位。接触停点与撤离安排的根因为代码、反馈和画面的联合推断，具体接触力及可行替代参数未经本回合验证；评分器未报告 DAG 所列连续指标的测量值。" + }, + "summary_zh": "观察：评分对象为 log step 88 的最后实时回合 episode 4；视频 0–4.24 s 仅尝试了高台上的惯性倾倒，四个节点均未完成，方块始终未进入斜槽。观察：第二次倾倒尝试收到服务失败码 flip_recontact_before_balance；推断：推片停点与撤离安排未能保持自由倾倒所需的脱离。毫秒级接触时序依赖本回合服务反馈，无状态日志，具体接触几何根因仍属推断。", + "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、方块始终在高台上，与视频 0–4.24 s 及 log step 88 的服务失败码 flip_recontact_before_balance（control_steps=421≈视频 4.21 s）一致；断点 cube_face_tipped、第二次推片重试的时序、现象与根因（推断，alt_feasible 未知）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": "2026-10-30T04:19:03Z", + "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-s06-cube-flip-route-recover-i00-standard--lux5ysh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--lux5ysh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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step 66 的原生事件确认推片再次接触方块。没有夹爪包夹方块。" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：已检查视频 0–2.28 s 全程及逐帧局部图，橙色方块始终在橙色高台上，灰色斜槽未承载方块；视频 2.28 s 终帧仍如此，未发生进入斜槽。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：视频 0–2.28 s 中，橙色方块未离开高台，灰色斜槽始终空置，机器人推片没有移到下游迎接滑行方块；未发生自由滑行或下游截接。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：视频 0–2.28 s 的蓝色收集槽始终为空；视频 1.28–2.28 s 最后一秒及终帧中，方块仍在橙色高台上，未入槽停稳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 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{ + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "cube_face_tipped", + "t": 2.24, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频 0.80–1.12 s 第一次推碰只使方块倾斜后回落；视频 2.12–2.28 s 机器人再次推进，仍在操作高台上的方块。log step 63 重置为 episode=2，log step 66 在同一回合返回 done=True、why=flip_recontact_before_balance；log step 67 再次确认该回合失败。断点是尚未完成且未被修复的惯性倾倒步骤，视频 2.24 s 为再次接触附近的粗略导航锚点。" + }, + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 2.24, + "log_step": 66, + "evidence_zh": "观察：视频 2.12–2.28 s，Panda 推片再次靠近仍未倾倒的方块；log step 66 的第 2 回合服务原生终止原因为 flip_recontact_before_balance，即已登记脱离后、方块尚未越过 pi/4 时推片再次接触，违反倾倒途中禁止再接触的规则。此前视频 0.84–1.12 s 只见方块晃动后回落，并无完成换面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 63 与 log step 66 的 agent 控制脚本均先重复发送起始关节目标 55 个控制步，再发送固定推进行程及回撤目标，执行过程中没有按接触或方块倾角更新动作；log step 63 的动作在视频 0.80–1.12 s 只产生短暂倾斜，log step 66 的修改仍触发服务的 flip_recontact_before_balance。机器人未把推、脱离与方块惯性运动协调到允许的接触时序，支持控制层归因；现有资料不足以进一步区分接触几何、执行轨迹和反馈设计。" + } + ], + "gap_zh": "没有逐物理步状态或接触日志；25 fps 总览不能独立分辨毫秒级脱离与再接触、精确倾角及角速度，禁止再接触事件依据评分局 episode=2 的实时服务返回（log step 66），视频锚点仅取其末段动作附近。DAG 所列各项原生连续指标未在 reward 中报告，均记 null；控制根因无法可靠细分。log step 82 的模型过滤发生在 log step 66–67 已确认评分回合结束之后，按 DECISIONS.md D37 保留本次物理失败标注。" + }, + "summary_zh": "评分局为 log step 63 重置后的第 2 回合：视频 0–2.28 s，Panda 用安装的蓝色推片尝试倾倒高台上的橙色方块，但方块仅倾斜后回落，四个节点均未完成（终态 0/4）。第一步再次推进时，实时服务以 flip_recontact_before_balance 判负（log step 66），支持推与脱离时序未协调好的控制层归因。缺少高频状态与接触记录，无法从 25 fps 视频细分控制原因；log step 82 的过滤发生在评分局失败之后。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅含评分局（episode 2，227 控制步≈2.27 s，与视频 2.32 s 吻合），四节点均未达成、断点 cube_face_tipped、服务返回 flip_recontact_before_balance 均与帧和 log step 63/66/67 一致；违反约束现象与控制根因有日志依据，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": "2026-10-30T04:18:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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100644 index 0000000000000000000000000000000000000000..24823ceda4d1fff5bcef769cffc53ad595428802 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dkh2efn.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dkh2efn", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2756, + "executed_rows": 2756, + "sim_steps": 2756, + "physics_steps": 27560, + "sim_time_s": 27.56, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 60.2, + "replay_timeout_s": 575.6, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 38, + "agent_resets": 2, + "agent_sim_steps": 5512, + "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-s12-moving-bridge-puck-relay-i00-privileged--dkh2efn/replay.mp4", + "duration_s": 27.6, + "fps": 25.0, + "frames": 690, + "sha256": "b7aaefb6ec5fc06f89e74c2f57fa147e2db2476f45ae7cac1a40c1c72e97ec12" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 22.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0.4–0.8 s 橙色冰球已在源滑道近原位停下；视频 2.2–3.8 s，Panda 固定蓝色球拍从侧面缓慢推球，冰球随球拍横移，并非对快速来球的冲击。" + }, + { + "t": 9.2, + "log_step": null, + "text_zh": "观察：视频 8.0–9.4 s，Panda 球拍向桥方向推送冰球，冰球离开源滑道并落在蓝色桥面；视频 10–21 s 冰球随桥转动。" + }, + { + "t": 22.2, + "log_step": null, + "text_zh": "推断：视频 21.6–22.4 s，Panda 球拍从桥侧将冰球送上出口滑道；视频 22.2 s 左右冰球已移至出口边内，视频 22.8–24.8 s 冰球留在橙色出口滑道而桥转开，支持转运完成，时刻约有 0.2 s 不确定性。" + }, + { + "t": null, + "log_step": 2, + "text_zh": "观察：log step 2 返回的该运行旧版 update_task 首阶段只检查冰球与球拍接触；桥转运检查曾接触桥、随后接触出口且不再接触桥，没有首次接触速度阈值。按执行时旧规则计为达到，不套用 DAG 新增的 0.25 m/s 条件。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 手部固定蓝色球拍先侧推源滑道上的橙色冰球，再向桥面推送，等待桥转动后补推到出口滑道；实际为多段推球，没有夹持冰球。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 25.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.4, + "log_step": null, + "text_zh": "观察：视频 24.8 s 冰球位于出口滑道起端，球拍与其有间隔；视频 25.24–25.52 s，Panda 球拍缓慢向冰球推进，约在视频 25.4 s 贴到其后侧并使它小幅前移，完成出口接触，时刻约有 0.2 s 不确定性。" + }, + { + "t": 26.0, + "log_step": null, + "text_zh": "观察：视频 25.8–26.32 s，Panda 球拍向后退开，冰球留在出口滑道；球拍与球之间重新出现清楚间隙。" + }, + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 34 对最终交付的 2756 行轨迹进行两次独立回放，均返回 phase=5、success=true、valid=true，两个末态哈希一致，支持出口拦截阶段已通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 固定蓝色球拍在出口滑道起端慢速前移，轻推橙色冰球后退开；实际接触为主动轻推，没有包夹、托接或持续抓持。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [ + [ + 27.56, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.64, + "log_step": null, + "text_zh": "观察：视频 26.32 s 球拍与冰球分开，视频 26.56–26.72 s，Panda 球拍再次向前接触冰球；视频 26.72–27.28 s 球拍沿出口滑道继续推送冰球至摆门附近。" + }, + { + "t": 27.56, + "log_step": null, + "text_zh": "观察：视频 27.28–27.56 s 冰球越过出口端部、落向门外桌面并滑至挡墙前，球拍留在滑道端部，与冰球明显分离；琥珀色门片保持开启。单视角不能精确量出门角，也不能独立排除擦门接触。" + }, + { + "t": 27.56, + "log_step": 34, + "text_zh": "推断：log step 34 明确回放最终交付轨迹，control_steps=2756、控制频率 100 Hz（log step 2），得到仿真 27.56 s，与视频 27.56 s 的离拍末态和结束处核对一致；两次回放均 phase=5、success=true、failure_reason=null，故越目标线的完成锚点取视频 27.56 s。" + }, + { + "t": null, + "log_step": 2, + "text_zh": "观察：log step 2 的旧版末阶段仅在朝前越目标线时检查不接触球拍且门角大于 0.20 rad；不检查新版的门口角度至少 1.0 rad 或冰球不得碰门。此节点按实际旧版验收计为完成，不声称已满足新增检查。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "Panda 固定蓝色球拍退开后再从后侧接触橙色冰球，持续向前推送至出口端；随后冰球离拍向目标区滑行。视频所见是推送后释放，无夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "该评分轨迹完成经桥转运、出口拦截和再推离拍越线，按执行时规则最终达到 3/3，log step 34 的两次独立回放均成功且末态一致。任务设计问题（旧版验收与动作描述不一致）：视频显示先等源滑道冰球停下再推，log step 2 的旧代码却仅查首接触，末段也未检查冰球碰门或门口开度；因此按 P19 保留旧版成功，不将 DAG 新增的快速首击及无碰门要求追溯用于本运行。无状态日志且接触点局部受机械臂遮挡，转运与拦截时刻为视频近似值，四项原生指标未由评分器报告而留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点的达成时刻（转运约22.2 s、拦截约25.4 s、越线27.56 s）与帧和grader成功（phase=5，两次回放一致）相符，推/扫接触合理，无失败断点，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": "2026-10-30T04:25:21Z", + "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-s12-moving-bridge-puck-relay-i00-privileged--dkh2efn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dkh2efn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "65f9b93029a48081c726194b031a06c220395c709f7c104041178dc1bf133f17", + "video_sha256": "b7aaefb6ec5fc06f89e74c2f57fa147e2db2476f45ae7cac1a40c1c72e97ec12", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g.json new file mode 100644 index 0000000000000000000000000000000000000000..b2056fa4fff74a7356fe5320cb4a7a80d530c91b --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 904, + "executed_rows": 904, + "sim_steps": 904, + "physics_steps": 9040, + "sim_time_s": 9.04, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 26.4, + "replay_timeout_s": 390.4, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 115, + "agent_resets": 70, + "agent_sim_steps": 71421, + "agent_replays": 7, + "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": 0.694, + "peak_processes": 12, + "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-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g/replay.mp4", + "duration_s": 9.08, + "fps": 25.0, + "frames": 227, + "sha256": "4899b6b9a149c7f7c114cf10c1b34f20e16d103830dfe74be43f5a4a195f77fd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.28, + "log_step": null, + "text_zh": "观察：视频 0.92–1.28 s，Panda 固定蓝色球拍从左侧击推橙色方块，方块离开橙色源滑道，落到蓝色旋转桥上；视频 1.6–3.2 s 方块随桥转动。" + }, + { + "t": 4.0, + "log_step": 259, + "text_zh": "观察：视频 3.4–4.32 s，球拍补推方块，方块在约视频 4.0 s 跨到右侧橙色出口滑道，随后离开桥面并停在出口滑道上；交界处有球拍遮挡，时间约有 0.2 s 不确定性。log step 259 对最终交付文件的正式回放报告 phase=4、valid=true，评分器 phases_done=4，与转运已完成一致。" + }, + { + "t": 0.96, + "log_step": 6, + "text_zh": "观察：log step 6 展示本次运行的 update_task：首阶段只检查 puck 与 tool 接触，未检查首触前速度；log step 3 的实例为 seed=1。推断：按本次实际旧版判分规则记达成，不将 DAG 新版的 0.25 m/s 阈值追溯施加于本轨迹；视频 0.60–0.92 s 的方块在源滑道上几乎不动。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 0.92–1.28 s，Panda 手上固定的蓝色球拍击打橙色方块；候选接触名“击打”，词表没有对应项。视频 3.2–4.0 s 同一球拍随后从侧面补推方块过桥至出口；这些是先后接触，无夹爪合拢抓握。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 4.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.1, + "log_step": 259, + "text_zh": "观察：视频 4.04–4.32 s，方块已在出口滑道入口，Panda 蓝色球拍紧贴其侧面继续接触推送，随后方块与球拍分开，视频 4.4–5.6 s 方块仍留在出口滑道。推断：出口接触约视频 4.1 s 达成（球拍遮挡接触边界，约有 0.2 s 不确定性）；log step 259 的最终交付回放 phase=4 和评分器 phases_done=4 支持出口拦截事件已通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 4.04–4.32 s，Panda 固定蓝色球拍从方块侧面继续推送，方块已接触右侧橙色出口滑道；出口接触由球拍完成，没有合手抓握或底部托接。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.2, + "log_step": 259, + "text_zh": "观察：视频 5.8–7.6 s，Panda 球拍先退离出口处的方块，再从其左侧靠近；视频 7.92–8.48 s 球拍接触并把方块沿出口滑道向右送，随后方块离拍，在视频 8.6–9.04 s 滑落至滑道末端外的桌面，仍在右侧挡墙前。log step 259 对最终交付文件正式回放报告 phase=4（closing_gate_goal）、success=false、valid=true、failure_reason=null；评分器 phases_done=4，故已再接触送球，但得分阶段未完成。" + }, + { + "t": 9.04, + "log_step": 258, + "text_zh": "观察：log step 258 重新生成最终 904 行文件，输出末态方块位置 [0.4626,0.1026,0.022] m；log step 259 随后正式回放确认该文件的 904 个控制步及稳定末态哈希。视频 8.8–9.04 s 方块停留在门片附近、球拍右侧，未出现参考成功视频末段那样继续向挡墙方向越线的运动。推断：最终中心 x=0.4626 m 小于目标线 x=0.48 m，未达成此节点，而非仅由 success=0 反推未尝试。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 7.92–8.48 s，Panda 固定蓝色球拍从橙色方块左侧接触推送，使它沿出口滑道朝门片方向运动，随后离拍；实际表现为持续侧推送球，不是夹爪抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_through_gate_and_goal", + "t": 8.5, + "log_step": 259, + "where": "操作中", + "evidence_zh": "观察：视频 7.92–8.48 s，Panda 球拍把方块沿出口滑道向右送出，视频 8.6–9.04 s 方块落至滑道末端外的桌面，却未继续越过目标线。log step 258 最终生成的方块末态 x=0.4626 m，目标线为 x=0.48 m；log step 259 的同一文件正式回放仍在 phase=4，valid=true、failure_reason=null。推断：首个未修复步骤是再击过门得分，断点锚在最后送球离拍的约视频 8.5 s，非先前会话测试中的碰撞或超限。" + }, + "unmet": { + "puck_transferred_via_bridge": true, + "puck_intercepted_at_exit": true, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 8.5, + "log_step": 258, + "evidence_zh": "观察：视频 8.48–9.04 s，方块离开球拍并从出口滑道末端滑下，停留在门片旁的桌面，未继续到目标线另一侧；log step 258 的最终生成记录末态中心 x=0.4626 m。推断：这次送球距离不足，中心在 x=0.48 m 目标线前约 0.0174 m，属于发送结果未到位。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：最后送球的实际控制未产生足以让方块越线的运动。依据为视频 7.92–9.04 s 球拍推送后方块前进不足，以及 log step 235、241、248、258 反复生成同配置 904 行轨迹时均止于 [0.4626,0.1026,0.022] m，log step 259 正式回放也未完成得分；log step 218 的控制代码将最后推送目标上限设为 x=0.360 m，log step 253 恢复该设置。agent 自述可达范围限制了末段送球速度（log step 260），会话 IK 扫描也在 x=0.38、0.40 m 对所测偏航角全部失败（log step 158），但这些不足以证明所有合法击球方案不可行，也不足以区分轨迹、跟踪和接触设计子类。" + } + ], + "gap_zh": "观察：inputs/ 无逐帧状态日志；桥出口转运与再接触的交界被球拍部分遮挡，节点时间仅为约视频 4.0–4.1 s 的视觉估计。没有最终轨迹的逐帧接触力、关节跟踪误差或门角记录，无法确认送球不足的更细控制机制，也不将会话测试中的禁碰、超限当作最终轨迹的失败。log step 6 明示本次旧版不含 DAG 新增的首次接触速度与门口开度、冰球碰门检查，按实际判分版本标注；原生四项指标均未由评分器报告。" + }, + "summary_zh": "观察：Panda 用固定球拍将方块击上旋转桥并补推至出口，约视频 4.0 s 完成转运、约视频 4.1 s 完成出口接触，最终达成 2/3 节点。推断：最后送球的控制不足使方块离拍后未越目标线；视频 8.6–9.04 s 的末段与 log step 258 的最终中心 x=0.4626 m、log step 259 正式回放停在 phase=4 相符。观察：本次 log step 6 的旧版检查未含 DAG 后增的首触速度及门口检查，按执行时规则标注；无状态日志，接触瞬间与细分控制根因仍有缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间、接触标签、断点（再击过门得分，操作中）与现象位姿不准、根因停在“控制”均与视频帧一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:29:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--dq6ba5g/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ed3c71f801b262580f4251b7184737bf6a055198f1e34644b77c6aef40142ae1", + "video_sha256": "4899b6b9a149c7f7c114cf10c1b34f20e16d103830dfe74be43f5a4a195f77fd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--indb8jz.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--indb8jz.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd0721bc258ae9c16657fa089e5cbf289ff4843 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--indb8jz.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--indb8jz", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1200, + "executed_rows": 1200, + "sim_steps": 1200, + "physics_steps": 12000, + "sim_time_s": 12.0, + "phases_done": 1, + "valid": 1, + "replay_wall_s": 26.6, + "replay_timeout_s": 420.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 14, + "agent_resets": 6, + "agent_sim_steps": 1200, + "agent_replays": 1, + "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-s12-moving-bridge-puck-relay-i00-privileged--indb8jz/replay.mp4", + "duration_s": 12.04, + "fps": 25.0, + "frames": 301, + "sha256": "5599264571edb486a6376d3b15be6277f896c85cb04c8fa4618741f1044c99cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.48, + "log_step": null, + "text_zh": "观察：视频 0–0.48 s，橙色方块沿左侧源滑道移动并停在滑道内，蓝色球拍逐渐抬高；未见方块上桥。" + }, + { + "t": 5.8, + "log_step": 41, + "text_zh": "观察：视频 4.2–5.8 s，Panda 固定的蓝色球拍贴着橙色方块侧面，方块在源滑道内小幅移动；视频约 5.8 s 起机械臂抬拍后撤，视频 6.4 s 方块仍在源滑道。log step 41 的提交生成脚本只实现源滑道内推球、抬拍和保持。" + }, + { + "t": 12.0, + "log_step": 42, + "text_zh": "观察：视频 7–12.00 s，球拍悬在源滑道上方，方块始终留在左侧源滑道，中间旋转桥与右侧出口滑道上均无方块；最后一秒及末帧亦如此。log step 42 对已保存文件的回放返回 phase=1、physical_bridge_transfer、success=false；评分器 reward.phases_done=1、valid=1、deterministic=1。首个原生接触阶段完成不等于本节点的完整过桥转运完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频约 4.2–5.8 s，Panda 手上固定的蓝色球拍从侧面缓慢推移源滑道内的橙色方块，随后抬离；未见夹爪合拢抓球，也未见一次将球击上桥的动作。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": 42, + "text_zh": "观察：已检查本次视频全程的半秒采样及视频 11–12.00 s 密集末段，橙色方块一直在源滑道，出口滑道为空，Panda 未把球拍移到出口实施拦截。参考视频 24.00–26.00 s 可清楚看见橙色方块位于右侧出口滑道；本次没有该可见结果，且 log step 42 的提交文件回放仍停在 physical_bridge_transfer。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": 41, + "text_zh": "观察：视频全程未见橙色方块进入右侧出口滑道、经过琥珀色门或越过目标线，视频 11–12.00 s 方块仍在左侧源滑道；球拍也未移向门口。log step 41 的提交脚本在源滑道内推球后抬拍并保持，没有出口再击或射门动作；参考视频 27.56 s 可见方块已移到门与挡墙附近，本次没有相应位移。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 5.8, + "log_step": 41, + "where": "操作中", + "evidence_zh": "观察：视频约 5.8 s，Panda 在源滑道内小幅推球后开始抬拍，视频 6.4–12.00 s 不再送球，橙色方块一直留在源滑道，过桥转运从未完成。log step 41 保存的轨迹只含源滑道推球、后撤与保持，log step 42 回放确认 phase=1、physical_bridge_transfer。此处锚定放弃继续转运的抬拍时刻，未把后续未开始的拦截或射门选作断点。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 无逐帧状态日志；本次视频显示源滑道内推球后主动抬拍，没有显示实际尝试过桥时瞄偏、卡碰、脱落或跟踪失稳，log step 41 的提交脚本也未包含过桥运动，故按 CASES.md FAIL-23 将现象留空。log step 20、24、28、30 的超限属于其他会话测试，log step 29 已展示无超限的接近与推球，不能将那些测试失败直接作为本次断点原因；log step 44 仅自述为避免未经验证的动作而省略余程，不能据停止决定或预算推定规划错误，故根因留空。log step 5 显示本次实例 seed=1、门初始角为旧版本设置，log step 29 的慢速接触也可进入 phase=1；与 DAG 所述新版本快速首击条件存在差异，只按本次回放的旧阶段判据解释原生阶段，不据此声称满足新速度阈值。四项原生指标的实测值均未由评分器报告。" + }, + "summary_zh": "评分轨迹只完成源滑道内的球拍接触与小幅推球，冰球始终未上旋转桥，三个语义节点最终均未完成。断点为“击球经桥转运”：视频约 5.8 s 机械臂开始抬拍，之后保持至末帧，提交脚本未包含继续过桥的动作。此次为旧版本接触阶段判据，原生 phases_done=1 不代表完整转运；没有逐帧状态日志或实际过桥失败动作，故不推定具体失败现象与根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为假、断点“击球经桥转运”、接触（手持工具/推扫）与视频一致：方块始终留在左侧源滑道，球拍抬离后悬停至末帧。现象与根因留空并附 gap_zh，符合 FAIL-23/FAIL-22（提交轨迹只含源滑道内推球、后撤、保持；停止决定与预算不作原因）。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": "2026-10-30T04:27:45Z", + "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-s12-moving-bridge-puck-relay-i00-privileged--indb8jz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--indb8jz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "96ca2fdb518f362be3cccb8bef3e5ebe407f93f6907109db3e4a7ac865280179", + "video_sha256": "5599264571edb486a6376d3b15be6277f896c85cb04c8fa4618741f1044c99cd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9.json new file mode 100644 index 0000000000000000000000000000000000000000..3274bd87285ff43c45ac6e4a90011ff68e02eb3f --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 2039, + "executed_rows": 2038, + "sim_steps": 2038, + "physics_steps": 20380, + "sim_time_s": 20.38, + "phases_done": 1, + "valid": 0, + "replay_wall_s": 59.7, + "replay_timeout_s": 503.9, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 17, + "agent_resets": 16, + "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": 0.048, + "peak_memory_gb": 0.723, + "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-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9/replay.mp4", + "duration_s": 20.44, + "fps": 25.0, + "frames": 511, + "sha256": "539aef3490f7e96abb6663ea801dddf08e2b5f827bd2f713218f731ad4603f15" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.52, + "log_step": null, + "text_zh": "观察：视频 17.48–17.60 s，Panda 固定蓝色球拍从左侧接触并击动源滑道上的橙色冰球；视频 17.80–18.00 s 冰球离开源滑道并到达蓝色旋转桥。" + }, + { + "t": 20.4, + "log_step": 32, + "text_zh": "观察：视频 18.80–19.40 s，机器人用球拍补送桥上的冰球；逐帧检查视频 19.40–20.40 s，冰球始终留在蓝色桥面，右侧橙色出口滑道没有接到冰球。log step 32 保存 2039 行轨迹时终态为 physical_bridge_transfer，评分器 reward.phases_done=1，与仅完成原生首次接触阶段一致，不能把上桥算作整个转运节点完成。" + }, + { + "t": null, + "log_step": 4, + "text_zh": "观察：log step 4 展示本次执行版本的 update_task，首阶段仅以球拍接触冰球推进，不检查首次接触前速度；log step 3 的实例为 seed=1。此版本与 DAG 的新速度判据不同，按执行时规则不把视频 17.52 s 对已停冰球的首击另判失败，但经桥到出口的转运仍未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 手上固定的蓝色球拍在视频约 17.52 s 击打橙色冰球，随后在视频约 18.8–19.2 s 补推桥上的冰球；末段球拍误碰旋转桥。候选接触名为“击打”，词表没有准确的击打项；后续推送为先后接触，未发生夹爪抓握。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 32, + "text_zh": "观察：视频 17.80–20.40 s，冰球只在蓝色旋转桥上运动，机器人球拍的后续动作也围绕桥面进行；截至末帧，橙色出口滑道为空，没有出口处的球拍与冰球再次接触。成功参考视频 23.20–24.40 s 可清楚看见冰球进入橙色出口滑道的外观，本次没有出现这一位置关系；参考仅用于辨认场景。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": null, + "text_zh": "观察：本次视频 0–20.40 s 未出现冰球沿出口滑道到达琥珀色摆门或越过右侧目标线；视频 20.40 s 冰球仍在旋转桥上，出口拦截的前置事件也未完成，机器人没有开始出口再击得分动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 20.4, + "log_step": 32, + "where": "操作中", + "evidence_zh": "观察：视频 19.80–20.40 s，Panda 重新转向并降低球拍，在旋转桥近侧边缘继续准备补送，冰球仍在桥上；视频 20.36–20.40 s 球拍下缘到达桥面边缘，运动终止。log step 32 生成并保存了这条 2039 行交付，记录 contact:bridge:tool 和 forbidden_tool_fixture_contact（仿真 20.372 s），终态仍为 physical_bridge_transfer；log step 34 核对交付仍为 2039 行。因此失败发生在经桥到出口的转运操作中。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 20.4, + "log_step": 32, + "evidence_zh": "观察：视频 20.20–20.40 s 球拍向旋转桥近侧边缘低位靠近，末帧球拍下缘与桥面边缘相接，冰球尚未离桥。log step 32 保存交付的同次生成输出记录 contact:bridge:tool，接触冲量 0.2312 N·s，随后为 forbidden_tool_fixture_contact（仿真 20.372 s）；评分器执行 2038 个控制步、仿真时长 20.38 s 后 valid=0，与视频末段终止相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：桥上补送的接近与下降控制未保证实际球拍对桥面的净空。log step 29、31、32 的生成代码按固定步数执行高位接近、下降和挥拍，没有等待实测末端位姿收敛；即使改成逐步笛卡尔逆解，log step 32 保存的轨迹仍因球拍碰桥结束，视频 20.20–20.40 s 与此一致。log step 33 的独立调试又显示下降指令 z=0.066 m 时实测仍约 z=0.10 m、挥拍跟踪明显滞后，支持运动指令与实际执行不匹配这一控制问题；该独立测试的 limit_violation 不作为交付轨迹的失败现象。" + } + ], + "gap_zh": "没有逐帧状态日志，视频的单一总览视角不能定量还原碰桥前球拍姿态、位置误差与伺服参考，故根因只标到“控制”，不确定具体子类；log step 33 是独立调试，不能替代交付轨迹的逐帧记录。四项 DAG 原生指标均未由评分器报告，值留空。本次 log step 4 所示旧版首击检查不同于 DAG 的新速度门槛，已按执行时规则处理；这一差异不改变冰球始终未到出口的判定。" + }, + "summary_zh": "评分轨迹在视频约 17.52 s 将已停下的冰球击上旋转桥，并在桥上补送，但截至视频 20.40 s 仍未进入出口，三个语义节点均未完成。转运操作在视频约 20.40 s 因球拍碰桥而终止，与 log step 32 保存交付时的 forbidden_tool_fixture_contact 一致，根因支持为补送运动的控制问题。本次执行版本首击仅查接触（log step 4），不套用 DAG 新增的首击速度门槛；缺少逐帧状态，不能进一步确定碰撞前的跟踪误差和控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未完成与视频一致：冰球在视频约17.5 s被击上蓝色旋转桥，之后始终留在桥上，出口滑道为空；评分器 phases_done=1。断点在经桥转运步骤、球拍碰桥（log step 32，仿真20.372 s）与末帧相符，根因标到“控制”并明确标为推断，证据足够。log_step 引用的是步骤 id，均存在，validator 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": "2026-10-30T04:24:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--mtgfag9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "121cf375e8229ffc8ed006f026b94a881c31c683c66ceee4ad4453a63c6d855c", + "video_sha256": "539aef3490f7e96abb6663ea801dddf08e2b5f827bd2f713218f731ad4603f15", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7c9478f6f73a79716b65d2f5615e075973dc2c --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 1427, + "executed_rows": 1427, + "sim_steps": 1427, + "physics_steps": 14270, + "sim_time_s": 14.27, + "phases_done": 5, + "valid": 1, + "replay_wall_s": 41.0, + "replay_timeout_s": 442.7, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 5, + "agent_resets": 5, + "agent_sim_steps": 2854, + "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": 0.144, + "peak_memory_gb": 2.349, + "peak_processes": 11, + "peak_disk_gb": 0.832, + "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-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk/replay.mp4", + "duration_s": 14.32, + "fps": 25.0, + "frames": 358, + "sha256": "30e14d89813ae0c875babf31da98616b0957ccc43631e0b8b0892d69adca2b44" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 4.56, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.48, + "log_step": null, + "text_zh": "观察：视频 0.40–1.36 s，橙色方块在源滑道上位置基本不变；视频 1.44–1.84 s，机器人固定蓝色球拍接近并贴住方块侧面，将其向桥推送；视频 2.08–3.80 s，方块位于旋转桥面，随桥转动。" + }, + { + "t": 4.56, + "log_step": null, + "text_zh": "观察：视频 4.20–4.80 s，球拍把方块从蓝色桥面推到右侧橙色出口滑道；视频约 4.56 s，方块已在出口滑道上、离开桥面，接触交界受球拍局部遮挡，完成时刻约有 0.2 s 不确定性。" + }, + { + "t": 4.56, + "log_step": 52, + "text_zh": "推断：首次接触前方块已基本停下，与当前 DAG 的快速来球阈值不同；本次交付文件的新进程回放在 log step 52、54 均返回 success=true、phase=5、valid=true，reward.phases_done=5、all_success=1。结合视频实际过桥，按本次执行时接受的规则计为完成，规则版本差异见 summary_zh。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.44–2.08 s，Panda 前端固定蓝色球拍从侧面推送橙色方块离开源滑道并登上蓝色旋转桥；视频 4.20–4.60 s，同一球拍再次侧推，将方块从桥面补送到出口滑道。夹爪未夹住方块。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 4.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 4.56–4.80 s，方块进入出口滑道后，机器人蓝色球拍仍在方块侧面接触、推送，随后方块留在滑道起端；视频 5.60–6.60 s，球拍抬起并离开，方块未随之抬起。出口接触完成时间取视频约 4.60 s，局部遮挡使阶段边界只能近似定位。" + }, + { + "t": 4.8, + "log_step": 52, + "text_zh": "推断：视频所见出口处实际接触，加上交付文件回放在 log step 52 报告 phase=5、success=true，支持出口拦截事件已完成；本节点按接触验收，不额外要求抓住或停止保持。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 4.60–4.80 s，Panda 固定蓝色球拍在出口滑道起端贴住方块侧面并继续补推；实际为侧推接触，没有夹持或从下方承接。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [ + [ + 14.28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频 6.60–13.20 s，机器人球拍与留在出口滑道的方块分开并重新准备；视频 13.32–13.56 s，球拍前挥击中方块，方块明显向门口滑动，视频 13.64 s 后球拍已抬在滑道上方，与方块明显分离。" + }, + { + "t": 14.28, + "log_step": null, + "text_zh": "观察：视频 13.76–14.08 s，方块经过琥珀色门片边缘时翻转、落到滑道外的桌面，门片略有转动；视频 14.08–14.28 s，方块继续向橙色挡墙方向移动，球拍始终在后上方，末帧方块已接近挡墙前目标区域。" + }, + { + "t": 14.28, + "log_step": 52, + "text_zh": "推断：log step 51 保存的交付轨迹在 log step 52、54 的新进程回放均为 success=true、phase=5、valid=true，control_steps=1427、sim_time_s=14.27，最终状态哈希相同；与视频 14.28 s 末帧的球拍分离、方块到达挡墙前区域一致，故末帧锚定合法得分。按 100 Hz 控制，1427 步对应仿真 14.27 s，仅用于核对视频终点，节点时刻取所检查的末帧。" + }, + { + "t": 13.92, + "log_step": 50, + "text_zh": "推断：视频 13.84–14.08 s 的门边翻转及门片转动支持方块擦碰门片；log step 50 的已保存成功动作序列末态亦显示门角从仿真 13.80 s 的约 1.100 rad 增至仿真 14.27 s 的约 1.130 rad。本次仍被评分器接受，说明执行时规则与当前 DAG 新增的无碰门等条件有版本差异；依据 P19 按该次评分规则保留得分事件，不能据此声称满足当前全部阈值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 13.32–13.56 s，Panda 固定蓝色球拍快速向前挥动，击中出口滑道上的橙色方块，随后抬高并与方块分离；候选接触名为“击打”，现有接触词表无准确对应项。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "value": null, + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better" + }, + { + "name": "time_since_first_separation", + "value": null, + "unit": "s", + "threshold": 0.035, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_doorway", + "value": null, + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_goal", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人用固定球拍把方块推上旋转桥、补推至出口并建立出口接触，随后分离、重新挥拍送球，到视频 14.28 s 完成全部三个语义节点；交付轨迹两次回放成功且确定一致。版本差异：视频首次推球前方块已停下，门边通过时方块翻转并伴随门片转动，推断发生擦碰，与当前 DAG 的快速首击及无碰门要求不一致；依据 P19 按本次执行时较宽的验收规则保留 3/3 成功。无逐帧状态日志，出口阶段边界约有 0.2 s 不确定性，输入日志的任务正文及源码片段被截断，无法独立核实旧版完整阈值；评分器未报告的四项原生指标均留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，评分器 phases_done=5、success=1；三个节点均为 true 与评分结果一致，时间与接触（推/扫、其他·击打）合理，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": "2026-10-30T04:31:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--q5etcuk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "76fc504f40b49f6b8e167da95429d2f2c6954790b1028bbdcd09356e84d89d7e", + "video_sha256": "30e14d89813ae0c875babf31da98616b0957ccc43631e0b8b0892d69adca2b44", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn.json new file mode 100644 index 0000000000000000000000000000000000000000..a4f3d38215b4a8be42071243715f684b89ddd019 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 3200, + "executed_rows": 3200, + "sim_steps": 3200, + "physics_steps": 32000, + "sim_time_s": 32.0, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 80.7, + "replay_timeout_s": 620.0, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 65, + "agent_resets": 30, + "agent_sim_steps": 78845, + "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": 0.81, + "peak_processes": 10, + "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-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "b5cb56fb27d4384140420fc07a7d6c165214bdba96d9d1adf506e3f23046b3ad" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.4, + "log_step": 300, + "text_zh": "观察：视频 0.4–1.2 s 橙色冰球已停在源滑道上；视频 1.4–2.2 s，Panda 固定蓝色球拍从侧面推送冰球，冰球离开源滑道并在蓝色旋转桥上移动。" + }, + { + "t": 2.5, + "log_step": 300, + "text_zh": "观察：视频 2.32–3.0 s，冰球从桥的远端移至橙色出口滑道近侧下缘，桥继续旋转离开，冰球留在出口边缘；转运完成时刻约为视频 2.5 s。log step 300 的最终生成脚本输出也显示控制行 250 时 phase=2；评分器最终 phases_done=4。" + }, + { + "t": 1.4, + "log_step": 273, + "text_zh": "观察：log step 273 打印的本次 update_task 在 phase=0 时仅检查球拍与冰球接触，未检查首触速度；log step 8 的实例为 seed=1。推断：本次属于旧规则版本，应计入静止后推球完成的转运，不用 DAG 新增的 0.25 m/s 首触阈值否定它。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.4–2.5 s，Panda 手上固定蓝色球拍侧面连续推送橙色冰球离开源滑道、经过桥到达出口近侧边缘；夹爪未夹住冰球。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 18.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.3, + "log_step": 302, + "text_zh": "观察：视频 17.84–18.16 s，Panda 球拍降到已停在出口滑道近侧的冰球旁；视频 18.24–18.48 s，球拍向右推进，边缘处橙色冰球随之向右移动，说明已实际接触。首次出口接触约为视频 18.3 s（精度约 0.2 s）；log step 302 的最终脚本输出由控制行 1800 的 phase=2 变为控制行 1850 的 phase=4，与该接触段一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 18.24–18.96 s，Panda 固定蓝色球拍主动侧推出口处橙色冰球，使其沿滑道近侧边缘向右移动；实际为推送接触，未见夹持或底部托接。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.2, + "log_step": 303, + "text_zh": "观察：视频 19.5–22.4 s，Panda 抬起并重新放低球拍；视频 22.6–23.2 s，球拍再次送球，但冰球只沿出口滑道近侧下缘向右移动一小段，随后停住，未到目标线。" + }, + { + "t": 27.2, + "log_step": 303, + "text_zh": "观察：视频 26.0–27.2 s，Panda 球拍再次低位补推；视频 27.6 s 抬拍，此后冰球仍停在滑道近侧末端。视频 31.0、31.2、31.4、31.6、31.8 和 32.0 s 均未见冰球越过门后目标线，评分器 success=0、phases_done=4、valid=1。" + }, + { + "t": 32.0, + "log_step": 312, + "text_zh": "观察：agent 最终自述冰球停在约 (0.409, 0.052)，没有完成越线（log step 312）；视频末段确实显示冰球停在出口近侧、挡墙之前。本节点的否定来自视频中的未越线，坐标仅作为 agent 自述的补充。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 22.6–23.2 s 与视频 26.0–27.2 s，Panda 手上的固定蓝色球拍从侧面低位推送橙色冰球，之后抬起与冰球分开；冰球未被夹爪抓住。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_through_gate_and_goal", + "t": 23.2, + "log_step": 303, + "where": "操作中", + "evidence_zh": "观察：视频 22.6–23.2 s，Panda 在出口再次送球，冰球沿出口滑道近侧边缘移动后即停住，没有进入目标通道并越线；视频 26.0–27.2 s 的补推仍未修复，视频 32.0 s 冰球仍留在出口近侧末端。前两个转运、出口接触事件已发生，评分器最终 phases_done=4、success=0。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 23.2, + "log_step": 303, + "evidence_zh": "观察：视频 22.6–23.2 s，Panda 球拍送出的橙色冰球贴着出口滑道近侧下缘向右移动，停在门口近侧，路径和终点均未进入越线所需通道；视频 26.0–27.2 s 补推后仍在该侧停住，视频 31.0–32.0 s 未再前进。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 23.2, + "log_step": 303, + "evidence_zh": "推断：低位侧推的接触布局未把已落至滑道近侧下缘的冰球重新送入滑道通道，后续推力主要使它沿侧缘向右滑动，因此无法形成所需的向前、向通道内的送球路径。依据：视频 2.48–3.0 s 可见冰球留在出口近侧下缘；视频 22.6–23.2 s 与视频 26.0–27.2 s，Panda 仍在这一高度侧推，冰球贴边移动后停住。log step 303 的最终生成脚本读数显示冰球从 (0.362,0.053,0.022) 移至约 (0.402,0.052,0.022)，横向并未进入通道；agent 也曾指出侧缘阻挡横向平推（log step 189，自述，仅作辅证）。没有验证另一种接触方案在本实例的可行性。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "没有逐帧状态日志；转运和首次出口接触时间依视频估计，误差约 0.2–0.3 s。最终脚本输出与视频可见动作吻合，但日志没有提供最终补推后的完整服务状态，也未上报 DAG 四项原生指标，不能定量核实接触冲量、首触速度及门角；具体力学归因仍属推断。日志明确显示本次旧规则不含 DAG 新版的最低首触速度和门口角度、冰球碰门检查，按本次实际规则标注。", + "unmet": { + "puck_transferred_via_bridge": true, + "puck_intercepted_at_exit": true, + "puck_through_gate_and_goal": false + } + }, + "summary_zh": "观察：Panda 用球拍将冰球经旋转桥送到出口滑道近侧边缘，并在视频约 18.3 s 再次接触它，完成 2/3 节点；最后送球和补推均停在目标线前，断点为“再击过门得分”，推断低位侧推的接触布局未能将冰球送入目标通道。观察：log step 273 的实际实现属于旧版，首触不检查最低速度，末阶段只检查离拍越线及门角大于 0.20 rad，故按旧规则计入视频约 2.5 s 的转运。缺少逐帧状态日志和原生指标，接触时间为目视估计，具体接触力学原因仍有不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间（桥转运约 2.5 s、出口首触约 18.3 s、第三节点未达成）与 log 控制行读数（250 行 phase=2；1800→1850 行 phase 2→4；冰球终点约 x=0.40, y=0.052，未过门口 |y-0.12|<0.055 与 x=0.48 目标线）和视频一致；断点为第三节点、位姿不准、控制类根因均有依据，且标注为推断。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:31:03Z", + "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-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--rh29dmn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cd18ca72ce89383b41b61cc8dde0acf862e2b8897bd4ead3fa4d848db9fdffd4", + "video_sha256": "b5cb56fb27d4384140420fc07a7d6c165214bdba96d9d1adf506e3f23046b3ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk.json new file mode 100644 index 0000000000000000000000000000000000000000..45aca51163a37993725a2599a1fed02dfb3a8fda --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2062, + "sim_steps": 2062, + "calls": 23, + "rows": 1962, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 906.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.238, + "peak_processes": 8, + "peak_disk_gb": 0.644, + "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-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk/replay.mp4", + "duration_s": 20.68, + "fps": 25.0, + "frames": 517, + "sha256": "8a15da91b51777d15ef629554afd9a86258f85ddcab438e1fea4b9bb3ac78419" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 13.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": 22, + "text_zh": "观察：视频 0.6–7.8 s 橙色冰球停在源滑道上，与蓝色球拍分开；视频 8.0–9.4 s Panda 用固定球拍从侧面持续推球，冰球离开源滑道并登上蓝色旋转桥，视频 10.0 s 仍在桥面上。" + }, + { + "t": 13.4, + "log_step": 27, + "text_zh": "推断：结合视频 12.0–14.0 s 球拍从桥向出口滑道的推送、视频 15.2–15.76 s 冰球显露在出口且已离桥，转运约在视频 13.4 s 完成；接触边界被机器人手部遮挡，时间估计误差约 0.3 s。log step 27 的实时服务反馈控制步已到 1440、尚未终结，与这段连续运动相符。" + }, + { + "t": 20.64, + "log_step": 48, + "text_zh": "推断：本次 reward.live_success=1，log step 48 的机器人服务状态为 episode=1、control_steps=2062、done=True、reason=success；本次按执行时的旧规则承认转运。视频显示首次接触前冰球已停，不能声称满足当前 DAG 的 0.25 m/s 阈值；run.json.task_text 可见文本未列该阈值，依 P19 保留本次已获接受的节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 8.0–9.4 s Panda 手部固定的蓝色球拍侧推橙色冰球上桥，随后视频 12.4–13.8 s 转向后继续侧推冰球到出口滑道；实际为持续推送，没有夹爪合拢抓球。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 13.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.4, + "log_step": 27, + "text_zh": "推断：视频 13.2–13.8 s Panda 的球拍持续推到出口起端，视频 14.0–15.2 s 球拍退开后冰球留在出口，视频 15.2–15.76 s 可清楚看到冰球已离桥。结合这次连续推送及 reward.live_success=1，出口转运后仍有球拍接触，约在视频 13.4 s 达到出口拦截；该处被手部遮挡，时间误差约 0.3 s，不把 agent 在 log step 49 的完成自述单独当作接触证据。" + }, + { + "t": 15.76, + "log_step": 30, + "text_zh": "观察：视频 15.2–15.76 s 橙色冰球留在右侧出口滑道起端，蓝色球拍与冰球分开；冰球没有被夹爪拿走，旋转桥在其下方独立转动。log step 30 的实时控制已执行到 control_steps=1570，服务仍未终结。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：视频约 13.4 s Panda 固定球拍将橙色冰球推到出口后继续接触，随后退拍；本次出口接触来自主动侧推，不是双指抓握或从下方托接。依据视频 12.4–15.76 s 的前后运动和本次成功判定。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [ + [ + 20.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.84, + "log_step": 31, + "text_zh": "观察：视频 15.76–16.6 s 球拍与出口上的冰球分开；视频 16.72–17.56 s Panda 再次向前送拍，冰球沿出口向门方向移动，但尚未越线；视频 17.8–19.96 s 球拍退回准备，冰球留在门前。" + }, + { + "t": 20.64, + "log_step": 47, + "text_zh": "观察：视频 20.28–20.48 s Panda 再挥球拍使冰球加速前进；视频 20.56–20.64 s 冰球经过仍开启的琥珀色门片，进入出口与右侧挡墙之间，球拍留在其后且已与冰球分开。log step 47 的实时服务返回 control_steps=2062、done=True、reason=success；其仿真 20.62 s 终结与视频 20.60–20.64 s 的越线相符，节点时间取所检视的视频帧。" + }, + { + "t": 20.64, + "log_step": 48, + "text_zh": "推断：越线结果由视频末段与本次 reward.success=1、live_success=1 共同确认；log step 48 再次查询服务仍为成功终结。按本次旧规则记再击过门得分，不从视频估计当前 DAG 新增的精确门口角度或毫秒级接触指标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 手部固定的蓝色球拍在视频 16.72–17.56 s 先从侧面推送橙色冰球，退回后于视频 20.28–20.48 s 再挥拍击球，随后冰球与拍面分离。末次接触候选名称为“击打”，现有接触词表没有准确对应项；之前的侧推为先后接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人用固定球拍把已停下的冰球分两次推经旋转桥到出口，保持出口接触后退拍再击，最终在视频 20.64 s 脱拍越线；按本次实时服务的成功判定，三个节点均完成（log step 47–48，reward.live_success=1）。版本差异：视频 0.6–7.8 s 冰球已停，本次 task_text 可见内容采用旧越线规则，未列当前 DAG 新增的首次接触速度和门口检查，依 P19 按执行时规则标注。无状态日志，出口转运与接触时刻因手部遮挡估计为视频约 13.4 s、误差约 0.3 s，评分器未报告的四项原生指标均留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均达成，与视频及 reward.live_success=1 相符；转运约 13.4 s、出口接触、20.64 s 越线时间合理，接触标注为球拍推/击，P19 旧规则说明已写入 summary。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": "2026-10-30T04:31:18Z", + "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-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--ccm3ukk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0bcd832fb06c2f2fda7e6464bd10a07b77e36d94e527f2b667e288e0b72ae00a", + "video_sha256": "8a15da91b51777d15ef629554afd9a86258f85ddcab438e1fea4b9bb3ac78419", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--cqapcts.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--cqapcts.json new file mode 100644 index 0000000000000000000000000000000000000000..71220595d86cfcfb2a637e8212d197177c7662f4 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--cqapcts.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--cqapcts", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 935, + "sim_steps": 4795, + "calls": 53, + "rows": 4435, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2748.5, + "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-s12-moving-bridge-puck-relay-i00-standard--cqapcts/replay.mp4", + "duration_s": 9.36, + "fps": 25.0, + "frames": 234, + "sha256": "7e3bcb61c597fa5701fe1f886b2eb7e7057a0a250856b4e76359aedeed3df40b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.96, + "log_step": 123, + "text_zh": "观察：视频 5.88–6.08 s，Panda 固定的蓝色球拍向前击中橙色方块，方块离开源滑道原位置；视频 6.12–6.40 s 方块落到源滑道与桥旁的桌面，贴近桥的侧缘，未登上桥面或到达出口滑道。" + }, + { + "t": 9.32, + "log_step": 132, + "text_zh": "观察：视频 6.60–9.32 s 方块仍在桥旁桌面，机器人末段转拍、靠近和扫动未恢复转运；出口滑道始终没有冰球。log step 132 的服务状态为 episode=4、control_steps=935、done=False、reason=None；评分字段 live_success=0。" + }, + { + "t": 6.32, + "log_step": 123, + "text_zh": "推断：本视频对应 log step 101 最后一次重置后的第4局，而非此前校准局；服务控制率为100 Hz，log step 123 的470+162个控制步对应视频 4.70–6.32 s，已在视频约6秒的前推击球动作核对，log step 132 的935步也与视频约9.35 s结束一致。未将 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 5.96–6.08 s，Panda 手上固定的蓝色球拍从侧面击打橙色冰球并将其送出源滑道；候选接触名“击打”，现有接触词表没有对应项。不是夹爪抓握。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.96, + "log_step": 131, + "text_zh": "观察：视频 7.32–8.20 s，机器人转动球拍并靠近桥旁桌面上的冰球，出口滑道上没有冰球；log step 131 的脚本在桌上估计位置附近执行重新接触动作。该动作未发生在出口，且前置转运始终未完成，不能记为出口拦截。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 7.64–8.20 s，Panda 固定球拍接近桌上冰球，拍面与小方块边缘在总览视角部分重叠；无法确认是否有轻微擦碰及其方式。log step 131 的重新接触意图不能替代接触证据，也不能算出口处接触。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.32, + "log_step": 131, + "text_zh": "观察：视频 8.32–9.32 s，机器人回撤并再次扫动球拍，橙色冰球仍留在桥旁桌面，未进入右侧出口滑道，更未穿门或越过目标线。log step 131 脚本中的回撤、暂停、再次前扫没有产生该节点要求的得分结果，前置出口拦截也未完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 8.32–9.32 s，Panda 固定球拍回撤后再次扫动，但冰球没有明显被送走；低分辨率总览不能可靠区分拍面悬在冰球边缘上方与短暂擦碰，故不从 log step 131 的“second strike”注释认定实际击中。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 6.12, + "log_step": 123, + "where": "操作中", + "evidence_zh": "观察：视频 5.96–6.08 s，机器人球拍将冰球推向源滑道末端；视频约 6.12–6.40 s 冰球落到桥旁桌面，未被桥面承接。直到视频 9.32 s 仍未完成经桥到出口的转运；log step 131 的后续扫动没有修复此步骤。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.12, + "log_step": 123, + "evidence_zh": "观察：视频 6.08–6.40 s，被球拍送出的橙色冰球离开源滑道后落入桥旁桌面区域，未落上旋转桥顶面；视频 6.60–9.32 s 仍停在桥外。击球落点与过桥所需的承接区域错开。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 6.12, + "log_step": 123, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 123 的脚本沿固定 y=-0.1336、z=0.070 的水平路径击球，agent 同步自述预期桥角会像斜坡一样将冰球接到桥上；视频 6.12–6.40 s 却显示冰球已下降到桌面、贴近桥侧而非桥顶。所选击球路径与桥的承接布局未形成有效转运接触；这支持接触设计问题，不能据此断言某个速度参数错误或全部合法方案不可行。" + } + ], + "gap_zh": "没有状态日志或逐步任务阶段、接触对、碰撞冲量，桥侧瞬时接触及首击前速度不能精确核实；末段球拍与桌上冰球的小间隙也不足以确认轻微擦碰。输入 run.json 的旧版 task_text 未列出当前 DAG 新增的首次接触速度0.25 m/s及穿门开度1.0 rad要求，按本次执行文本判断，不把静止球首击另判违规；未到出口这一可见事实已足以判定三个节点均未完成。agent 自述“时间耗尽”（log step 135–136），但 run.json 的 wall_s=2754 小于 time_limit_s=3600，不据此认定发生外部截断或把超时用作根因。" + }, + "summary_zh": "本次评分对应最后重置后的第4局：Panda 球拍击中了冰球，但视频约 6.12 s 冰球离开源滑道后落到桥旁桌面，直到视频 9.32 s 都未到出口，三个节点均未完成。断点为击球经桥转运，现象是击球落点偏离桥面承接区域；结合 log step 123 的桥角承接设想，推断击球接触设计未能实现转运。无状态日志，末段轻微接触及精确动力学原因不明；本次旧版任务文本没有当前 DAG 新增的快速首击与穿门开度条件，按执行时规则标注，版本差异不改变本次0/3的结果。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频第4局击球后冰球落到桥旁桌面、始终未到出口，三个节点未完成、断点在击球经桥转运，均与帧一致；现象与根因标注有证据支持。", + "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": "2026-10-30T04:32:03Z", + "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-s12-moving-bridge-puck-relay-i00-standard--cqapcts/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--cqapcts/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c020e483f490ec4c0fdeb76b074e98b0e7e9545abb56eff1cf230ebbe8d91c59", + "video_sha256": "7e3bcb61c597fa5701fe1f886b2eb7e7057a0a250856b4e76359aedeed3df40b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--defemte.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--defemte.json new file mode 100644 index 0000000000000000000000000000000000000000..40a16deee5386c4503f1eec8f366cb67fea23e61 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--defemte.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--defemte", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 820, + "sim_steps": 820, + "calls": 16, + "rows": 720, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1719.6, + "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-s12-moving-bridge-puck-relay-i00-standard--defemte/replay.mp4", + "duration_s": 8.24, + "fps": 25.0, + "frames": 206, + "sha256": "638996908068eeb22f21b9f2c15762583a21082cc686cbabb6891082d384187c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.48, + "log_step": 12, + "text_zh": "观察：视频 0.00–0.48 s 中，橙色方块沿源滑道向蓝色球拍方向滑动后停下，球拍尚未主动运动；方块与球拍之间仍有间隙。" + }, + { + "t": 1.52, + "log_step": 35, + "text_zh": "观察：视频 1.44–1.84 s 中，Panda 的固定蓝色球拍前移并短暂接触橙色方块，方块随后向源滑道靠桥的一端滑动，但仍留在源滑道上；log step 35 的脚本将此动作设为源滑道内的标定轻击，服务返回 done=false、reason=None。" + }, + { + "t": 8.2, + "log_step": 47, + "text_zh": "观察：视频 2.00–8.20 s 中，Panda 多次抬高、试挥和撤回球拍，橙色方块一直停在源滑道靠桥的一端；逐帧查看视频 7.20–8.20 s，方块没有进入蓝色旋转桥或右侧出口滑道。因此未出现经桥转运到出口的完整事件。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 1.52 s，Panda 手上固定的蓝色球拍短暂击中源滑道上的橙色方块，方块随后滑开；没有夹爪合拢抓球。候选接触名为“击打”，现有怎么碰词表没有击打，不能用抓握或托/舀代替。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.2, + "log_step": null, + "text_zh": "观察：视频 0.00–8.20 s 的总览中，右侧橙色出口滑道始终没有冰球，机器人及球拍的运动都在左侧源滑道附近；视频末秒亦未出现出口处的球拍与冰球接触。出口拦截未发生。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.2, + "log_step": null, + "text_zh": "观察：视频 0.00–8.20 s 中，冰球没有离开左侧源滑道，右侧摆门及挡墙前没有来球，机器人没有在出口执行分离再击；截至视频 8.20 s，不存在过门及越目标线事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "value": null, + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better" + }, + { + "name": "time_since_first_separation", + "value": null, + "unit": "s", + "threshold": 0.035, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_doorway", + "value": null, + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_goal", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": null, + "log_step": 49, + "where": "探索", + "evidence_zh": "观察：视频 1.44–1.84 s 仅见机器人进行源滑道内的标定轻击，视频 2.00–8.20 s 主要为抬拍试挥与调整起始姿态，冰球始终未过桥；log step 47 的机器人服务仍返回 done=false、reason=None，log step 48 还在计算出口姿态，log step 49 随即出现 Gemini 过滤器阻断信息。中断时正在准备首个转运步骤，没有可定位的不可逆物理失败时刻，故 t 留空。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 49 明示请求被 Gemini 过滤器阻断；此前 log step 47 的服务仍为 done=false、reason=None，剩余服务工作预算为 1964.7 s，日志没有成功验收或任务已判负的记录。推断：这是任务结果尚未固定时的外部中断；首节点仅用于定位已开展的标定探索，不把未完成归为机器人失败，不填没尝试或臆造控制、规划根因。观察：本目录没有状态日志，评分字段也未报告四项原生指标；无法精确确认首次接触前一个物理步的冰球速度或原生阶段值。参考成功视频属于 DAG 已注明的旧规则版本，只用于核对外观，未用于推翻本次判据。", + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + } + }, + "summary_zh": "观察：本次视频中，来球先在源滑道上自行滑停，Panda 再用固定球拍进行一次标定轻击，之后反复抬拍试挥；冰球始终未过桥，三个节点均未完成。观察：log step 49 出现 Gemini 过滤器阻断，最后一次机器人服务尚未结束；推断：首个转运步骤在探索准备期间被外部因素中断，不能据此归因于机器人能力失败，现象与根因均留空。观察：没有状态日志或原生指标读数，首次接触的精确速度无法核实，但不影响从视频判定转运、拦截和得分均未发生。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成，与视频一致；log step 49 是 Gemini 过滤器阻断，属外部中断且无交付，空现象/根因并附 gap_zh 合理；断点和接触标注可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:30:03Z", + "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-s12-moving-bridge-puck-relay-i00-standard--defemte/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--defemte/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "88b214b58ef15c73c9b645d8c2fcac769a0b17079a7de60b51a9d3ffcea250b8", + "video_sha256": "638996908068eeb22f21b9f2c15762583a21082cc686cbabb6891082d384187c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2.json new file mode 100644 index 0000000000000000000000000000000000000000..4734119a54acb562f26b0253d8a6e0c4da776afe --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 1578, + "sim_steps": 5417, + "calls": 161, + "rows": 3972, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1286.6, + "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-s12-moving-bridge-puck-relay-i00-standard--duun8v2/replay.mp4", + "duration_s": 15.84, + "fps": 25.0, + "frames": 396, + "sha256": "cbf1e9bee3a7a2a4068a0f7617cf76045dba73b9f0d3d60a532883adb0c3878f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.4, + "log_step": 89, + "text_zh": "观察：视频 1.2–1.8 s，Panda 的固定蓝色球拍从橙色方块后侧接触并将其推向源滑道末端；视频 2.6–4.0 s，方块停在源滑道靠桥的外侧边缘低处，没有像成功参考中的方块那样随桥转运。" + }, + { + "t": 10.8, + "log_step": 98, + "text_zh": "观察：视频 9.8–12.4 s，机器人让球拍从源滑道与桥之间向出口方向扫过，橙色方块仍在源滑道外侧低处；视频 15.8 s 的末帧中方块仍未到达出口滑道，转运事件全程未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 1.2–1.8 s，Panda 固定安装的蓝色球拍从后侧击送橙色方块；候选接触名为“击打”，现有接触词表没有此项。后续球拍补扫没有把已落低的方块带上桥，不虚记夹爪抓握或出口拦截。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": 90, + "text_zh": "观察：视频 3.0–7.0 s，机器人把球拍移到出口滑道上方等候，但冰球仍在源滑道末端外侧；视频 9.8–12.4 s 的动作回到桥旁补送，直到视频 15.8 s 都没有出口处的球拍与冰球接触，且前置转运未完成。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": 100, + "text_zh": "观察：视频 0–15.8 s，冰球始终没有到达出口滑道或摆门；末段机器人回到源滑道一侧降低球拍，未执行出口拦截后的分离再击，也没有冰球穿门或越过目标线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 2.6, + "log_step": 89, + "where": "操作中", + "evidence_zh": "观察：视频约 1.2–1.8 s，机器人球拍击送冰球，视频 2.6 s 冰球落低并停在源滑道靠桥的边缘；视频 9.8–12.4 s 的补送未使其到达出口，至视频 15.8 s 仍未修复该步。log step 101 的服务状态为 episode=4、done=True、reason=failed、control_steps=1578；agent 在 log step 103 自述末次降低恢复姿态时触发 forbidden_tool_fixture_contact（仿真 15.78 s），这没有完成前面的转运。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.6, + "log_step": 89, + "evidence_zh": "观察：视频 1.4–2.96 s，Panda 的球拍把橙色方块送到源滑道末端外侧低处，方块没有落到桥面上随桥转走；视频 10.08–12.36 s 的后续扫拍经过后，方块仍在原低处，未到目标出口滑道。这是击送后的落点偏差。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：视频 10.08–12.36 s 可见橙色方块已低于源滑道上表面，机器人补扫的球拍下缘却从方块上方通过，方块没有随球拍移动；log step 96、98 的脚本仍将补送球拍中心设为 z=0.075 m，并以该高度向出口扫动。因此恢复动作的接触高度没有适配落低后的冰球，未能修复转运。没有验证本局中的可行替代接触方案。", + "source_zh": "视频" + } + ], + "gap_zh": "没有状态日志或逐帧接触对，无法确定首击前的精确球速、冰球与桥是否有瞬时擦碰，以及首击落点偏差由出球速度、方向或跟踪误差中的哪项造成；但可见冰球从未到出口，故不影响三个节点均未达成的判断。末次禁碰原因仅由 agent 在 log step 101、103 自述，服务状态只直接报告 failed；视频末段球拍在源滑道边缘降低，不能独立确定触发禁碰的具体接触对。task_text 中段在输入记录内已被省略，成功参考又属 DAG 所述旧版本，不据此判断新增速度及门角阈值的违规。" + }, + "summary_zh": "评分视频对应 log step 87 重置后的第4局；机器人首次击送冰球后，冰球落到源滑道靠桥的边缘低处，三个语义节点最终均未达成。断点为“击球经桥转运”：补送球拍从已落低的冰球上方扫过，接触高度不适配，随后恢复动作结束于 agent 自述的工具禁碰。无状态日志，首击偏差的具体动力学原因和末次禁碰接触对无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点均未达成与视频一致：冰球首击后停在源滑道末端靠桥边缘低处，补扫（9.6–12.4 s）后仍未动，未上桥、未到出口；断点、接触（其他/击打）与时钟均无明显错误。根因为推断且已标注，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": "2026-10-30T04:36:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--duun8v2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41e56d5bfe3e9f17f31854b1a13749b79759ad7eb0ceff7dbd0d955d4796dd22", + "video_sha256": "cbf1e9bee3a7a2a4068a0f7617cf76045dba73b9f0d3d60a532883adb0c3878f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--eujc4dc.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--eujc4dc.json new file mode 100644 index 0000000000000000000000000000000000000000..68beec03c7afc76c3756f0fa0b18e9e0876987c7 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--eujc4dc.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--eujc4dc", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 792, + "sim_steps": 4662, + "calls": 24, + "rows": 3552, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2459.7, + "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-s12-moving-bridge-puck-relay-i00-standard--eujc4dc/replay.mp4", + "duration_s": 7.96, + "fps": 25.0, + "frames": 199, + "sha256": "12b15e6926672c0cd508bb688c058c120ff81955e5611d929eb586f561c36a8d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 7.56, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.12, + "log_step": 191, + "text_zh": "观察：视频 0.00–0.60 s 橙色冰球在源滑道上滑动，此后停留；视频 5.40–5.88 s 球拍接近它，视频约 5.96–6.12 s 击中并把它送离源滑道，视频 6.20–6.36 s 冰球落到蓝色旋转桥的出口一侧。" + }, + { + "t": 7.56, + "log_step": 191, + "text_zh": "推断：视频 6.36–7.32 s 冰球在桥与出口交界处；视频 7.36–7.56 s 它下落并抵住橙色出口滑道侧缘，桥继续转开，视频 7.56–7.92 s 冰球留在出口侧缘而不再随桥运动，按接触出口且离桥的判据记转运完成，时间约有 0.2 s 不确定性；此判据未要求平放在出口顶面。" + }, + { + "t": 6.36, + "log_step": 191, + "text_zh": "推断：log step 9 的服务说明采用旧版越线验收，log step 191 中冰球静止后首击的动作执行至控制步 697 仍 done=False，与视频 6.36 s 冰球已离源滑道一致；本局按执行时规则，不追加当前 DAG 新版首次接触前速度至少 0.25 m/s 的要求。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 5.96–6.12 s，Panda 固定安装的蓝色球拍从侧面击打橙色冰球，将它送向旋转桥。候选接触名“击打”，现有 how 词表没有对应值；无夹爪合拢抓握。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.92, + "log_step": 191, + "text_zh": "观察：视频 7.00–7.92 s，Panda 将球拍从桥上方降向出口侧缘的冰球；截至视频 7.92 s 球拍仍在冰球左侧，两者间有间隙，球拍下缘已抵到蓝桥，未出现转运后的球拍—冰球再次接触。log step 191 的本局服务返回 why=forbidden_tool_fixture_contact、done=True，后续扫球段没有执行。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 7.92 s，Panda 固定球拍下降准备出口拦截时，下缘碰到蓝色旋转桥，尚未接触橙色冰球；log step 191 服务确认禁碰构件。候选接触名“碰撞”，现有 how 项不描述这种意外碰撞。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.92, + "log_step": 191, + "text_zh": "观察：视频 6.36–7.92 s 冰球停留在出口近桥侧，未沿出口滑道到达琥珀色门口或越过右侧目标线；视频末帧球拍还在桥旁。log step 191 的程序在下降段失败后退出，接触、撤回、再击的后续段没有执行。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_intercepted_at_exit", + "t": 7.92, + "log_step": 191, + "where": "操作中", + "evidence_zh": "观察：视频 7.36–7.92 s，Panda 将球拍降低到桥与出口之间，准备接触出口侧缘的冰球，球拍下缘在尚未碰到冰球时抵上旋转桥；log step 191 的第 4 局服务于控制步 792 返回 forbidden_tool_fixture_contact 并结束，log step 193 确认本局 done=True。推断：本局控制步 792×0.01 s 对应视频末帧 7.92 s；已用下降碰桥的末帧核对，使用的是本局控制时钟而非 agent 工作时间。" + }, + "unmet": { + "puck_transferred_via_bridge": true, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 7.92, + "log_step": 191, + "evidence_zh": "观察：视频 7.76–7.92 s 球拍下缘降到蓝色旋转桥表面，冰球仍在球拍右侧的出口边缘；log step 191 中服务返回 forbidden_tool_fixture_contact 后停止该局，出口拦截未建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 7.92, + "log_step": 191, + "source_zh": "日志", + "evidence_zh": "推断：log step 191 的实际执行脚本把接近出口的球拍中心航点设为 (0.106,0.001,0.055) m；按运行任务文本的球拍高度 0.050 m，竖直球拍下缘会到 z=0.030 m。该低位接近没有为旋转桥留足间隙，视频 7.92 s 的下缘碰桥与服务的 forbidden_tool_fixture_contact 相互支持；这是工具接近高度及接触几何设计问题。没有本局成功替代路径的验证。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，评分字段也未提供逐阶段 relay_phase 或原生速度、门角指标；转运的离桥时刻依据视频推断，约有 0.2 s 不确定性，不能精确核查瞬时接触对。运行 task_text 中段已有截断，log step 9 的服务说明也部分截断；静止首击后仍继续运行及其旧版门口验收支持按旧规则标注，但无法完整重建当时底层检查代码。" + }, + "summary_zh": "本局冰球被球拍击上旋转桥后抵住出口滑道侧缘，约视频 7.56 s 按接触出口且离桥的判据完成转运，最终完成 1/3 节点。Panda 随后准备出口拦截，在视频 7.92 s 因接近高度过低而使球拍下缘碰桥，服务返回 forbidden_tool_fixture_contact，未拦截或再击得分。本次按运行时旧规则标注，不追加当前 DAG 的快速首击阈值；无逐帧状态和阶段字段，离桥时刻由画面推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和日志一致：球拍约视频 6.1 s 击球，冰球经桥到出口侧；视频 7.92 s 球拍下降碰桥，服务返回 forbidden_tool_fixture_contact（控制步 792，与 7.92 s 对应）。断点、现象和根因（接近高度过低）均有支撑，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": "2026-10-30T04:23:40Z", + "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-s12-moving-bridge-puck-relay-i00-standard--eujc4dc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--eujc4dc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b404032c57e4cd2280a2c2bb51931f56bbe95bb85ac9eee875ac4b7b542ff1b3", + "video_sha256": "12b15e6926672c0cd508bb688c058c120ff81955e5611d929eb586f561c36a8d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--hifnlj2.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--hifnlj2.json new file mode 100644 index 0000000000000000000000000000000000000000..648a02bec6eda4a93a58d9aeec44100e71a48cdd --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--hifnlj2.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--hifnlj2", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 0, + "sim_steps": 5794, + "calls": 37, + "rows": 4694, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3406.3, + "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-s12-moving-bridge-puck-relay-i00-standard--hifnlj2/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "f32b68bb1298859d2b766626112e13514c685d36f2410c9f167797468cf92a61" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 72, + "text_zh": "观察：视频 0.00 s（全片唯一帧）中，Panda 的蓝色球拍仍在左侧源滑道旁的初始位置，橙色方块仍在源滑道上，中间蓝桥与右侧出口滑道均无冰球；未出现经桥转运。log step 72 返回 episode=4、sim_time_s=0.0，随后动作提交被拒绝，且该步 sim.submit=0。" + }, + { + "t": 0.0, + "log_step": 72, + "text_zh": "推断：log step 72 已成功重置此前回合，但其 11.35 s 动作块未被服务接受；结合仅有初始帧的评分视频，当前评分回合没有启动首次击球，前三个被重置回合的会话动作不计入本节点。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 72, + "text_zh": "观察：视频 0.00 s 的出口滑道为空，机器人球拍仍位于左侧源滑道旁，没有在出口接触冰球；log step 72 的最终重置后提交报错，没有执行出口拦截动作。" + }, + { + "t": 0.0, + "log_step": 72, + "text_zh": "推断：本评分回合的经桥转运前置未达成，也没有后续运动，出口拦截事件未发生。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 72, + "text_zh": "观察：视频 0.00 s 中冰球仍在左侧源滑道上，右侧门口及挡墙前目标区域无冰球，球拍未到出口；log step 72 重置后唯一动作提交被拒绝。" + }, + { + "t": 0.0, + "log_step": 72, + "text_zh": "推断：本评分回合没有完成出口拦截，更没有分离再击、穿门和越线，故本节点未达成；此判断依据初始帧及最终重置/提交记录，并非仅由 success=0 推出。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 0.0, + "log_step": 72, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s 的唯一帧显示 Panda 和冰球仍在源滑道初始布局，桥与出口均无冰球。log step 72 的机器人客户端先成功重置至 episode=4、sim_time_s=0.0，再提交第一段关节动作，服务以“the chunk covers 11.35 s: more than max_chunk_s = 10”拒绝，调用记录 sim.submit=0；此后无日志步骤。推断：最终评分回合在首次击球前即停止，断点为击球经桥转运，而非此前已被重置回合中的操作。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 72, + "evidence_zh": "观察：评分视频全片仅有视频 0.00 s 的初始帧；log step 72 的重置成功后，第一段动作因超出单次时长上限被拒绝，sim.submit=0。推断：本评分回合的 Panda 没有启动击球经桥转运动作，因此未发生可计入该步的实际工具接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 0.0, + "log_step": 72, + "source_zh": "日志", + "note_zh": "控制脚本异常：agent 的脚本将超过服务单次时长上限的动作块直接提交，引发接口参数错误；按 D38 使用控制总类。", + "evidence_zh": "观察：log step 5 的服务规格已报告 max_chunk_s=10.0；log step 72 的 agent 脚本在重置后把整段轨迹一次传给 r.submit，服务明确返回 ValueError: 400 /submit，指出动作块长 11.35 s，超过 10 s 上限。该调用的记录为重置成功、动作提交未成功，且日志至此结束。推断：agent 自己的控制脚本未按接口上限分块，导致最终回合首段动作未执行；不是无依据地由零进度反推控制问题。" + } + ], + "gap_zh": "观察：本次视频只有视频 0.00 s 的一帧，没有状态日志，无法用视频检验此前三个已被重置回合的接触、桥转运或失败原因。推断：最终评分回合仍可由 log step 72 的成功重置、动作拒绝记录与初始帧交叉确认；agent 在该步对上一回合角速度超限的猜测不作为本次失败依据。" + }, + "summary_zh": "最终评分回合三个节点均未达成，视频 0.00 s 的唯一帧显示机器人与冰球仍在源滑道初始布局，未启动步骤，故不添加实际接触条目。log step 72 重置至 episode=4 后，agent 控制脚本提交的 11.35 s 动作块超过服务 10 s 上限并被拒绝，断在“击球经桥转运”的首步前，现象为没尝试，根因为控制脚本异常。没有状态日志；此前会话回合的运动不属于这一帧所记录的评分回合，成功参考视频仅用于核对桥、出口及门的外观。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回合为 log step 72 重置后的第 4 回合（视频仅 0.00 s 一帧），三个节点未达成、断点首步前/没尝试、根因为 agent 自身脚本超出 max_chunk_s 的控制错误（D38），均有 log 与视频支持，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": "2026-10-30T04:34:51Z", + "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-s12-moving-bridge-puck-relay-i00-standard--hifnlj2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--hifnlj2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "320fa79f13aac5cd8512ee32c232184623eabf85c1d24ec29379fd87d3277495", + "video_sha256": "f32b68bb1298859d2b766626112e13514c685d36f2410c9f167797468cf92a61", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--isaxgvk.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--isaxgvk.json new file mode 100644 index 0000000000000000000000000000000000000000..be1448d2dc0444ab0730f5949da86d77c70ffcf4 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--isaxgvk.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--isaxgvk", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2394, + "sim_steps": 6856, + "calls": 76, + "rows": 5161, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1057.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.333, + "peak_processes": 9, + "peak_disk_gb": 1.552, + "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-s12-moving-bridge-puck-relay-i00-standard--isaxgvk/replay.mp4", + "duration_s": 24.0, + "fps": 25.0, + "frames": 600, + "sha256": "d791ed79f7a94793574fecfb10b4e7d7631efefc4a4802dd5c2daf4881a42c68" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 14.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 0.0–0.8 s 橙色方块在源滑道滑动后停下，视频 2.4–7.6 s 仍停在原处；视频 8.2–9.6 s Panda 用固定蓝色球拍侧推方块离开源滑道，方块实际落到蓝色旋转桥上。" + }, + { + "t": 15.2, + "log_step": null, + "text_zh": "观察：视频 12.8–14.8 s Panda 转向后用球拍将方块从旋转桥向出口滑道补送，方块短时被手和球拍遮住；视频 15.2 s 球拍抬起后，橙色方块完整显露在出口滑道上，旋转桥已在其后下方分开。" + }, + { + "t": 14.2, + "log_step": 67, + "text_zh": "推断：结合视频 13.8–14.8 s 的补送末段和视频 15.2 s 的显露位置，将完成过桥且离桥的时刻估计为视频 14.2 s，约有 0.5 s 不确定性。按本次旧版规则记为完成；inputs/run.json 的 task_text 只描述来球和部分开启的门，未列当前 DAG 的首触前速度至少 0.25 m/s 条件，且评分器 live_success=1。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 8.2–9.6 s Panda 手上固定蓝色球拍从侧面推送已停下的橙色方块上桥；视频 12.8–14.8 s 球拍改变方向继续侧推方块到出口滑道。实际为持续推送，没有二指合拢夹持方块。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 14.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.2, + "log_step": null, + "text_zh": "推断：视频 13.8–14.8 s 球拍持续抵住方块向出口补送，视频 15.0–15.2 s 抬拍才显露其下的方块；方块刚脱桥到出口时仍受同一球拍侧面接触，因此按 DAG 的“转运之后实际接触”判据，出口拦截约在视频 14.2 s 已达到，与转运落在同一个约 0.5 s 的时间窗口。这里不额外要求松开后重新接触或停球保持。" + }, + { + "t": 18.6, + "log_step": null, + "text_zh": "观察：视频 15.2–17.8 s 方块留在出口滑道，球拍已离开；视频 18.4–19.2 s Panda 又从方块后方以球拍侧面接触并将其沿出口推向门前。此段另一次出口接触可直接看见，支持节点已经完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：视频约 14.2 s 过桥末段，Panda 固定球拍仍从侧面抵住已进入出口的方块；观察：视频 18.4–19.2 s 球拍再次明确侧推出口处方块。实际采用主动侧推接触，没有包夹、托起或被动承接。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [ + [ + 23.94, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.6, + "log_step": null, + "text_zh": "观察：视频 21.0–23.4 s Panda 抬高并后撤球拍，方块留在门前滑道上，与球拍有明显间隙；视频 23.56–23.72 s 球拍前挥接触方块，随后方块快速向门口滑行。" + }, + { + "t": 23.96, + "log_step": null, + "text_zh": "观察：视频 23.76–23.96 s 方块沿出口末端通过琥珀色门片旁，随后出现在滑道之外、橙色挡墙之前；球拍停留在后方，越线时已与方块明显分开。门片保持开启；画面不能精确测量门角或排除毫秒级接触。" + }, + { + "t": 23.94, + "log_step": 67, + "text_zh": "观察：log step 67 中机器人服务返回 episode=4、control_steps=2394、sim_time_s=23.94、done=true、reason=success；评分器 reward.live_success=1 且 graded_by_live=1。这是最终受评回合的服务终结记录，并非 agent 自述。" + }, + { + "t": 23.94, + "log_step": 67, + "text_zh": "推断：log step 8 的 control_dt=0.01 s，因此最终回合 2394 个控制步对应视频约 23.94 s；已与视频 23.92–23.96 s 的脱拍越线核对，故用视频 23.94 s 作为成功事件锚点。当前 DAG 新增门口至少 1.0 rad 和无碰门检查，本次 task_text 只明确越线时门角大于 0.20 rad、方块离拍；按执行时规则及服务成功判定完成，不据此补造新版检查或角度数值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 23.56–23.72 s Panda 以固定蓝色球拍短促前挥击中橙色方块，方块随后脱拍滑过门口并越线；候选接触名“击打”，现有接触词表缺少击打，不能用抓握或托/舀代替。此前视频 18.4–20.4 s 同一球拍先侧推调整方块位置，随后抬拍分离，为依次发生的准备接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "最终受评的是第 4 回合：Panda 用固定球拍推球上旋转桥，再补送到出口并接触方块，约视频 14.2 s 达到转运和出口拦截，最后脱拍过门越线，服务在对应视频约 23.94 s 确认成功，三个事件节点均保留完成。规则版本差异：本次 task_text 属于较旧规则，未要求当前 DAG 新增的首触速度至少 0.25 m/s、门口开度至少 1.0 rad 及无碰门检查；视频显示首触前方块已停下，仍按本次实时评分成功标注。没有状态日志，过桥末段被手和球拍遮挡使前两节点时刻约有 0.5 s 误差，四项原生指标均未由评分器报告具体值，故留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个事件节点均完成，与视频和服务终结记录一致：视频约 15.2 s 方块已在出口滑道，23.94 s 越线成功；接触标注合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:30:18Z", + "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-s12-moving-bridge-puck-relay-i00-standard--isaxgvk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--isaxgvk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0dcd214b2432395be14a97ced20a3324e8e241740895466c5e01d9f3e05a3eba", + "video_sha256": "d791ed79f7a94793574fecfb10b4e7d7631efefc4a4802dd5c2daf4881a42c68", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--rzgzto9.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--rzgzto9.json new file mode 100644 index 0000000000000000000000000000000000000000..5dbb112f0da43a6a8a52e489e151df4699fe3b0a --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard--rzgzto9.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard--rzgzto9", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 1345, + "sim_steps": 4087, + "calls": 28, + "rows": 1237, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 793.2, + "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-s12-moving-bridge-puck-relay-i00-standard--rzgzto9/replay.mp4", + "duration_s": 13.52, + "fps": 25.0, + "frames": 338, + "sha256": "41d57e1a6d30a404bbcafbc858164a47d079c2e97d37a59b690c1269d5766821" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.1, + "log_step": 126, + "text_zh": "观察：视频 3.0–3.3 s，Panda 固定的蓝色球拍从侧面推到源滑道上的橙色方块；视频 3.4–3.8 s 方块在滑道末端翻转下落，球拍继续朝桥与出口移动，方块没有随拍转运到出口。" + }, + { + "t": 13.48, + "log_step": 138, + "text_zh": "观察：视频 4.0–13.48 s，橙色方块始终在源滑道末端外、桥旁的低处，末帧仍立在桌面上；未见方块经桥到达右侧出口滑道。本节点所需的完整转运从未出现。" + }, + { + "t": null, + "log_step": 12, + "text_zh": "观察：log step 12 的服务 task_text 对 incoming_strike 只要求球拍接触冰球，未列 DAG 的首触前速度阈值；本局按执行时旧规则判断，不把等待静止后推球本身作为失败依据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 3.0–3.7 s，Panda 固定蓝色球拍从侧面推扫橙色方块，方块在源滑道末端翻落；没有夹爪抓握。视频末段恢复动作中球拍还发生构件禁碰（log step 138），构件未被服务具体命名。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.8, + "log_step": 126, + "text_zh": "观察：视频 4.4–5.3 s，Panda 将蓝色球拍移到右侧出口滑道并停留；出口滑道上没有冰球，冰球仍在源滑道末端外的低处，未发生出口处的球拍—冰球接触。" + }, + { + "t": 13.48, + "log_step": null, + "text_zh": "观察：视频 6.0–13.48 s，冰球始终未到出口；出口拦截的前置转运也未完成，故该事件未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选名“拦挡尝试”：视频 4.4–5.3 s，Panda 固定球拍在空出口滑道作拦挡停留，实际没有接触冰球；无抓握或托接，现有接触项没有拦挡。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.8, + "log_step": 126, + "text_zh": "观察：视频 5.3–6.4 s，Panda 的球拍在空出口滑道后撤再前移；橙色方块仍在左侧源滑道末端外，没有被再次击中，也没有朝摆门或目标线滑行。" + }, + { + "t": 13.48, + "log_step": null, + "text_zh": "观察：视频 13.48 s，冰球仍在桥左侧桌面，摆门前与目标线附近均无冰球；未出现再击过门得分。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选名“击打”（空挥）：视频 5.3–6.4 s，Panda 固定球拍执行后撤、停顿和向前再击动作，实际没有碰到冰球；现有接触项缺少击打，不能记为抓握或推到冰球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 3.5, + "log_step": 126, + "where": "操作中", + "evidence_zh": "观察：视频 3.4–3.8 s，Panda 球拍推扫时橙色方块在源滑道末端翻落，未转运至出口；视频 4.0–13.48 s 未修复该转运失败。log step 134 确认当前为最终第 4 局；log step 138 的同局恢复动作执行 80 行后服务判 failed、why=forbidden_tool_fixture_contact，视频末段可见球拍在源滑道右端附近下降后停止。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 3.5, + "log_step": 126, + "evidence_zh": "观察：视频 3.2–3.8 s，Panda 蓝色球拍将橙色方块推至源滑道边缘，方块翻转后落在桥旁低处；视频 4.0 s 球拍已向出口移动，方块却留在源滑道末端外，未沿桥面转运到出口。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 13.45, + "log_step": 138, + "evidence_zh": "观察：视频 13.22–13.48 s，Panda 球拍从桥上方朝源滑道右端附近下降；log step 138 的最终第 4 局恢复提交返回 done=True、reason=failed、why=forbidden_tool_fixture_contact，明确报告球拍与场景构件禁碰。推断：该局 control_dt=0.01 s（log step 26），终止 control_steps=1345（log step 138）对应视频约 13.45 s，与已检查的末段下降并停止相符；服务未给出具体被碰构件名。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 3.0–3.8 s 的球拍推扫使冰球翻落而非平稳过桥，随后视频 4.4–6.4 s 球拍在空出口继续动作；log step 126 的控制脚本一次提交固定航点，途中未根据冰球位置纠偏。log step 138 的恢复航点又使球拍下降并触发 forbidden_tool_fixture_contact。球拍执行的接触路径未把冰球送至桥与出口且恢复路径未避开构件，支持控制失败；现有记录不足以再区分接触设计、轨迹求解或跟踪误差。" + } + ], + "gap_zh": "没有状态日志，无法给出逐物理步接触对、精确碰撞构件及四项原生指标值，也无法独立分离控制误差的细分来源。log step 12 的服务文本采用旧版规则：未列 DAG 新增的首触速度至少 0.25 m/s、门口角度至少 1.0 rad 和末阶段冰球不得碰门；本次按执行时规则标注，未以这些新增条件追判。已对照成功参考视频中冰球在桥面及出口滑道上的外观；本次方块未到出口在总览中可见，不属于遮挡未知。", + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + } + }, + "summary_zh": "最终第 4 局中，Panda 球拍推到冰球，但冰球在视频约 3.5 s 于源滑道末端翻落，完整过桥转运、出口拦截和再击得分均未完成（0/3）。球拍随后在空出口处继续动作，末段恢复时又发生构件禁碰并终止；证据支持控制失败，但无状态日志，无法细分控制误差或确定具体碰撞构件。本局按 log step 12 的旧版服务规则标注，与 DAG 的新增速度和门口阈值存在版本差异。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成与视频一致：视频约 3.4–3.6 s 球拍把方块推下源滑道末端，未过桥；末段球拍压到出口滑道（视频 13.0–13.48 s 可见碎屑），与 log step 138 的禁碰相符。断点、现象与根因证据充分，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": "2026-10-30T04:31:22Z", + "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-s12-moving-bridge-puck-relay-i00-standard--rzgzto9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard--rzgzto9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c132385770e61067a7e55144f997da7b3e0e81228d2ca4f9861dc45972deb29b", + "video_sha256": "41d57e1a6d30a404bbcafbc858164a47d079c2e97d37a59b690c1269d5766821", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx.json new file mode 100644 index 0000000000000000000000000000000000000000..7acf39701d66375ebc757ddb0708d814de9ad214 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 3200, + "sim_steps": 10509, + "calls": 1187, + "rows": 4355, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1031.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 315.2, + "max_lag_s": 0.4068, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 6256, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 19.64, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.924, + "peak_processes": 43, + "peak_disk_gb": 1.53, + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "a8b834ff687d26f7632b965cdbe0fedfd60b04b6c2628fe3fe2d673af39d3686" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [ + [ + 12.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": 47, + "text_zh": "观察：视频 0.4–1.6 s 冰球先停在源滑道；视频约 1.7–2.4 s，Panda 固定蓝色球拍从侧面推送橙色方块，使其离开源滑道并落在蓝色旋转桥上；视频 3.0–6.0 s 方块随桥转动。" + }, + { + "t": 12.7, + "log_step": 50, + "text_zh": "观察：视频 9.2–12.4 s 机器人用转向后的球拍补送冰球，手部短暂遮挡过桥与出口交界；视频 12.6–13.8 s 橙色方块显露在右侧橙色出口滑道上，随后蓝桥转离而方块留在出口。转运完成锚点取视频约 12.7 s，误差约 0.3 s。" + }, + { + "t": 1.6, + "log_step": 56, + "text_zh": "推断：本次运行使用较旧的首触验收规则。run.json 的 task_text 描述来球自然减速停止，未在保留的正文中要求首触速度 0.25 m/s；视频 0.4–1.6 s 方块已停住才被推送，而 log step 56 的服务结果显示 episode 4 一直运行至 control_steps=3200、sim_time_s=32.0，未在慢球首触时立即终止。结合 DAG 已注明的版本差异，按运行时规则计入可见的接触及经桥转运，不将新版快速首触阈值倒用于本次。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：Panda 手上固定的蓝色球拍侧面推送橙色冰球，从源滑道推上蓝桥；随后换方向再次推送至出口。接触为单面推动，没有夹爪抓握。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [ + [ + 16.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.4, + "log_step": 52, + "text_zh": "观察：视频 14.4–16.2 s 方块明确位于出口滑道近端，蓝色球拍从左侧靠近；视频 16.32–16.56 s 球拍贴到方块侧面，方块向出口远端小幅移动。视频 17.4–18.8 s 球拍回撤，与方块之间出现清楚间隙，方块仍留在出口。出口接触锚点取视频约 16.4 s，不要求抓住或持续停球。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 16.4 s，Panda 的固定球拍从左侧单面接触出口冰球并把它轻推一小段，然后回撤；没有手指夹持，也没有从下方托接。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.9, + "log_step": 53, + "text_zh": "观察：视频 17.4–19.4 s 球拍已与冰球分离；视频 19.56–20.88 s 机器人向出口远端挥拍，但球拍经过方块时位置偏高，方块未随球拍沿滑道射出。视频 22.0–28.0 s 方块仍留在出口近端，没有到达琥珀色门片或越过目标线。" + }, + { + "t": 32.0, + "log_step": 56, + "text_zh": "观察：视频 29.0–32.0 s 机器人回到冰球后方、降低球拍并重新前移；逐查视频 31.0、31.2、31.4、31.6、31.8、32.0 s，方块始终还在出口近端，补救没有完成穿门或越线。log step 56 的服务终态为 episode=4、control_steps=3200、sim_time_s=32.0、reason=failed；reward 的 live_success 和 replay_success 均为 0。" + }, + { + "t": 32.0, + "log_step": 36, + "text_zh": "推断：log step 36 的控制器用服务 control_steps×0.01 s 记录其局内时标；log step 44 最后一次 reset 后是 episode 4，log step 56 的 3200 步对应视频 32.0 s 终帧，且 log step 52–53 的挥拍顺序与视频 19.6–21.0 s 相符。因此此处引用最后一局日志辅助解释视频，不把先前三次 episode 的诊断或 agent 工作时间混入节点。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 固定蓝色球拍执行再次击球的挥拍尝试，视频约 19.9 s 从冰球上方经过，未见有效击球转运；视频末尾又降低球拍重试。候选接触方式为“击打”，现有词表没有此项；此记录标明该步实际开展的挥拍尝试，不声称成功击中或抓住冰球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_through_gate_and_goal", + "t": 19.9, + "log_step": 53, + "where": "操作中", + "evidence_zh": "观察：经桥转运和出口接触后，视频约 19.9 s 机器人球拍挥过冰球所在处时偏高；视频 20.2–21.0 s 球拍已到出口远端，冰球仍在近端。视频 29.0–32.0 s 的降低球拍补救也未把冰球送过门和目标线；log step 56 服务在 episode 4 的仿真 32.0 s 返回 failed。首个未修复的步骤是再击过门得分，断点取最初这次无效挥拍。" + }, + "unmet": { + "puck_transferred_via_bridge": true, + "puck_intercepted_at_exit": true, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 19.9, + "log_step": 53, + "evidence_zh": "观察：视频 19.56–20.16 s，Panda 球拍沿出口滑道向前扫过，却从橙色方块上方通过；视频 20.28–21.0 s 球拍继续前行，方块没有被送向门口，视频 22.0–28.0 s 仍停在近端。冰球在挥拍前已基本静止，故这里是球拍与冰球高度未对准。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 19.9, + "log_step": 52, + "source_zh": "日志", + "evidence_zh": "推断：击球控制没有维持所需的低位球拍路径。log step 44 的最后一局脚本安排球拍以 z=0.067 m、pitch=-0.35 rad 向 x=0.425 m 挥拍；log step 52 记录这次运动开始后球拍实际 z 已约为 0.0744 m，视频 19.68–20.16 s 可见球拍从方块上方越过，log step 57 的 agent 自述也称实际路径在快速扫动中抬高。该证据支持控制层失败，但不足以区分逆解、参考轨迹处理与伺服跟踪的具体责任。" + } + ], + "gap_zh": "没有逐帧状态日志、接触对或原生阶段字段；过桥出口交界被手部短暂遮挡，转运锚点误差约 0.3 s。完整原始任务说明和部分工具输出在 inputs/run.json 中已有截断，旧版首触规则由保留正文、可见停球后推送及服务未立即终止联合推断，不能核实新版速度阈值或精确门角。四项 native_metrics 均未由评分器报告；实际挥拍高度偏差可见，但缺少连续参考轨迹与伺服内部记录，控制根因不细分。" + }, + "summary_zh": "最后一次 episode 中，机器人将冰球从源滑道推上旋转桥，于视频约 12.7 s 完成到出口的转运，并于视频约 16.4 s 用球拍再次接触冰球，最终完成 2/3 个节点。断点为再击过门得分：视频约 19.9 s 的挥拍位置偏高，冰球没有射出，末段降低球拍重试仍未在视频 32.0 s 结束前穿门越线，证据支持控制层失败。版本差异：本次保留任务正文与停球后推送、服务未在首触终止的记录支持旧版规则，按 P19 计入转运；无状态日志及完整阶段记录，精确接触时刻和控制子因仍有缺口。", + "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（转运约12.7 s、出口接触约16.4 s）与帧一致，断点为再击过门得分、挥拍偏高，现象与根因有视频及日志支持；首触速度的版本差异已作为推断标注，服务未在慢球首触终止支持按运行时规则计入。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": "2026-10-30T04:41:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--afjmqnx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0ea59325bd6320889222950ac89404ae24cae693b378d15f48d4cb40904876f6", + "video_sha256": "a8b834ff687d26f7632b965cdbe0fedfd60b04b6c2628fe3fe2d673af39d3686", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3f7a60afe07f7dda8c6ad1c9492d4ed6148caa --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 3200, + "sim_steps": 12800, + "calls": 19, + "rows": 3106, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 867.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 383.925, + "max_lag_s": 0.3497, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 9684, + "late_steps": 0, + "requests_refused": 7, + "request_busy_s": 2.542, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.222, + "peak_processes": 9, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "f9521636cd7025831f6e7d3ebb7c6474b5775d082bbd463ba91eb1878ecd99bc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.1, + "log_step": 101, + "text_zh": "观察：视频 0.0–0.4 s 橙色方块沿源滑道向机器人滑动，视频 0.6–2.8 s 已停在源滑道上；Panda 的蓝色固定球拍到视频约 3.1–3.3 s 才碰球并把它送离源滑道，未在快速来球期间首击。" + }, + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 3.4–4.8 s 冰球经过蓝桥邻近区域后停在橙色出口滑道左端外侧；视频 8.0–22.4 s、25.0–31.96 s 始终能看到它留在该处，未像参照视频 23.0–26.4 s 的冰球那样位于出口滑道顶面。经桥到出口的完整转运未达成；此判断来自物体位置，并非由总分为零推得。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 3.1–3.3 s，Panda 夹爪前固定安装的蓝色球拍侧面击中橙色方块，将它送出源滑道。候选接触名为“击打”，现有接触词表无对应项；没有合爪抓球。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.3, + "log_step": 103, + "text_zh": "观察：视频 5.4–6.3 s Panda 把球拍降到冰球附近，视频 6.3–6.8 s 向出口方向扫动，但冰球仍留在出口左端外侧，没有先完成经桥到出口的转运。即使该处短暂擦碰，也不满足转运之后在出口拦截的事件判据。" + }, + { + "t": 31.96, + "log_step": null, + "text_zh": "观察：视频 31.0–31.96 s 冰球仍在出口左端外侧，未出现此节点所需的已完成转运后的出口接触；前置节点全程未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.6–6.3 s，蓝色固定球拍下沿与橙色冰球边缘在总览图中重叠，随后从其旁边扫过；已检查前后放大帧，但该短暂重叠不能区分轻擦与仅投影重叠。无接触对状态日志，实际接触方式无法确定；此项记录确实进行过的拦截尝试。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.4, + "log_step": 103, + "text_zh": "观察：视频 7.6–8.8 s Panda 的球拍向出口中段挥出并抬起，橙色冰球仍留在出口左端外侧，没有跟随该次挥拍向门口移动。" + }, + { + "t": 24.4, + "log_step": 111, + "text_zh": "观察：视频 22.6–23.6 s Panda 再次回撤并降低球拍，视频 23.8–24.6 s 向出口中段补挥；冰球仍在球拍后方的出口左端外侧。视频 31.96 s 冰球没有穿过琥珀色摆门，也未越过挡墙前目标线。log step 111 是补挥命令，log step 117 的服务状态为 episode=4、control_steps=3200、done=True、reason=failed；agent 在 log step 124 的完成宣称不符合视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频 7.6–8.8 s 与 23.8–24.6 s，Panda 用固定蓝色球拍向出口方向挥击，但可见冰球留在后方，未见这两次挥拍击中冰球。按实际挥拍尝试记候选“击打”；词表无击打项，不能记抓握或托接，也不据此虚构已建立球拍接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 3.1, + "log_step": 103, + "where": "操作中", + "evidence_zh": "观察：视频 0.6–2.8 s 来球已停止，Panda 在视频约 3.1 s 才开始实际首击；视频 4.8 s 冰球停在出口滑道左端外侧，之后至视频 31.96 s 都未完成转运。机器人继续做了拦截和补挥，但没有修复首步，故断点为击球经桥转运。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 3.1, + "log_step": 103, + "evidence_zh": "观察：视频 0.0–0.4 s 冰球向机器人运动，视频 0.6–2.8 s 已停在源滑道，而 Panda 的首个击球接触出现在视频约 3.1–3.3 s。它错过了来球仍快速滑动的首击窗口；inputs/meta.json 的任务描述明确要求在速度至少 0.25 m/s 时击球。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 4.8, + "log_step": null, + "evidence_zh": "观察：视频 3.3 s 冰球离开源滑道，视频 4.8–5.4 s 停在出口左端外侧；视频 8.8–22.4 s 和 25.0–31.96 s 仍在同一外侧位置。与参照视频 23.0–26.4 s 冰球已放在出口滑道顶面的可见外观相比，本次首击未将冰球送到所需的出口位置。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 101, + "source_zh": "日志", + "evidence_zh": "观察：log step 101 写入并由 log step 103 启动的控制脚本明确安排先等待冰球停止，再等旋转桥达到角度后首击；同一策略还见于 log step 100 的完整航点与等待序列。视频 0.6–2.8 s 的停球等待及视频约 3.1 s 的迟到首击与其一致。推断：agent 为等桥对准而选择先让来球停住，这一跨阶段策略与 inputs/meta.json 所述快速首击要求冲突，导致错过首击窗口。" + } + ], + "gap_zh": "没有状态日志；run.json 的 task_text 为空，任务要求由 DAG 和 inputs/meta.json 补足。总览图不能量出首触前一个物理步的精确水平速度，也不能判定视频 5.6–6.3 s 球拍与冰球的短暂重叠是否真实擦碰；不填原生速度或接触力数值。服务仅报告最终 failed，没有 relay_phase 或具体物理失败原因，不能断言它由哪项安全检查终止。log step 108、115 的坐标是 agent 自行做颜色分割得到的估计，不是服务测量，未用于证明球已转运或接触。参照视频为 DAG 已注明的旧版本，仅用于对照可见几何关系；不据其成功改变本次判据。" + }, + "summary_zh": "本次评分视频对应最后一次实时 episode：Panda 在来球停下后才首击，冰球随后停在出口滑道左端外侧，三个节点均未达成；视频 31.96 s 仍未转运、过门或得分。首步断点包含迟到首击和送球位置偏差，日志中先停球、再等桥角的规划支持动态时机的归因；后续扫拍与补挥未修复首步。无状态日志及详细阶段判定，精确接触速度与短暂擦碰不可确定；log step 120 的末次脚本修改没有再执行，log step 124 的成功宣称不计作评分进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、断点为击球经桥转运、动态时机与位姿不准及推理/规划根因与视频和日志一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:38:42Z", + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--j9ejugw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3e91c2b13f090f5f576310ae66d0455bfbb9ef054a794a9d2f5d5838902da00", + "video_sha256": "f9521636cd7025831f6e7d3ebb7c6474b5775d082bbd463ba91eb1878ecd99bc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8d70dc8901c9abebc912cb32b6252d5c328eff --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 0, + "sim_steps": 0, + "calls": 4, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 818.8, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.045, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.149, + "peak_processes": 7, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "f32b68bb1298859d2b766626112e13514c685d36f2410c9f167797468cf92a61" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：视频 0.00 s 的唯一帧中，橙色方块仍在左侧源滑道，蓝色球拍位于源滑道上方，未出现经桥到出口的转运；log step 2 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器最终也记录 n_actions=0、sim_steps=0。推断：评分回合未推进，击球经桥转运事件未发生。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 29 出现模型供应商过滤器阻断消息，未交付动作轨迹，无本步骤的实际操作接触可标。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 14, + "text_zh": "观察：视频 0.00 s 的唯一帧中，右侧出口滑道为空，机器人球拍仍在左侧源滑道；log step 14 的机器人服务返回 running=false，评分器最终记录 sim_steps=0。推断：没有完成前置转运，也未发生出口拦截。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 29 出现模型供应商过滤器阻断消息，未交付动作轨迹，无本步骤的实际操作接触可标。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 的唯一帧中，方块仍在源滑道，出口滑道及门口没有方块，球拍未移至出口；评分器记录 n_actions=0、sim_steps=0、clock_s=0.0。推断：再击、穿门及越目标线事件均未发生。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、rows=0、sim_steps=0；log step 29 出现模型供应商过滤器阻断消息，未交付动作轨迹，无本步骤的实际操作接触可标。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 29, + "where": "首步前", + "evidence_zh": "观察：log step 29 的末条消息为“This request was blocked by Gemini's filters”；此前 log step 2、14 仅以 seconds=0 读取机器人观测，服务保持暂停。评分器最终记录 n_actions=0、rows=0、sim_steps=0，视频 0.00 s 唯一帧为初始场景。推断：模型供应商过滤器在任何动作轨迹交付前截断会话，没有可定位的物理失败步骤。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/replay.mp4 只有视频 0.00 s 的一帧（总时长 0.04 s），inputs/ 中无状态日志；评分器记录零动作、零仿真步，log step 29 记录 Gemini 过滤器阻断。推断：这是交付前的外因中断，按 FAIL-5 不标“没尝试”，现象和根因均留空；现有记录不能评价机器人的击球、转运或拦截能力。成功参考视频仅用于辨认场景和目标外观，其旧版本动作不作为本次进展证据。" + }, + "summary_zh": "评分视频仅含视频 0.00 s 的初始帧，评分器记录零动作、零仿真步，三个节点均未达成。log step 29 出现 Gemini 供应商过滤器阻断消息，动作交付前会话即被外因截断，断点记 unknown／首步前，现象及根因留空。没有执行过程或状态日志可供判断机器人操作能力，成功参考仅用于场景外观比较。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与证据一致：视频只有 0.00 s 一帧，评分器零动作零仿真步，log step 29 为 Gemini 过滤器阻断，属交付前外因中断，三个节点均未达成，现象/根因留空并有 gap_zh，断点 unknown／首步前合理。", + "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": "2026-10-30T04:37:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--l4memup/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d89d7478c932e01e7d68fd00c0b0d5d131a11fed9ea42371ae8f2df12ea7ebd3", + "video_sha256": "f32b68bb1298859d2b766626112e13514c685d36f2410c9f167797468cf92a61", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x.json new file mode 100644 index 0000000000000000000000000000000000000000..eeaf7eb433f8a186e923470f4bec6d837885698d --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 3200, + "sim_steps": 9621, + "calls": 1256, + "rows": 21085, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2414.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 289.282, + "max_lag_s": 0.7272, + "stalls": 1, + "stalled_s": 0.727, + "stalled_share": 0.0025, + "held_steps": 6232, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 14.304, + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "fa1348a544d709261e32a2faee7bbdb137ff06359cab2af9afaefc8fc9d8c61b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–0.8 s，橙色方块在左侧源滑道上滑动并减速；Panda 抬高固定蓝色球拍，未向方块挥拍。视频 1.2 s 方块已停在源滑道上，球拍悬在其侧上方，两者可见分离。" + }, + { + "t": 32.0, + "log_step": 40, + "text_zh": "观察：视频 2.0–31.0 s 的逐秒画面、视频 31.0–31.9 s 的密集画面及视频 32.0 s 末帧均显示方块留在源滑道，旋转桥持续空转，未出现经桥进入出口滑道的转运。log step 40 的服务状态为 episode=4、control_steps=3200、done=True、reason=failed。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0.0–32.0 s 的已检画面中，球拍一直在源滑道附近，开头抬高后保持姿态；方块未到右侧出口滑道，出口处未出现球拍与方块接触，视频 32.0 s 仍如此。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0.0–32.0 s 的已检画面中，方块始终未离开源滑道，出口滑道和摆门前没有方块通过；视频 32.0 s 方块仍在源滑道，未发生出口再击、穿门或越目标线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 1.2, + "log_step": 41, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–1.2 s，Panda 仅抬高球拍，方块自行减速停在源滑道；此后直到视频 32.0 s，机器人未开始向方块击打或推送。log step 39 确认最终重置到第 4 局；log step 41 的该局控制器回溯显示 run_machine 在进入校准动作时调用 build_dance，因访问七关节数组的索引 7 抛出 IndexError。推断：控制器在首次击球启动前中断；视频 1.2 s 是球拍已停住的粗略导航锚点，并非精确异常时刻。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 1.2, + "log_step": 39, + "evidence_zh": "观察：视频 0.0–1.2 s 机械臂仅抬高球拍，视频 2.0–31.0 s 逐秒画面和视频 31.0–32.0 s 末段画面均未见其向冰球挥拍、推球或追球，冰球一直留在源滑道。log step 39 的控制记录止于 PROBE 转 LIFT，未进入击球阶段。推断：首个击球经桥转运步骤未启动，属于没尝试。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 41, + "source_zh": "日志", + "note_zh": "候选名称：控制脚本异常。按 D38 保留在控制大类；这是 agent 自编控制器的数组越界，非外部服务崩溃。", + "evidence_zh": "观察：log step 41 的第 4 局回溯明确记录 agent 的 gen.py 在 run_machine→build_dance 中执行 qt[j] = q_from[j] + a，抛出“IndexError: index 7 is out of bounds for axis 0 with size 7”；log step 42 随后把 DANCE_JOINTS 的一基索引列表改为零基列表，修复发生在 log step 40 已报告该局结束之后。视频 1.2–32.0 s 机器人保持抬拍姿态，与脚本中断后的表现一致。推断：控制脚本异常阻止了校准后的首次击球控制，结束后的修补没有修复本次评分局。" + } + ], + "gap_zh": "观察：本任务未提供状态日志；评分字段只报告失败，未报告四项原生指标，故其 value 均为 null。推断：不能精确定位脚本抛错对应的视频帧，断点采用视频 1.2 s 的停拍画面作近似锚点；这不影响三个节点均未达到的视觉判断。最终第 4 局未启动任何操球步骤，故各节点省略 contact_actual，不沿用任务 DAG 的典型接触或前三局的测试接触。成功参考属于旧规则版本，仅用于核对物体与桥、出口的外观。" + }, + "summary_zh": "最终评分的第 4 局完成 0/3 个节点：Panda 开头抬高球拍，冰球在源滑道上自行减速停住，视频 32.0 s 仍未上桥。首个击球步骤未启动；log step 41 证实 agent 控制脚本在校准准备阶段因关节索引越界中断，结束后修补未改变评分局。无状态日志，异常的精确视频时刻及原生指标不可得；前三局测试不计入本局进度。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "三个节点均未达到、断点（首步前、没尝试）与根因（控制脚本异常，按 D38）均有视频和 log step 41 回溯支持，时钟与引用无误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:15Z", + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--mu24a5x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "18de62b58b1373457ce91d726bdd27b9cba3c6a8ae49bb2d3b4e5dfa686e42db", + "video_sha256": "fa1348a544d709261e32a2faee7bbdb137ff06359cab2af9afaefc8fc9d8c61b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas.json new file mode 100644 index 0000000000000000000000000000000000000000..d9b3444d1679a23abcf735ffbc27e0813a85862a --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 276, + "sim_steps": 3961, + "calls": 132, + "rows": 2585, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 429.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 118.755, + "max_lag_s": 0.3124, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 3219, + "late_steps": 58, + "requests_refused": 3, + "request_busy_s": 1.256, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.306, + "peak_processes": 9, + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas/replay.mp4", + "duration_s": 2.8, + "fps": 25.0, + "frames": 70, + "sha256": "a7b8dc5bef4fbf9ebb93f681b6680a5b8ac801433afa4935cea6683c47cae3d9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.6, + "log_step": 44, + "text_zh": "观察：视频 1.3–1.6 s，Panda 固定蓝色球拍从左侧推送橙色方块，方块离开源滑道并上到蓝色旋转桥；视频 1.6–2.2 s 球拍继续向桥的另一端推球。" + }, + { + "t": 2.76, + "log_step": 45, + "text_zh": "观察：视频 2.4–2.76 s，机器人抬起球拍，橙色方块仍在蓝色桥的右端，未出现脱离桥并落在右侧橙色出口滑道上的状态。成功参照视频 24.0 s 可见方块位于橙色出口滑道、蓝桥已转离其下方；本次没有该转运结果。log step 43 启动重置后的最后一次控制，log step 45 的服务状态为 episode=4、control_steps=276、done=true、reason=failed，与本次视频的动作及结束一致；之前重置的试验不计入进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 1.3–2.2 s，Panda 手部固定安装的蓝色球拍以侧面接触并向右推送橙色方块，由源滑道送上旋转桥；未见夹爪合拢抓球。这里记录实际连续推送，不把任务要求的击打直接当作已发生接触。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.76, + "log_step": 45, + "text_zh": "观察：视频 0–2.76 s，方块只从源滑道移到旋转桥，未到出口滑道；视频 2.4–2.76 s 球拍悬起，未在出口对方块建立新的拦截接触。推断：前置转运未完成，抬拍准备后续位置不构成出口拦截，本节点未达成。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.76, + "log_step": 45, + "text_zh": "观察：视频 0–2.76 s，橙色方块未离开旋转桥进入出口滑道，未靠近琥珀色摆门或右端挡墙前的目标线；未见出口拦截后的分离再击、穿门及越线。推断：两个前置事件均未完成，本节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "value": null, + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better" + }, + { + "name": "time_since_first_separation", + "value": null, + "unit": "s", + "threshold": 0.035, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_doorway", + "value": null, + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "gate_angle_at_goal", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 2.4, + "log_step": 44, + "where": "操作中", + "evidence_zh": "观察：视频约 2.2–2.5 s，Panda 结束向前推送并抬拍，方块仍在桥的右端；视频 2.76 s 结束时仍未离桥到达出口。log step 44 的脚本输出已切为 lift_clear，log step 45 随后输出 exit_wait_high，服务报告 episode 4 failed。推断：最早未修复的步骤是击球经桥转运；球拍的后续抬起并未完成这一转运。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.4, + "log_step": 44, + "evidence_zh": "观察：视频 1.6–2.2 s，球拍将方块推到旋转桥右端；视频 2.4–2.76 s 球拍抬离，方块留在蓝桥边缘、橙色出口滑道的侧下方，没有被送到出口滑道上。推断：可见的送球结果短于所需转运位置；不能仅凭服务的 failed 判定有禁碰或机器人超限。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 中没有状态日志；log step 45、46、48 的服务结果只给出 failed，没有具体物理失败原因，评分字段也不报告阶段及四项原生指标。日志里的控制器编辑内容仅保留 patch));，缺少可核对的完整实现。推断：能够确认球仍留在桥上，但不足以确定终止是否由碰撞、运动超限或其他检查触发，也不足以把未完成转运归因于具体控制或规划错误，故根因层留空；首次接触前速度及精确接触时刻也无法量定。成功参照属于 DAG 已注明的旧版本，仅用于比较桥与出口的可见位置关系。", + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + } + }, + "summary_zh": "评分的最后一次 episode 4 中，Panda 用固定球拍将方块从源滑道推上旋转桥，但视频 2.76 s 结束时方块仍在桥边，击球经桥转运、出口拦截和再击过门得分均未完成，终态为 0/3。断点是击球经桥转运：视频约 2.4 s 球拍抬离时送球仍未到出口，表现为位姿不准；服务只报 failed，缺少具体终止原因和完整控制器实现，因此不指定根因。成功参照为旧版本，仅用于外观与位置对比。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 1.8–2.76 s 帧显示方块被球拍推上蓝桥，直至结束仍在桥上，未到出口滑道；三个节点均未达成、断点与现象与证据一致，未发现需要修改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:39:39Z", + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--nnojwas/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2cf00524a6797be2afe0d538bb738cc8977ab827037ea7337a2f1eff0badf707", + "video_sha256": "a7b8dc5bef4fbf9ebb93f681b6680a5b8ac801433afa4935cea6683c47cae3d9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv.json new file mode 100644 index 0000000000000000000000000000000000000000..25d91d0237266aaa104587e91d015ea6b59e3889 --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 3200, + "sim_steps": 9887, + "calls": 315, + "rows": 1865, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1282.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 296.59, + "max_lag_s": 0.4348, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 8386, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 4.368, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.56, + "peak_processes": 10, + "peak_disk_gb": 1.019, + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "e1a51ecacc0d8565717b8fcd597007fa7f51bf67b7b99761b0d354c096e19bc7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 159, + "text_zh": "观察：视频 0.0–1.6 s 橙色方块在源滑道上滑行后停住，球拍尚未接触；视频 2.4–3.0 s Panda 的固定蓝色球拍侧向推移方块，视频 4.6–4.96 s 再朝旋转桥推送。" + }, + { + "t": 4.96, + "log_step": null, + "text_zh": "观察：逐帧检查视频 4.4–5.48 s，方块从源滑道边缘落到球拍下方、旋转桥左侧的桌面；视频 7.2–32.0 s 方块一直留在源滑道旁，右侧出口滑道始终没有方块，未完成经桥到出口的转运。" + }, + { + "t": 32.0, + "log_step": 165, + "text_zh": "观察：log step 158 启动最后一次 episode 4，log step 165 的服务状态为 episode=4、control_steps=3200、done=true、reason=failed；视频 31.0–32.0 s 的末段仍显示方块在源滑道旁桌面，机器人保持伸向桥的姿态。前三次重置前的尝试不属于本视频。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 2.4–3.0 s 和 4.6–4.96 s，Panda 手上固定的蓝色球拍先侧向推移源滑道上的橙色方块，再朝桥推送，作用接触为球拍与方块。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频全程的出口滑道均未出现橙色方块，视频 5.0–32.0 s 球拍停在源滑道与桥之间，方块最终位于源滑道旁桌面；未发生出口处的球拍接触，前置转运亦未完成。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0.0–32.0 s 方块从未沿右侧出口滑道到达摆门或挡墙前的目标区域；视频 31.0–32.0 s 仍在源滑道旁桌面，没有出口拦截后的分离再击、穿门越线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 4.8, + "log_step": 159, + "where": "操作中", + "evidence_zh": "观察：视频 4.6–5.0 s Panda 用球拍将方块推离源滑道时，旋转桥未承接住方块，方块落至桥左侧桌面；视频 7.2–32.0 s 未再被送上出口，转运步骤始终没有补救完成。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.8, + "log_step": 159, + "evidence_zh": "观察：视频 4.6–5.0 s 球拍朝桥推送方块，蓝色桥持续旋转，方块离开源滑道后从桥的左侧落到桌面；视频 7.2–32.0 s 留在那里。推断：本次推送与旋转桥的承接窗口没有对上，未形成经桥到出口的转运。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "log_step": 159, + "source_zh": "日志", + "evidence_zh": "观察：log step 159 的最后一次尝试记录 bridge_fit 为 omega=0.0、n=1，并在 bridge_before_push 中继续使用 omega=0.0；同一日志的桥朝向测量已从约 0.533 rad 变到 1.522 rad，视频 1.0–5.0 s 也清楚显示桥持续旋转。推断：控制器以零转速估计安排推送，错误的运动状态估计使落桥时机失配。" + }, + { + "cat": "控制", + "item": "控制", + "log_step": 163, + "source_zh": "日志", + "note_zh": "候选名称：控制脚本异常；按 D38 使用上位条目“控制”。", + "evidence_zh": "观察：log step 163 的最后一次尝试回溯显示，agent 的 gen.py 在计算 bp[-1][1:] - bp[-2][1:] 时触发 TypeError（tuple 无法相减）；log step 156 可见该语句由 agent 加入桥上补推逻辑。视频约 5.0–32.0 s 机械臂停在已提交推送的末态，未对掉落方块继续修正；log step 165 服务仍正常返回终结状态。推断：agent 自己的控制脚本异常中断了后续观测及补推动作，属于控制失败。" + } + ], + "gap_zh": "观察：inputs/ 提供评分视频、完整运行记录和成功参考视频，但没有状态日志；reward 未报告四个原生指标或物理阶段失败细项，不能核实瞬时接触对、速度和门角。观察：本次 run.json 的 task_text 未列 DAG 新增的首击速度至少 0.25 m/s、门口门角至少 1.0 rad 等阈值，参考视频也属旧版本；依 P19 按本次执行规则标注，不把静止后推球另判为慢球违规。视频直接显示未转运到出口，此版本差异不影响三个节点均未完成的结论。", + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + } + }, + "summary_zh": "观察：评分视频对应最后一次 episode 4，Panda 用固定球拍侧推、前推冰球，但视频约 4.8–5.0 s 冰球落到源滑道与旋转桥旁的桌面，至视频 32.0 s 未到达出口，完成 0/3 节点。推断：桥转速被估为零导致承接时机失配，且 agent 控制脚本的元组相减异常中断后续修正。观察：无状态日志和原生指标读数，本次任务文本也未列 DAG 新增速度及门角阈值，已按执行时规则处理，未将版本差异当作失败原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未完成、断点（桥转运步骤、操作中）、动态时机现象与两个根因（omega=0 的桥速估计、agent 脚本 TypeError）均有视频和日志支持，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": "2026-10-30T04:36:53Z", + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--pzhwmwv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3dd1b103776c26a9339df575bba641d3fc6465a78cab6a1cd3531f1026bd3aaf", + "video_sha256": "e1a51ecacc0d8565717b8fcd597007fa7f51bf67b7b99761b0d354c096e19bc7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--xnwhtwu.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--xnwhtwu.json new file mode 100644 index 0000000000000000000000000000000000000000..86f84a130a4409ca507344d326a1b9e442ba58ee --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--xnwhtwu.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-standard-realtime--xnwhtwu", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "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": 3200, + "sim_steps": 11172, + "calls": 713, + "rows": 1877, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2424.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 335.083, + "max_lag_s": 0.3971, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 9295, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 15.02, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.494, + "peak_processes": 8, + "peak_disk_gb": 0.828, + "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-s12-moving-bridge-puck-relay-i00-standard-realtime--xnwhtwu/replay.mp4", + "duration_s": 32.04, + "fps": 25.0, + "frames": 801, + "sha256": "2f8ff621aab8ede9cd6b1c9e6542cf1321c7fab3c22cc62d6139d954d1ec782f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "puck_transferred_via_bridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": 152, + "text_zh": "观察：log step 152 重置后服务返回 episode=4、resets_left=0，随后启动控制脚本；本次视频仅包含这一回合。视频 0.0–1.0 s 冰球在源滑道上滑动后停下，视频约 3.52–3.68 s 蓝色固定球拍实际击中橙色冰球，冰球离开原位向桥缘运动。" + }, + { + "t": 4.08, + "log_step": 155, + "text_zh": "观察：视频 3.92–4.32 s 冰球到达源滑道与旋转桥的相邻边缘，随即向下倾落，未被送到右侧出口滑道；视频 5.0–9.0 s 及以后至视频 31.96 s，冰球始终在桥的南侧低处，机器人没有将其送回。转运事件未完成，此判断不依赖总分或首次接触速度阈值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：视频约 3.52–3.68 s，Panda 手上固定的蓝色球拍拍面击中橙色冰球侧面，使其朝旋转桥移动；候选接触名“击打”，现有接触方式没有对应项。没有夹爪合拢抓球或底盘移动。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频约 4.4–5.0 s 机器人将球拍移到右侧出口滑道附近，但橙色冰球留在源滑道与桥旁的低处；视频 5.0–31.96 s 出口处始终没有冰球，球拍没有在出口实际接触冰球。前置转运也未完成，出口拦截事件不成立。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.96, + "log_step": 159, + "text_zh": "观察：视频 5.0–31.96 s 机器人球拍停留在出口滑道附近，冰球始终在桥的南侧低处，未进入出口滑道、穿过摆门或越过目标线；log step 159 的服务状态为 episode=4、done=True、reason=failed。未出现出口拦截后的分离再击得分。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "puck_transferred_via_bridge", + "t": 4.0, + "log_step": 155, + "where": "操作中", + "evidence_zh": "观察：视频约 3.52–3.68 s 机器人用固定球拍击球后，视频约 4.0–4.32 s 冰球在源滑道与桥的边缘下落，随后留在桥南侧的台面低处；直到视频 31.96 s 都没有完成经桥到出口的转运。机器人虽然随后把球拍移到出口附近，但未修复这次送球失败。" + }, + "unmet": { + "puck_transferred_via_bridge": false, + "puck_intercepted_at_exit": false, + "puck_through_gate_and_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.0, + "log_step": 155, + "evidence_zh": "观察：视频约 3.92–4.32 s，机器人首击送出的冰球停顿在桥的近侧边缘并倾落到下方，视频 5.0–9.0 s 冰球在桥南侧而非桥面或出口滑道上；视频 31.96 s 仍在低处。首击未将冰球送入可继续转运的位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.6, + "log_step": 154, + "source_zh": "agent 自述", + "evidence_zh": "推断：视频约 3.52–4.32 s 机器人确实击中冰球，但送球后冰球在近侧桥缘跌落；log step 147 的脚本将首击速度参数设为 0.48 m/s，log step 154 中 agent 自述击后球速仅约 0.3 m/s，并将差异解释为球拍在接触时仍受 PD 跟踪滞后影响。结合可见的短程送球失败，支持首击控制未产生所需运动效果；具体 PD 机制未获独立测量确认，故仅标上位类“控制”。" + } + ], + "gap_zh": "没有逐帧状态日志或接触对；球拍和冰球的精确接触力、实际/参考速度及首次接触前一物理步的速度无法独立核实，PD 跟踪滞后仅有 log step 154 的 agent 自述。run.json 的 task_text 中段已被截断，不能确认该回合是否采用 DAG 新增的快速首触及门口阈值；但视频直接显示未转运到出口，版本差异不改变三个节点均未完成的判断。评分器未报告四项原生指标，均保留 null；参考成功视频只用于核对场景和出口到达的外观。" + }, + "summary_zh": "受评视频对应最后的第4回合：机器人在视频约 3.5 s 用固定球拍击球，但冰球在视频约 4.0 s 从源滑道与桥的边缘倾落，未到出口，最终完成 0/3 个节点。断点为“击球经桥转运”，现象为位姿不准，首击的送球控制未产生所需效果，后续没有修复。缺少状态及同步速度测量，PD 跟踪滞后的具体解释仅来自 agent 自述，首次接触速度及规则版本细节也不能独立确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点均未达成、断点（击球经桥转运，操作中）、现象位姿不准与根因控制（推断，来源 agent 自述并已标明）均与视频和 log 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": 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"video_choice": "HF replay.mp4" + } + } +}