Add 130 trajectories (phase 2, remaining runs; batch S01)

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv.json

@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 4584,
+   "replays": 2,
+   "sim_steps": 4184,
+   "sim_time_s": 34.8667,
+   "timed_out": 0,
+   "replay_wall_s": 228.5,
+   "replay_timeout_s": 2646.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 2,
+   "agent_resets": 8,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv/replay.mp4",
+  "duration_s": 34.9,
+  "fps": 30.0,
+  "frames": 1047,
+  "sha256": "eb84e9588a40f71de59f767677128cda94e9ad930b1946973391f72992241385"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 滑门遮住取罐格口；视频 6.5–12.4 s 机器人闭合的夹爪贴近滑门侧缘，门把手未被夹住。"
+     },
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–13.2 s 浅木色门板向机器人右侧移开；视频 13.2 s 机身相机已见敞开的格口和内部红罐，末端相机也见格内背板及红罐，随后机器人从该开口伸入夹爪。开门到达时刻约为视频 13.2 s，目测误差约 0.5 s。"
+     },
+     {
+      "t": 13.2,
+      "log_step": 143,
+      "text_zh": "推断：视频 6.5–13.2 s 夹爪保持闭合并沿门侧缘施推，结合 log step 143 交付生成脚本的闭爪推门段，实际接触为末端夹爪及其外壳推门；没有抓握把手的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "单臂闭合夹爪及其外壳抵住浅木色滑门侧缘，随机器人侧移把门向右推开；未夹持门把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.87,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27,
+      "log_step": null,
+      "text_zh": "观察：视频 25.5 s 红罐仍立于格内层板；视频 26.0 s 二指夹爪在罐身两侧闭合，视频 27–29 s 红罐随夹爪离开层板并向柜外移动，原放罐处空出，证实夹住并取出了罐。"
+     },
+     {
+      "t": 34.87,
+      "log_step": null,
+      "text_zh": "观察：视频 30–34.867 s 机器人持续夹住红罐向上抬升，机身相机可见罐从格口升至上层面板及柜顶附近；已逐段检查视频 33.5–34.867 s，末帧红罐仍夹持在柜前，没有释放到顶板。"
+     },
+     {
+      "t": 34.87,
+      "log_step": 200,
+      "text_zh": "观察：log step 180 显示生成文件复制为最终交付且校验和相同；log step 189 的交付回放与 log step 200 的交付录像均由基准服务报告 success=true、end_reason=success、control_steps=4184、sim_time_s=34.8667，终态哈希相同；评分器 reward.video_episode_success=1。"
+     },
+     {
+      "t": 34.87,
+      "log_step": 200,
+      "text_zh": "推断：log step 4 的控制频率为 120 Hz；log step 200 的交付录像结束控制步 4184 对应视频 4184/120≈34.87 s，与已检查的视频 34.867 s 柜顶附近夹罐末帧及视频总长 34.9 s 核对一致，故把首次满足目标高度带及速度限制的时刻标在视频 34.87 s。成功结果补证罐心 1.67≤z<1.72 米且线速度范数<0.1 米/秒；图像本身不能精确量出这些数值，未把较早的抬升直接记为达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪从两侧夹紧红色汽水罐罐身，抬离层板、移出格口并持续夹持升至柜顶高度；末帧仍未松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "value": null,
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target"
+  },
+  {
+   "name": "can_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 13.2 s 推开滑门，随后夹住红罐、从格内取出并升高，视频约 34.87 s 通过验收，最终完成 2/2 个节点。任务设计问题：任务措辞要求罐到柜顶，但实际验收只检查罐心高度带和速度，允许柜前夹持悬停；视频末帧仍在夹持，交付回放及评分器均报告成功。无逐帧状态日志，精确高度和速度未报告为原生指标数值，目标阈值及到达时刻由交付录像的成功终止记录补证，开门时刻有约 0.5 s 的视觉误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与接触标注与视频一致：约13.2 s开门、末帧夹罐升至柜顶附近，34.87 s由120 Hz控制步换算并经末帧核对；成功运行无失败层，任务设计问题已注明。",
+    "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": "2026-10-30T02:15:00Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6e91a798ee00c6c47f33e724e4fdc5cd00ef556d400d45d35d7fd0d8c10edf28",
+   "video_sha256": "eb84e9588a40f71de59f767677128cda94e9ad930b1946973391f72992241385",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 2919,
+   "replays": 2,
+   "sim_steps": 2219,
+   "sim_time_s": 18.4917,
+   "timed_out": 0,
+   "replay_wall_s": 179.2,
+   "replay_timeout_s": 2229.8,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo/replay.mp4",
+  "duration_s": 18.533,
+  "fps": 30.0,
+  "frames": 556,
+  "sha256": "0de4e9b4d3f7e4e0a3e9b2d21429a204b4d229b287d737860dfd20d549cee8cb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的双视图中，浅木色滑门封住左半格，红罐不可见。视频 6.3–7.2 s 门板向机器人右侧滑动，格口逐渐显露。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–7.8 s 机身视图可见左侧格口及内部红罐，门板已移到红罐右方并与右侧固定面板重叠；视频 8.4–10.0 s 开口保持，夹爪随后从此通路接近罐子。以视频约 7.5 s 为通路足够打开的到达时刻，视觉误差约 0.3 s。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 19,
+      "text_zh": "推断：视频 5.0–8.4 s 闭合夹爪贴近竖直把手侧面，夹爪侧移时门板同步横移；结合 log step 19 交付脚本保持夹爪闭合并横扫把手的动作，可判定机器人以夹爪推把手开门，而非张合夹住把手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人以闭合的单臂二指夹爪抵住滑门竖直把手侧面，横向推移门板；视频约 6.3–8.4 s 可见门随末端侧移，未见夹爪包夹把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.6 s 红罐仍立在格内，机器人张开夹爪对准并靠近罐身；视频 12.9–13.5 s 两指在罐身两侧合拢，视频 13.8–15.6 s 红罐随夹爪抬高、向柜外移出，原先支承罐子的格内位置空出。"
+     },
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–18.5 s 红罐始终被两指夹住并随机器人升高；视频 18.0、18.4、18.5 s 机身视图可见罐位于上层面板上方，末端视图可见罐在柜顶板附近。视频 18.5 s 末帧仍在柜前夹持，没有松手或落到顶板上。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 23,
+      "text_zh": "推断：以视频约 18.5 s 末帧为目标达成时刻；画面支持罐已从格内取出并升至柜顶附近，评分器 reward.success=1、all_success=1、video_episode_success=1、deterministic=1 支持末态满足高度和速度联合验收。log step 21、23 对交付文件的独立回放也均返回 success=true。没有逐帧状态日志，无法仅凭图像测出 1.67≤z<1.72 米及线速度<0.1 米/秒，故数值验收依据评分结果，不把抬起罐子时提前记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂二指夹爪从罐身两侧合拢夹住红色汽水罐，将其抬离隔层并带出、升至柜顶高度；视频 13.8–18.5 s 罐持续随夹爪移动，末帧仍夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "value": null,
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target"
+  },
+  {
+   "name": "can_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 7.5 s 推开滑门，随后夹住红罐、取出并升高，视频约 18.5 s 达成目标；两节点最终均完成，评分器两次回放成功。任务设计问题：任务文本要求罐到柜顶，但成功条款只检查罐心高度和线速度，不检查水平位置、支承或松手；本次视频 18.5 s 末帧仍在柜前夹持，按实际规则计为成功。无逐帧状态日志，开门时刻由画面估计，末态精确高度和速度由评分器成功结果确认，原生指标具体数值未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点（开门约 7.5 s、罐到柜顶约 18.5 s）与视频一致，contact_actual（推/扫、抓握）合理，成功无断点；任务设计问题说明合理。",
+    "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": "2026-10-30T02:14:21Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf5742f58f57fae616f2d5bc577aaa5dc764b41ae71f6dc23e0fb1ebd1b8c569",
+   "video_sha256": "0de4e9b4d3f7e4e0a3e9b2d21429a204b4d229b287d737860dfd20d549cee8cb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1470,
+   "replays": 2,
+   "sim_steps": 1172,
+   "sim_time_s": 9.7667,
+   "timed_out": 0,
+   "replay_wall_s": 140.1,
+   "replay_timeout_s": 1867.5,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 1832,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk/replay.mp4",
+  "duration_s": 9.8,
+  "fps": 30.0,
+  "frames": 294,
+  "sha256": "44f0257281db724eb95aebbeebc5f202a29a5519155acfb41a98c1badbdd0321"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅木色滑门封住左侧格口，红色汽水罐尚不可见。"
+     },
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.0–4.0 s，机器人闭合的夹爪抵住竖直把手侧面横移，门板向机器人右侧滑动；视频约 3.4 s，左侧格口及红罐已露出，门板移至罐右侧。视频约 5.4–7.5 s，夹爪经此开口抓罐并带出，确认通路足够；开门达成时刻估计误差约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 2.0–4.0 s，机器人单臂末端以闭合夹爪的侧面抵推滑门竖直把手，使门横移；未见双指张开包夹把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频约 5.4–6.4 s，机器人张开的双指接近并包住红色汽水罐，随后闭合；视频约 6.8–7.6 s，罐随夹爪离开原支承位置并移出格口，之后被持续抬高。"
+     },
+     {
+      "t": 9.77,
+      "log_step": null,
+      "text_zh": "观察：视频 8.8–9.77 s，机器人继续持罐上升，末帧机身视角可见罐位于上层面板上方，末端视角仍可见罐被双指夹持在柜前，未释放到顶板。评分器 reward.success=1、video_episode_success=1、all_success=1、deterministic=1，记录两次回放均成功。"
+     },
+     {
+      "t": 9.7,
+      "log_step": null,
+      "text_zh": "推断：结合视频 9.6–9.77 s 的终末抬升及评分器成功结果，罐在视频约 9.7 s 达到 DAG 要求的高度带和低速状态，直至回合结束；达成时刻估计误差约 0.2 s。无逐帧状态日志，无法仅凭图像精确测出罐心高度及线速度，未把较早的持续上升计为已达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.4 s 起，机器人单臂二指夹爪从罐身两侧夹紧红罐；罐随后随夹爪移出格口并升高，至视频 9.77 s 末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人侧推滑门形成取罐通路，再以二指夹爪夹住红罐、移出格口并抬升，两个节点终态均达成，评分器记录两次回放成功。任务设计问题：任务名称要求移到柜顶，但实际验收只检查罐心高度和线速度；本次视频 9.77 s 末帧仍夹持在柜前，按该规则计成功。��状态日志，精确高度、速度及首次达标时刻不能直接量测，目标节点的终态由视频和成功评分共同判断，视频约 9.7 s 的到达时刻为估计。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的到达与接触标注与视频一致：约3.4 s 门已推开、红罐露出；约5.4–9.77 s 二指夹爪夹罐抬升并保持。到达时刻9.7 s 已标注为估计，无状态日志可更精确；无失败，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": "2026-10-30T02:14:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d970f19c3676e20c29a491ede6fe21e8000e5fd397552921d11a6234e9a52769",
+   "video_sha256": "44f0257281db724eb95aebbeebc5f202a29a5519155acfb41a98c1badbdd0321",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt.json

@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 3861,
+   "replays": 2,
+   "sim_steps": 3861,
+   "sim_time_s": 32.175,
+   "timed_out": 0,
+   "replay_wall_s": 219.4,
+   "replay_timeout_s": 2465.2,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt/replay.mp4",
+  "duration_s": 32.233,
+  "fps": 30.0,
+  "frames": 967,
+  "sha256": "532bf95dec989a5bb03230a0730795b6e12a9d14f47e0f7d3dd5201f74627bf4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两个机载视角均见浅木色滑门遮住左半格，红色汽水罐尚不可见。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–6.5 s 机器人闭合的夹爪抵着竖直把手侧面横移，门板向机器人右侧滑动；视频 6.5 s 机身视角可见红罐及其前方格口，门沿已越过罐身，视频 8.5 s 开口继续扩大。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 6.0 s 罐身仍贴近门沿、视频 6.5–7.0 s 罐前通路显露，以及视频 18.0–24.0 s 夹爪随后进入并带罐离开，将可取罐开口的首次达成记为约视频 6.5 s，时间误差约 0.5 s。此为事件节点，后续持续记为已达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 3.5–8.5 s，单臂末端闭合的二指夹爪抵住滑门竖直把手侧面，随机器人侧移把门推向右侧；未见两指张开再合拢夹住把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–20.0 s 红罐仍在原格内底板上，两指从两侧靠近罐身；视频 20.5–22.0 s 罐随闭合夹爪抬起并离开原支承位置，视频 24.0–26.0 s 原格底板已空，罐继续随夹爪退出柜前。"
+     },
+     {
+      "t": 32.2,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–32.2 s 机器人持续持罐上升；视频 31.2、31.4、31.6、31.8、32.0、32.2 s 均可见红罐仍在夹爪之间，机身视角见罐升至柜体上层面板上方、柜顶附近，未见松手或掉落。"
+     },
+     {
+      "t": 32.2,
+      "log_step": 45,
+      "text_zh": "观察：inputs/run.json 的 reward.success=1、all_success=1、video_episode_success=1、deterministic=1、state_identical=1；log step 43 与 log step 45 分别记录所交付 3861 行轨迹的新进程回放 success=true，结束原因为 success。"
+     },
+     {
+      "t": 32.2,
+      "log_step": null,
+      "text_zh": "推断：视频末帧 32.2 s 的持罐升高与评分器成功一致，按本任务实际验收将罐心高度带及速度联合达成记在约视频 32.2 s，final=true；没有逐帧状态日志，不能从图像独立测出 1.67≤z<1.72 米与线速度<0.1 米/秒，也不据上层面板的图像位置提前判达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 19.0–20.5 s 单臂二指夹爪从罐身两侧合拢，随后红罐离开格底并随夹爪抬升、后退；视频 32.2 s 仍夹持罐身。机器人以飞行搬运，无轮式底盘支撑接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人推开滑门，约视频 6.5 s 形成取罐通路，随后夹住红罐、移出格口并升至柜顶附近；视频 32.2 s 末帧仍持罐，评分器确认成功，两个节点最终均达成。任务设计问题：文字目标为把罐放到柜顶，但实际只验收罐心高度带和线速度，不要求柜顶水平范围、支撑接触或松手，本次柜前持罐升高即获成功（视频 32.2 s；log step 43、log step 45）。推断：缺少逐帧状态日志及原生指标数值，高度与速度联合达标的终点依据评分器成功判定，首次达成时间只定位在视频末尾约 32.2 s，未将会话中的成功后复位读数当作视频终态。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的时间、最终值与contact_actual与视频一致（门约6.5 s推开，罐被夹起，末帧32.2 s持罐升高，评分器成功）；任务设计问题已在summary_zh中说明。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": "2026-10-30T02:18:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f8cfd9704bb95aae77bdc0492cb326c7e3031fe986296c79ac09e659e3d06d4",
+   "video_sha256": "532bf95dec989a5bb03230a0730795b6e12a9d14f47e0f7d3dd5201f74627bf4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 2882,
+   "replays": 2,
+   "sim_steps": 2882,
+   "sim_time_s": 24.0167,
+   "timed_out": 0,
+   "replay_wall_s": 192.2,
+   "replay_timeout_s": 2220.5,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 3,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.25,
+   "peak_memory_gb": 1.703,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.832,
+   "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/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia/replay.mp4",
+  "duration_s": 24.067,
+  "fps": 30.0,
+  "frames": 722,
+  "sha256": "27dc038940f91b641a1898dcbaf75303819055178103447eab673731696a5ba8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中浅木色滑门关闭，遮住左半格，汽水罐不可见。"
+     },
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–4.6 s 中机器人二指夹爪围住竖直把手并横向带动门板；视频 4.4–4.6 s 右侧机身视图已露出格口及红罐，视频 6.0 s 左侧末端视图可见红罐和完整接近通路。开门到达时间约为视频 4.5 s，误差约 0.3 s。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–12.5 s 中机器人夹爪进入已打开的格口并接近红罐，门板已移到右侧，不再挡住取罐通路。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–5.0 s 中单臂二指夹爪夹住滑门竖直把手，随末端横移带动门板向机器人右侧滑开。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5 s 中夹爪接触红罐后后撤，视频 13.0–14.0 s 中罐子倾倒在格内，未随夹爪持续搬出；此时目标高度尚未达到。"
+     },
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.0–17.5 s 中机器人再次接近并夹住罐身，视频 18.0–21.0 s 中右侧机身视图可见红罐随夹爪离开格内支承面并向柜前退出，原先放罐处已空；左侧末端视图持续可见近处红色罐身。"
+     },
+     {
+      "t": 24.033,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5–24.033 s 中机器人持罐继续上升，末帧右侧视图可见红罐处于柜顶边缘上方且仍由夹爪握持，左侧视图亦可见红罐及柜顶板；未见释放。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "推断：视频 24.0–24.033 s 的持罐高度与最终画面，以及评分器 reward.success=1、all_success=1、video_episode_success=1、deterministic=1（两次回放成功），共同支持罐心高度带及低速验收在结尾成立；到达锚点取视频约 24.0 s。无逐帧状态日志，不能从画面精确测量 1.67≤z<1.72 米和线速度<0.1 米/秒，也不将末段仍在上升的更早画面提前记为达成。"
+     },
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "观察：log step 59 的服务状态为 success=true、done=true、control_steps=2882，但同一输出中的机器人位姿和罐位姿已回到初态；这些位姿与视频 24.033 s 的持罐末帧不同，未用于判断视频终态或换算节点时间。log step 77 显示最终生成文件有 2882 行动作且保存的元数据 success=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓��",
+      "note_zh": "观察：机器人单臂二指夹爪先在视频 12.5 s 附近接触夹罐，罐随后倒回格内；视频 15.0–18.5 s 中重新夹住倾倒后的罐身，再持罐退出格口并抬升，视频 24.033 s 仍夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人约在视频 4.5 s 打开滑门，首次接触使汽水罐倾倒后重新夹起，约在视频 24.0 s 将罐抬到柜顶高度，按成功评分两节点最终均完成。任务设计问题：文本要求汽水罐到柜顶，但实际验收仅检查罐心高度和线速度；视频 24.033 s 中机器人仍在柜前夹罐，无需落在顶板或松手也获成功。无逐帧状态日志，精确高度、速度及首次满足时刻无法独立测定，结尾目标值结合评分器确认；评分器未报告两项原生指标数值，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": "两节点时间与证据与视频一致：开门约 4.5 s（4.0 s 帧无罐、4.5 s 帧罐显露），首次触罐后罐倒下，重新夹起并在 24.0 s 持罐升至柜顶，成功评分支持目标节点；接触与任务设计说明合理。",
+    "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": "2026-10-30T02:14:28Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7ff9b0e0c589e054f302f2f71ab422cc47beb88c6fc5a95126167d67907ac917",
+   "video_sha256": "27dc038940f91b641a1898dcbaf75303819055178103447eab673731696a5ba8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 3673,
+   "replays": 2,
+   "sim_steps": 3313,
+   "sim_time_s": 27.6083,
+   "timed_out": 0,
+   "replay_wall_s": 188.6,
+   "replay_timeout_s": 2418.2,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.406,
+   "peak_memory_gb": 3.272,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.83,
+   "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/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc/replay.mp4",
+  "duration_s": 27.667,
+  "fps": 30.0,
+  "frames": 830,
+  "sha256": "7f28b862dfc358811fbe90d0aa1caeab494ce8d9a3763dd72f60b047fabf3180"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，浅木色滑门遮住左半格，红罐不可见；视频4.5–7.0 s，机器人的闭合夹爪抵在竖直把手侧方，随横向运动推动滑门，未见二指张开包夹把手。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.5 s红罐开始显露，视频8.0 s机身相机已能看到红罐及其前方格口，滑门右移并与固定面板重叠；视频10.0–14.0 s开口进一步显露，机器人随后从此开口接近罐子。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频7.5–8.5 s门边与罐的位置及视频14.5–19.0 s经该格口成功夹取，首次足以取罐的开口约在视频8.0 s，时间不确定度约0.5 s；此事件完成后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频5.5–9.5 s，单臂闭合二指夹爪侧面抵住滑门竖直把手，向机器人右侧横推，使门板侧移。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频14.5–16.5 s机器人张开的二指接近红罐两侧，视频17.0 s二指已收拢在罐身两侧；视频18.5–19.0 s机身相机可见红罐离开格底，随夹爪升高，原位置不再有罐。"
+     },
+     {
+      "t": 27.633,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–24.0 s机器人夹着红罐撤出格口并上升，视频26.0–27.633 s红罐持续位于二指之间；末帧机身相机可见红罐在柜顶板高度附近、柜前悬持，未松手。"
+     },
+     {
+      "t": 27.633,
+      "log_step": 40,
+      "text_zh": "观察：inputs/run.json的reward中success=1、all_success=1、deterministic=1、state_identical=1、video_episode_success=1；log step 40所列两次独立新进程回放均报告success=true、end_reason=success，执行同一交付文件且结束状态哈希一致。"
+     },
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "推断：评分器成功字段结合视频27.5–27.633 s的末段抬升画面，支持本节点在视频约27.6 s首次达标并以true结束；该时间为末段帧锚点，约有0.1 s不确定度。未提供逐帧状态日志，无法仅凭相机独立测出罐心1.67≤z<1.72米及线速度<0.1米/秒的精确数值，终态验收依评分器判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频17.0–19.0 s，单臂二指夹爪从罐身两侧合拢夹持并抬起红罐；视频20.0–27.633 s保持夹持，随机体撤出格口并上升至柜顶高度附近。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约8.0 s横推滑门形成取罐通路，随后夹住红罐、移出格口并抬升，在视频约27.6 s完成目标，两个节点最终均成立，评分器及两次独立回放均判成功。任务设计问题：任务称将罐移到柜顶，但实际验收仅要求罐心高度带和低线速度，不要求柜顶水平范围、支撑接触或松手；视频27.633 s末帧仍在柜前夹持红罐。没有逐帧状态日志，开门时间由画面估计，末段精确高度与速度验收依据评分器，两个原生指标未报告具体值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与接触标注与视频一致：约7.5–8 s机身相机左上角出现红罐，17–19 s夹取，末帧罐被夹持升高；评分器判成功，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:14:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e04ec8cf8a1949cd7bb8169d75d629dee8766a47237d8943e495d28404a9528e",
+   "video_sha256": "7f28b862dfc358811fbe90d0aa1caeab494ce8d9a3763dd72f60b047fabf3180",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw.json

@@ -0,0 +1,213 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "live_matches_replay": 1,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "instance_mismatch": 0,
+   "video_episode_success": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1890,
+   "sim_steps": 1890,
+   "physics_steps": 1890,
+   "steps": 29,
+   "elapsed_s": 998.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "replay_gpu_fault": 0,
+   "live_gpu_faults": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.319,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.843,
+   "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/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw/replay.mp4",
+  "duration_s": 15.8,
+  "fps": 30.0,
+  "frames": 474,
+  "sha256": "036cd724fc77624a971e6feb84341bfb25233509f8a3fea7ef7c9c1a153b3e6b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 35,
+      "text_zh": "观察：视频 2.8–3.4 s，机器人二指夹爪在滑门竖直把手两侧合拢；log step 35 的服务读数为夹爪开口约 0.0337 米。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 38,
+      "text_zh": "观察：视频 3.6–5.4 s，机器人带着把手向自身右侧移动滑门；视频 4.6 s 红罐开始显露，视频 4.8 s 门板已让出罐前方的开口，视频 5.8–8.0 s 可见红罐及夹爪接近通路。开门到达时间约有 0.3 s 的视觉判断误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂二指夹爪夹住滑门竖直把手，随后带动门板向机器人右侧横移；开口形成后张开夹爪退出。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 60,
+      "text_zh": "观察：视频 8.4–8.8 s，机器人二指夹爪从红罐两侧合拢；视频 9.0–9.4 s 红罐随夹爪升起，离开原来承托它的层板，视频 9.6–11.4 s 随机器人退出格口并持续夹持，原格口内已无红罐。"
+     },
+     {
+      "t": 15.7,
+      "log_step": 80,
+      "text_zh": "观察：视频 11.4–13.2 s，机器人把夹持的红罐升至柜顶附近；视频 14.4–15.77 s 继续缓慢上升，末帧红罐仍在夹爪间，位于柜前的顶板高度附近。log step 80 的服务返回 done=true、reason=success、control_steps=1890；评分器 reward 中 live_success、replay_success、live_matches_replay、video_episode_success 均为 1。"
+     },
+     {
+      "t": 15.75,
+      "log_step": 80,
+      "text_zh": "推断：log step 15 的服务规格为每控制步 1/120 s，log step 80 的成功控制步 1890 对应视频 1890/120=15.75 s，与视频 15.77 s 末帧吻合；log step 38 的控制步 642 对应视频 5.35 s，亦与视频 5.4 s 开门后停留的画面吻合。结合服务在首个满足条件的控制步结束及评分成功，罐心高度带和线速度条件在视频约 15.75 s 同时达成；未把末端高度或图像运动替代罐心高度及原生速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂二指夹爪夹住红色汽水罐罐身两侧，带罐升起、退出格口，再随飞行机体抬升至柜顶高度附近；末帧保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人打开滑门、夹住并取出红罐，再持罐抬升至柜顶高度附近；服务和评分器均报告成功，两个节点最终完成。任务设计问题：任务名称要求移到柜顶，但 task_text 的实际验收只检查罐心高度 1.67≤z<1.72 米与线速度<0.1 米/秒，不检查水平位置、支撑或释放；视频 15.77 s 末帧仍夹持于柜前，按该规则记成功。推断：开门约在视频 4.8 s 达成，目标验收约在视频 15.75 s 达成；无状态日志且评分器未报告两项原生指标的数值，精确高度和速度依据成功判定，指标值留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频帧与标注一致：约 2.8–3.4 s 夹爪夹住滑门把手，约 4.4–4.8 s 门移开、红罐显露；约 8.4–9.4 s 夹住红罐并升起，约 11.4–15.7 s 持罐升至柜顶板高度附近。两个节点的时间、contact_actual（抓握）与 final 均成立，无 failure 符合成功运行，控制步到视频时间的换算有 log 依据。任务设计问题的说明合理。",
+    "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": "2026-10-30T02:20:56Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d2edafe2226ae37534c57f3d9116ea3eaa5a6ccf3098ac6660d60d49fd1731b",
+   "video_sha256": "036cd724fc77624a971e6feb84341bfb25233509f8a3fea7ef7c9c1a153b3e6b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1850,
+   "sim_steps": 1850,
+   "physics_steps": 1850,
+   "steps": 309,
+   "elapsed_s": 942.0,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8/replay.mp4",
+  "duration_s": 15.467,
+  "fps": 30.0,
+  "frames": 464,
+  "sha256": "e299f79f0e72fff7f28814c03f2d13e0312845cc792ea8be53c863e12530b943"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": 27,
+      "text_zh": "观察：视频4.2–4.8 s，末端相机近距离对着滑门竖直把手，两指向把手合拢；log step 27 的机器人服务返回夹爪闭合命令及开口0.0199米。视频5.2–6.8 s，把手随机器人末端横移，门板向画面右侧滑动。"
+     },
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频6.0 s 格口已露出但罐尚被门缘遮挡；视频6.2 s 红罐开始显露，视频6.4–6.8 s 罐身及其前方开口清楚可见，滑门与右侧面板重叠。视频8.0–12.6 s，夹爪随后从该开口接近并夹起罐子。"
+     },
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频6.2–6.8 s 的门缘与罐位置以及后续实际取罐，取罐通路约在视频6.4 s 达成，时间误差约0.2秒；按事件节点锁存至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪合拢夹住滑门竖直把手，带动门板向机器人右侧滑开，随后张开并退出；接触方式结合视频4.2–7.8 s 的夹爪、把手随动及log step 27 的闭合开口判断。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.433,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": 41,
+      "text_zh": "观察：视频10.0–11.6 s 红罐仍立于格内原位置，机器人张开的两指向罐身靠近；视频11.8–12.2 s 两指夹住罐身，视频12.4–12.6 s 罐底离开层板。视频13.0–14.4 s，罐随夹爪退出，原格口不再留有红罐，随后机器人携罐升高。"
+     },
+     {
+      "t": 15.433,
+      "log_step": 44,
+      "text_zh": "观察：视频14.4–15.433 s 红罐随机器人升至上层面板及柜顶板附近，末帧仍由两指夹持，未释放到顶板上。log step 44 的机器人服务返回done=True、reason=success、control_steps=1850；run.json评分字段success=1、live_success=1、graded_by_live=1，且resumes=0、infra_error=0。"
+     },
+     {
+      "t": 15.433,
+      "log_step": 44,
+      "text_zh": "推断：视频末帧的持罐抬升与单次实况回合的服务成功结果一致，按本次评分规则，罐心高度1.67≤z<1.72米及线速度<0.1米/秒的联合条件在终止时成立；到达锚点取已检查的视频15.433 s末帧，约有0.1秒定位误差。没有状态日志或罐的原生高度、速度读数，不能仅凭图像确认更早的精确达成时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂二指夹爪从罐身两侧夹紧红色汽水罐，抬离层板、向后退出格口，再随飞行机体升至目标高度；视频11.8–15.433 s持续夹持，无松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹住把手侧移滑门，约在视频6.4 s打开取罐通路，随后夹起红罐、退出格口并升高；视频15.433 s末帧结合log step 44的服务成功判定，两个节点最终均达成。任务设计问题：目标称为到柜顶，但验收仅检查罐心高度带和线速度，不检查水平位置、顶板支撑或松手，本次仍在柜前夹持便成功，成功参考视频34.867 s末帧也呈现持罐状态。缺少状态日志及罐的原生高度、速度数值，目标精确阈值由实况成功结果确认，到达时间取视频末帧近似锚点，原生指标数值保留为空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点的值、时间和 contact_actual 均与视频和 log 一致：滑门约在视频 6.4 s 露出红罐，罐在 11.8–15.4 s 持续被夹持升高，log step 44 服务返回 done=True/success（control_steps=1850，sim 15.4167 s）与视频末帧对应；成功回合无 failure，任务设计问题说明合理。",
+    "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": "2026-10-30T02:17:15Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4781f31739d036dc0f204b6582d62beb9cb60fd8b1a75eed3b5737372b30146c",
+   "video_sha256": "e299f79f0e72fff7f28814c03f2d13e0312845cc792ea8be53c863e12530b943",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed.json

@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6244,
+   "sim_steps": 6244,
+   "physics_steps": 6244,
+   "steps": 349,
+   "elapsed_s": 1690.4,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed/replay.mp4",
+  "duration_s": 52.067,
+  "fps": 30.0,
+  "frames": 1562,
+  "sha256": "fa402588a6ef1dcf8520a392489aac74336bb27ec5d9a85b1109f3fa7d3e4c26"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的机载双视图显示浅木色滑门遮住左半格，红色汽水罐不可见。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 13,
+      "text_zh": "观察：视频 15–19 s 机器人末端沿把手方向向右侧横移，滑门随之向固定面板一侧移动；视频 17.5 s 罐仅在门边露出，视频 18.5–19 s 红罐及其前方格口已显露，后续视频 22–30 s 可见夹爪进入该开口。开门到达时间取视频约 18.5 s，目测误差约 0.5 s。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 11,
+      "text_zh": "推断：log step 11 中机器人服务在持续闭爪命令下返回夹爪开口 0.0314 m；结合 log step 13 的闭爪侧移命令及视频 15–19 s 门板随末端横移，判断二指夹爪夹住竖直把手带动滑门，接触细部位于末端相机画面下方。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：单臂二指夹爪夹住滑门竖直金属把手，机器人横移末端带门向机器人右侧滑动，随后张爪撤回；依据视频 15–19 s 的门与末端联动及 log step 11、13 的闭爪反馈。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": 19,
+      "text_zh": "观察：视频 28 s、36 s 和 44 s 的机载视图仍能看到红罐在原格内；机器人此前的接近和抬臂没有把罐移到柜顶高度。"
+     },
+     {
+      "t": 49.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 48.25–49 s 红罐处于二指夹爪之间，视频 49.5–51.75 s 红罐随末端离开层板并持续升高，机身相机中原格口变空；视频 52.033 s 末帧罐仍被夹在柜前，已升至柜顶板附近，未松手。"
+     },
+     {
+      "t": 52.03,
+      "log_step": 21,
+      "text_zh": "观察：log step 20 的机器人服务返回 hold 0 done=True、reason=success、control_steps=6244，log step 21 再次查询仍为该成功终止状态；run.json 的评分器字段 live_success=1、graded_by_live=1、resumes=0。"
+     },
+     {
+      "t": 52.03,
+      "log_step": 20,
+      "text_zh": "推断：本次为单次实况回合，log step 7 的服务动作规范规定 120 Hz；log step 20 的成功计数 6244/120=52.033 s 与视频末帧吻合，同一步的闭爪计数 5880/120=49.0 s 也与视频 49.0 s 红罐处于夹爪间的画面核对一致。因此把目标首次达成锚定在视频 52.03 s；罐心高度 1.67≤z<1.72 m 且线速度<0.1 m/s 由该服务成功判定支持，不用末端高度代替罐心高度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 48.25–52.033 s 单臂二指夹爪从罐身两侧合拢夹持红色汽水罐，随后带罐退出格���并向上搬运，终局仍握持；飞行机体未发生地面支撑接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 18.5 s 打开滑门，最终夹起并移出汽水罐，在视频约 52.03 s 满足高度与速度验收，两个节点最终均完成，服务和评分器均确认成功。任务设计问题：文字称移到柜顶，但明示成功条件仅检查高度带与线速度，视频末帧显示机器人仍把罐夹在柜前，按本次规则计为成功。没有状态日志，开门时刻为视觉近似，精确罐心高度和线速度仅由服务成功判定支持，原生指标未报告具体数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功回合，两个节点时间与接触标注与视频一致：约18.5 s 门开、52.03 s 罐被夹在柜前升至高度带；服务 control_steps 6244/120 与视频末帧吻合；任务设计问题已注明。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": "2026-10-30T02:14:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6864e95bc856c0c3936aeeffccf088edd1b408ba0ccfa4c6b5bf253ef993632d",
+   "video_sha256": "fa402588a6ef1dcf8520a392489aac74336bb27ec5d9a85b1109f3fa7d3e4c26",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3362,
+   "sim_steps": 3362,
+   "physics_steps": 3362,
+   "steps": 57,
+   "elapsed_s": 256.5,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu/replay.mp4",
+  "duration_s": 28.067,
+  "fps": 30.0,
+  "frames": 842,
+  "sha256": "174369625095e5413a241cee8a82c63e402b271f1d0a5abbb88e7aa6bf9a66f2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两个机载视角中，浅木色滑门遮住左半格，红色汽水罐不可见。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 17,
+      "text_zh": "观察：视频 6.0–7.5 s，空中机械臂的二指夹爪从张开变为合拢，夹在滑门竖直金属把手两侧；视频 8.5–12.5 s 把手随滑门向机器人右侧横移，格口逐渐显露。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 18,
+      "text_zh": "观察：视频 12.0 s，机身相机中红罐及其右侧间隙已露出，门板横移到罐右侧；视频 12.5–17.0 s 可见敞开的格口、红罐与移开的门板，之后夹爪从该开口进入并取罐。开通取罐通路的时间取视频约 12.0 s，精度约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.5–13.0 s，单臂二指夹爪夹住滑门的竖直把手，带动门板向机器人右侧横移；随后张开夹爪并后退。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.4,
+      "log_step": 25,
+      "text_zh": "观察：视频 20.5–22.4 s，末端相机可见红罐位于两指之间，夹爪逐渐闭合夹住罐身；视频 22.9–24.3 s，机身相机可见红罐随末端离开原来的隔层底面并向柜前移出，原放罐位置腾空，罐持续被夹持。"
+     },
+     {
+      "t": 28.03,
+      "log_step": 27,
+      "text_zh": "观察：视频 25.0–28.03 s，机器人持续夹持红罐上升；视频 27.07–28.03 s 的密集画面及末帧中，红罐位于柜前、接近柜顶高度，夹爪未释放。log step 27 中，机器人服务返回 done=True、reason=success、control_steps=3362；评分器 reward.live_success=1、graded_by_live=1、success=1。"
+     },
+     {
+      "t": 28.03,
+      "log_step": 27,
+      "text_zh": "推断：结合视频 28.03 s 末帧的夹持抬升结果与实况服务成功判定，罐心高度带及线速度联合验收在回合结束时成立；将首次达成锚定在视频约 28.03 s。没有逐帧物体状态日志或罐速读数，不能用画面精确还原阈值穿越时刻；不把尚在持续上升的更早画面计为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 21.6–22.4 s，单臂二指夹爪闭合夹住红色汽水罐罐身，随后将罐抬离隔层、向柜前取出并持续夹持上升，直至视频 28.03 s 末帧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "value": null,
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target"
+  },
+  {
+   "name": "can_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹住滑门把手向右移门，视频约 12.0 s 打通取罐通路，随后夹住红罐、取出并抬升，视频约 28.03 s 回合结束时实况服务判定成功，两个节点最终均达成。任务设计问题：任务文字称移到柜顶，但验收仅检查罐心高度和线速度，不要求柜顶水平范围、支撑或释放；本次视频末帧仍在柜前夹持红罐，按实际评分规则记成功。缺少逐帧物体状态及原生高度、速度数值，目标阈值成立由末段画面结合服务成功结果确认，精确达成时刻只能定位到视频末段。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功回合，两个节点均达成；门打开约12 s、罐在末帧被夹持升至柜顶高度，与视频及log step 27（done=True success，tcp z=1.708）一致，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:14:35Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f6c548c2f79b5fcf9b8eca1086239f17fddb12676ad705b1fb41c7e6899eaf4",
+   "video_sha256": "174369625095e5413a241cee8a82c63e402b271f1d0a5abbb88e7aa6bf9a66f2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3285,
+   "sim_steps": 3285,
+   "physics_steps": 3285,
+   "steps": 3285,
+   "elapsed_s": 299.2,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.331,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.858,
+   "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/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn/replay.mp4",
+  "duration_s": 27.433,
+  "fps": 30.0,
+  "frames": 823,
+  "sha256": "befc029fd523b1afb8c662385b11d39bebfa245b83cf36b913f9bd2d883ab9af"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅木色滑门遮住左侧格口，红罐不可见；机器人随后接近该门的竖直把手。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 25,
+      "text_zh": "观察：视频 6.6–7.4 s，机器人二指夹爪合拢在竖直把手两侧；视频 7.6–10.2 s，夹爪带动滑门向机器人右侧移动，右侧机身视图中左格开口逐渐扩大，视频 9.6 s 红罐显露，视频约 10.0 s 门缘已让出罐前方的接近通路。开门到达时间按通路宽度估计，误差约 0.5 s；log step 25 的脚本命令为闭爪侧移。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 29,
+      "text_zh": "观察：视频约 13.0–17.0 s，机器人松开把手并转向红罐，末端视图清楚显示敞开的格口和直立红罐；之后夹爪经该开口接近并取罐，滑门未重新挡住通路。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–11.4 s，空中机械臂的单个二指夹爪夹住滑门竖直把手，并带动门板向机器人右侧横移；随后张开夹爪离开把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": 39,
+      "text_zh": "观察：视频 19.5–20.4 s，二指夹爪围夹红色罐身；视频 20.7–21.9 s，机身视图可见红罐随夹爪上移、离开格口底板。视频 21.9–24.3 s，机器人夹持红罐向柜前撤出，原先放罐的格口底板已空；罐始终跟随夹爪。"
+     },
+     {
+      "t": 27.4,
+      "log_step": 43,
+      "text_zh": "观察：视频 24.3–27.4 s，机器人保持夹罐并上升；视频 26.2–27.4 s 的密集帧和视频 27.4 s 末帧显示红罐已在柜顶高度附近、仍夹在柜前，未释放或落回格内。log step 43 中机器人服务返回 done=true、reason=success、control_steps=3285；评分器 reward.live_success=1、graded_by_live=1，且没有重置或恢复。"
+     },
+     {
+      "t": 27.4,
+      "log_step": 43,
+      "text_zh": "推断：log step 17 的执行脚本采用每控制步 1/120 s，log step 41 的 control_steps=2916 对应仿真 24.3 s，已与视频 24.3 s 夹罐撤至柜前、开始后续抬升的帧核对；log step 43 的成功控制步 3285 对应仿真 27.375 s，与视频 27.4 s 末帧吻合。因此将首次满足罐心高度 1.67≤z<1.72 m 且线速度范数<0.1 m/s 的到达点记为视频约 27.4 s。精确高度和罐速依成功服务结果判定，画面本身不能量出这些数值；没有把末端或机身速度当作罐速。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 19.5–27.4 s，空中机械臂单个二指夹爪从两侧夹持红色汽水罐罐身，提起后撤��格口，再随飞行机体升到柜顶高度附近；视频末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人握住滑门把手并向右移门，视频约 10.0 s 让出取罐通路，随后夹住红罐、撤出格口并升高，视频约 27.4 s 服务判成功，两个节点最终均完成。任务设计问题：任务名称要求罐到柜顶，但实际验收只检查罐心高度带和线速度，不检查水平位置、支撑或松手；本次视频末帧仍把罐夹在柜前，按该规则记为成功。证据缺口：没有逐帧状态日志，开门通路的首次到达时间约有 0.5 s 误差，罐的精确高度和速度数值未由评分器单独报告，最终达标依据服务成功结果及相符的末帧。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的到达时间、接触（单夹爪抓握把手/罐身）与成功结果一致；任务设计问题已在摘要中说明，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": "2026-10-30T02:16:42Z",
+  "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/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3cb2c550e135ae98df45be3f035241a1d165c6845d4ca5363a066b52b385f5cb",
+   "video_sha256": "befc029fd523b1afb8c662385b11d39bebfa245b83cf36b913f9bd2d883ab9af",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls",
+ "taskKey": "ambench/cabinet_pick_place",
+ "dag_sha256": "cc292a4bde462daa148ce8a9af3a7752d9d5f14850434c7531da2c92498b8c56",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3978,
+   "sim_steps": 3978,
+   "physics_steps": 3978,
+   "steps": 645,
+   "elapsed_s": 319.9,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls/replay.mp4",
+  "duration_s": 33.2,
+  "fps": 30.0,
+  "frames": 996,
+  "sha256": "2de9389608191f137e415d4db2eab2e5bafc8d15715506feb7612794de83e753"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sliding_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅木色滑门遮住左侧格口，红色汽水罐不可见。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 53,
+      "text_zh": "观察：视频 8.0–13.5 s，机器人并拢的二指夹爪抵住竖直门把手一侧，随横移把滑门推向画面右侧；视频 12.0 s 机身视角开始露出红罐，视频 12.5 s 末端视角可见完整罐身及其所在格口，视频 13.5 s 开口继续扩大。log step 53 的开门脚本在侧推阶段始终命令夹爪闭合，没有张开后夹住把手的动作。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 12.0–13.5 s 的门缘与罐身显露，以及视频 23.5–28.0 s 夹爪随后进入同一格口并取出罐子，取罐通路约在视频 12.5 s 打开，边界有约 0.5 s 的目测不确定性；该节点为事件，达成后保持记真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "单臂二指夹爪保持并拢，以指端侧面抵住滑门竖直把手，横向推移门板；没有用两指对向夹住把手。"
+     }
+    ]
+   },
+   "can_at_cabinet_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–23.5 s，张开的二指夹爪接近格内直立红罐并合拢在罐身两侧；视频 26.0–28.0 s，机身视角中罐子随夹爪离开原来的搁板位置，格内原位变空，末端视角中罐身持续位于两指之间。"
+     },
+     {
+      "t": 33.17,
+      "log_step": 67,
+      "text_zh": "观察：视频 29.0–33.17 s，机器人携罐升高，柜顶边缘在两路图像中逐渐下移；视频 32.2、32.6、33.0 s 及末帧约视频 33.17 s，红罐持续被夹持在柜前、接近顶板高度。log step 67 的机器人服务状态返回 done=True、reason=success、control_steps=3978、resumes=0；run.json 的评分字段 live_success=1、graded_by_live=1、success=1。"
+     },
+     {
+      "t": 33.17,
+      "log_step": 67,
+      "text_zh": "推断：末段抬升画面与本次实况成功结果共同支持罐心已进入 1.67≤z<1.72 米且线速度小于 0.1 米/秒的验收状态，首次达成锚定视频末帧约 33.17 s，时间精度约 0.5 s。没有逐帧罐心高度和速度读数，精确阈值成立依据评分结果；按允许持物验收的规则，末态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪从罐身两侧合拢夹持，携罐离开搁板、退出格口并升至柜顶高度，末帧仍握住汽水罐；空中机体通过飞行搬运，没有轮式底盘支撑接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "can_height_above_drawer",
+   "unit": "m",
+   "threshold": {
+    "gte": 0,
+    "lt": 0.05
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "can_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人约在视频 12.5 s 侧推打开滑门，随后夹取红罐、退出格口并升高，视频约 33.17 s 的终局结合实况成功判定支持两个节点全部完成。任务设计问题：评分只检查罐心高度带和线速度，不检查柜顶水平位置、支撑或释放；本次末帧仍在柜前夹持罐子，符合 DAG 所载验收规则。无状态日志，开门边界及达标时刻为视频近似值，高度和速度的精确数值未报告，原生指标值留空。",
+ "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，两个节点均达成；视频 12 s 起红罐显露、33 s 末帧红罐被夹持在柜顶高度附近，与标注一致，成功由评分字段支持，failure 为 null 合理。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": "2026-10-30T02:14:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "530ecad537a7cf6857892293025a907a525c997d816eeac6b56513a121033546",
+   "video_sha256": "2de9389608191f137e415d4db2eab2e5bafc8d15715506feb7612794de83e753",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--69bhdol",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 840,
+   "replays": 2,
+   "sim_steps": 671,
+   "sim_time_s": 5.5917,
+   "timed_out": 0,
+   "replay_wall_s": 108.9,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol/replay.mp4",
+  "duration_s": 5.633,
+  "fps": 30.0,
+  "frames": 169,
+  "sha256": "660a4275974e71d32b275f5a4455ba21548bc42586b08d3586bc9a3216f1ef28"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的末端视角可见深色金属销夹在两侧白色夹指之间，墙上的蓝色方孔仍在远处，插入状态尚未成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–3.5 s，机器人携夹持的金属销靠近蓝色方孔，销与夹爪共同运动；视频 3.5 s 两机载视角均显示销朝向蓝框内红色区域，夹爪未松开。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 4.5–5.6 s，机器人继续将夹持的销向孔内推进，蓝框在末端视角中逐渐放大；视频 5.6 s 末帧仍对准孔内，未见销脱落或撤回。末端视角的销身遮住前端，机身视角也不能精确测量插入深度。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、video_episode_success=1、deterministic=1、state_identical=1，记录两次回放均成功。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频末段持续对孔推进与评分器对本次回放的成功判定，插销入孔节点在终态成立；以已检查的末帧附近视频 5.6 s 作为约略达成锚点。没有状态日志，画面无法独立确定首次越过深度阈值的精确时刻，不能把更早的二维对准当作已插入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–5.6 s，单臂末端两侧白色夹指夹住深色金属销，携销接近并向蓝色方孔推进，全程未见主动释放或掉落。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，靠近并对准蓝色方孔后沿孔方向推进，插销入孔节点在视频约 5.6 s 的终态达成，完成 1/1。评分器记录本次视频回放成功且两次回放状态一致，无失败断点。没有状态日志，销前端在末段受到遮挡，精确插入深度及首次越过阈值的时刻不能由双视角独立量出，终态依据视频与评分结果共同判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，单节点 peg_inserted 终态成立，接触（手指/夹爪 抓握）与帧一致，无失败断点；推断已标注，时间锚点约略可接受。",
+    "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": "2026-10-30T02:54:29Z",
+  "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/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a07d511c495ab5e9e88b7693b344db9cafea4a9166f1d947e4c5dec470a099c9",
+   "video_sha256": "660a4275974e71d32b275f5a4455ba21548bc42586b08d3586bc9a3216f1ef28",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa.json

@@ -0,0 +1,163 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--djjokfa",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1290,
+   "replays": 2,
+   "sim_steps": 1290,
+   "sim_time_s": 10.75,
+   "timed_out": 0,
+   "replay_wall_s": 124.6,
+   "replay_timeout_s": 1822.5,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa/replay.mp4",
+  "duration_s": 10.8,
+  "fps": 30.0,
+  "frames": 324,
+  "sha256": "005019ad2c3ccb8d0f1065aa237611380d3daf440acd8fa8f7af27f98732ff41"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深色金属销位于末端相对的两指之间，蓝色方孔仍远在墙面上；此时尚未插入。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0 s、5.5 s 和 8.0 s，机器人夹持金属销靠近蓝框并将销轴对准红色背板区域，销随夹爪一起移动，没有脱落；这些画面的二维重叠尚不能证明达到插入深度。"
+     },
+     {
+      "t": 10.733333,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0 s、10.5 s、10.6 s、10.67 s、10.70 s、10.73 s 至末帧视频 10.77 s，机器人继续夹销向孔推进，蓝框在末端视角中逐渐放大，机身视角中销端保持在孔内投影范围，没有可见退离。末态外观与参考成功视频 5.6 s 相近；两者销端均有遮挡，参考仅用于辨认外观。"
+     },
+     {
+      "t": 10.7,
+      "log_step": 12,
+      "text_zh": "推断：本次评分器字段 success=1、all_success=1、deterministic=1、state_identical=1、video_episode_success=1，确认唯一目标插入节点最终达成。log step 10 记录脚本保存1290行动行，log step 11–12 对该交付文件的两次独立回放均以成功结束；log step 2 给定120 Hz，因此1290控制步对应仿真10.75 s，与视频10.70–10.77 s的最后推进及停止核对一致，估计首次达成在视频约10.7 s（约0.1 s不确定性）。没有逐帧状态日志，严格超过2厘米的深度由本次评分结果确认，并非由二维重叠测得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0 s、5.5 s、8.0 s 至10.77 s，机械臂末端的相对两指夹住深色金属销，机器人携销靠近、对准并推进到蓝色方孔；销持续随夹爪运动，未见释放。飞行基座没有可见的支承接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，靠近并对准墙上方孔，末段沿孔方向推进，唯一节点“插销入孔”约在视频10.7 s达成，最终完成1/1，评分器两次独立回放均成功。没有失败断点。末段销端被遮挡且没有逐帧状态日志，无法从双视角独立量出严格超过2厘米的深度；最终达成由本次评分结果确认，首次达成的视频时间约有0.1 s不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功运行：视频中夹爪持销持续推进、蓝框放大，评分器字段 success=1 且两次回放一致，节点 final=true 有依据；约 10.7 s 的 1290 步/120 Hz 换算已说明并核对末帧；contact_actual（手指/夹爪 抓握）与画面一致；无失败断点，failure=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": "2026-10-30T02:27:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "661712c2866373348c3cfdfa214027a8b0af9fb2e1692b3ea54fbb4fe86274c5",
+   "video_sha256": "005019ad2c3ccb8d0f1065aa237611380d3daf440acd8fa8f7af27f98732ff41",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz.json

@@ -0,0 +1,165 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1659,
+   "replays": 2,
+   "sim_steps": 1659,
+   "sim_time_s": 13.825,
+   "timed_out": 0,
+   "replay_wall_s": 125.2,
+   "replay_timeout_s": 1914.8,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.25,
+   "peak_memory_gb": 1.924,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.83,
+   "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/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz/replay.mp4",
+  "duration_s": 13.867,
+  "fps": 30.0,
+  "frames": 416,
+  "sha256": "98ff7900d357fa7a44a28846a38d0141447a81e223085160863ef17aa253035b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.83,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中，深色金属销位于二指夹爪之间，蓝色方孔尚在远处；视频 4.0–6.0 s 中，机器人携销靠近并调整朝向，销没有脱离夹爪。"
+     },
+     {
+      "t": 13.833,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.5 s 中，机器人使销逐渐接近孔口；视频 12.8–13.833 s 的密集帧中，销继续向蓝框内红色区域推进，末帧仍由夹爪夹持。孔框在末段视野中逐渐变大，未见退出；销前端与孔底的遮挡使精确深度不能单凭图像测量。"
+     },
+     {
+      "t": 13.833,
+      "log_step": 25,
+      "text_zh": "观察：log step 25 中，生成器运行的服务状态在 control_steps=1650、仿真 13.75 s 时仍未成功，在 control_steps=1659、仿真 13.825 s 时报告 success=true、done=true；log step 26 说明保存该已执行轨迹，log step 30 核对交付数组为 (1659,8)。本次评分器 reward 报告 n_actions=1659、sim_time_s=13.825、all_success=1、deterministic=1、state_identical=1、video_episode_success=1。"
+     },
+     {
+      "t": 13.833,
+      "log_step": 25,
+      "text_zh": "推断：交付动作数与评分器执行步数一致，服务计数每 60 步对应仿真 0.5 s，即 120 Hz；以该交付轨迹的 control step 1659 / 120 = 13.825 s 对应视频末段，已与视频 13.8–13.833 s 的持续推进及视频总长 13.867 s 核对。因此将插入达标锚定在约视频 13.83 s，按评分器成功结果判定终态为真；此前的二维重叠不足以提前确认超过 2 厘米的深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–13.833 s 中，机械臂末端二指夹爪从两侧夹持深色金属销，携销靠近、调整并向蓝色方孔推进；末段未见释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人夹持金属销靠近蓝色方孔，调整后持续推进，约视频 13.83 s 达成唯一的“插销入孔”节点，终态为 1/1，评分器两次回放均成功且结果一致。末段推进形态与成功参考视频相符；本次没有状态日志，销前端受遮挡，精确插入深度和达标时刻由交付轨迹的控制步计数及评分器结果辅助确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 peg_inserted 在约视频 13.83 s 达成，终态 true，与评分器 success/n_actions=1659、log step 25 服务读数（1659 步成功）及视频末帧（销入红色背板区域、仍被夹持）一致；控制步到视频时间的换算（120 Hz，1659/120=13.825 s）已与视频总长 13.867 s 核对；无失败层，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": "2026-10-30T02:55:28Z",
+  "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/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b48b4b06fe7d41609dc7f118c20d6b51e64d4bdc206d3c6cad59a322a95f42ff",
+   "video_sha256": "98ff7900d357fa7a44a28846a38d0141447a81e223085160863ef17aa253035b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1500,
+   "replays": 2,
+   "sim_steps": 1116,
+   "sim_time_s": 9.3,
+   "timed_out": 0,
+   "replay_wall_s": 97.7,
+   "replay_timeout_s": 1875.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb/replay.mp4",
+  "duration_s": 9.333,
+  "fps": 30.0,
+  "frames": 280,
+  "sha256": "ea66fad87baf87db856ad0d074d83563c6581102d5729b8b609326ad91677e11"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，末端视角中深色金属销位于相对的两根白色夹指之间，蓝框红底方孔仍在墙面远处，初态尚未插入。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 3.5–5.0 s，机器人携销靠近蓝色方孔并调整对准；视频约 5.0–6.5 s，销仍夹在两指之间，机器人在孔前短暂停留，未见释放或掉落。"
+     },
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.3–9.3 s 的双视角逐帧采样显示机器人继续将夹持的销朝红色背板推进，末帧销端投影位于蓝框开口内；该末段外观与成功参考视频 5.6 s 接近。销前端遮挡使画面不能独立证明精确插入深度。"
+     },
+     {
+      "t": 9.3,
+      "log_step": 19,
+      "text_zh": "观察：log step 18、19 中，基准服务对已交付轨迹的两个独立进程回放均返回 success=true、end_reason=success、control_steps=1116、sim_time_s=9.3，实例匹配且末态哈希相同；本次 reward 同样记录 all_success=1、sim_steps=1116、video_episode_success=1。"
+     },
+     {
+      "t": 9.3,
+      "log_step": 19,
+      "text_zh": "推断：log step 2 给出的控制频率为 120 Hz，已交付轨迹的控制步 1116 对应视频约 1116/120=9.3 s；已在视频 9.2–9.3 s 的末次推进及终止处核对，与视频全长 9.333 s 一致。结合评分器成功结果，将插入节点首次达成锚定为视频约 9.3 s，末态为真；不使用会话中关闭成功终止后的调试轨迹作为本次节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–9.3 s，单臂末端的两根白色夹指从两侧夹持深色金属销，机器人携销靠近并向蓝框方孔推进，末段未见松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "本次评分轨迹中，机器人持续夹持金属销，靠近并对准蓝色方孔后缓慢推进，唯一节点“插销入孔”于视频约 9.3 s 达成，最终完成 1/1。评分器及已交付轨迹的两个独立进程回放均报告成功，无失败断点。没有逐帧状态日志，销前端在末段受到遮挡，精确深度与达成时刻结合评分结果和已核对的控制步映射判定，未从二维重叠单独推定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频及评分结果一致：单节点插销入孔以控制步映射（1116/120=9.3 s）锚定在视频末尾，末态为真，无断点；接触抓握正确。",
+    "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": "2026-10-30T02:19:36Z",
+  "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/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e9d2565316be28137c91ece9fb4f6c4ce94ec5aaa64dcc0669d073991d4c14bb",
+   "video_sha256": "ea66fad87baf87db856ad0d074d83563c6581102d5729b8b609326ad91677e11",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp.json

@@ -0,0 +1,165 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1920,
+   "replays": 2,
+   "sim_steps": 1487,
+   "sim_time_s": 12.3917,
+   "timed_out": 0,
+   "replay_wall_s": 116.8,
+   "replay_timeout_s": 1980.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.666,
+   "peak_memory_gb": 2.084,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.829,
+   "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/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp/replay.mp4",
+  "duration_s": 12.433,
+  "fps": 30.0,
+  "frames": 373,
+  "sha256": "c74cbcd1e1d8dd57b606ebe3ab91720c75844e71011306feb3cc7053b35a8c21"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深色金属销位于二指夹爪之间，墙上蓝色方框及红色背板仍在前方远处，尚未插入。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0 s、9.0 s，机器人已将夹持的销对准蓝色方孔并在孔前停顿；视频 9.0 s 之后至 12.4 s，孔框在末端视角中继续放大，另一机载视角中销前端朝红色背板推进；视频 11.4–12.4 s 逐帧检查未见销掉落或回撤。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 36,
+      "text_zh": "观察：log step 26–27 保存最终交付的1920行动作，并核对其前缀与成功试验一致；log step 36 对该交付文件的独立重放返回 instance_matches=true、success=true、control_steps=1487、sim_time_s=12.3917。inputs/run.json 的评分字段同时给出 all_success=1、replays=2、deterministic=1、state_identical=1、video_episode_success=1。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 36,
+      "text_zh": "推断：依据 log step 6 的控制频率120 Hz，交付文件重放的1487个控制步对应视频约1487/120=12.39 s；该映射已用视频 7.0–9.0 s 的孔前停顿及之后继续推进的可见过程核对，与视频结束于 12.43 s 一致。视频 12.4 s 销仍对准孔内且没有直接反证，结合评分成功，将唯一目标在视频约 12.4 s 标为达成并保持至结束。销前端及孔深受遮挡，不能仅由二维重叠独立量出严格超过2厘米，达成时刻为终止附近的近似锚点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0 s、7.0 s、12.4 s，单臂末端的两指分列深色金属销两侧并夹持，销随末端一同接近和推进到蓝色方孔；全程未见计划松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人持续夹持金属销靠近墙面，对准蓝色方孔，在视频约 7.0–9.0 s 孔前停顿后继续推进，最后一秒未见松脱或回撤。推断：交付文件的独立重放在1487个控制步成功，且评分确认两次重放成功、状态一致，故唯一节点“插销入孔”在视频约 12.4 s 达成，终态为1/1，无失败断点。证据缺口：没有逐帧状态日志，末段销前端受遮挡，严格超过2厘米的深度验收依赖评分成功，不能从画面独立精确测量；参考成功视频仅用于核对视角和外观。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一目标节点在视频约12.4 s达成、终态1/1、无断点，与帧和评分一致；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": "2026-10-30T02:34:03Z",
+  "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/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9ae80f05493de0b7f94fa7565e289171f0badfb26980109863bc5ed9382c80b8",
+   "video_sha256": "c74cbcd1e1d8dd57b606ebe3ab91720c75844e71011306feb3cc7053b35a8c21",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_checked": 1,
+   "instance_ok": 1,
+   "n_actions": 1701,
+   "replays": 2,
+   "sim_steps": 1700,
+   "sim_time_s": 14.1667,
+   "timed_out": 0,
+   "replay_wall_s": 132.9,
+   "replay_timeout_s": 1925.2,
+   "grader_error": 0,
+   "infra_error": 0,
+   "replay_retries": 0,
+   "replay_gpu_fault": 0,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "video_rendered": 1,
+   "video_episode_success": 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/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc/replay.mp4",
+  "duration_s": 14.2,
+  "fps": 30.0,
+  "frames": 426,
+  "sha256": "7c3a62a6ebd379e35a35192e37ccb9ad5ea81c1db8adb9d53c7d78277ecb896e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深色金属销已夹在机器人二指夹爪之间，蓝色方孔仍在前方远处；初态尚未插入。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–7.0 s，机器人携销靠近墙面并调整姿态，销前端逐渐与蓝框内红色区域对齐；视频 6.5 s 右视角中销端已覆盖孔口区域，但二维重叠本身不能证明达到插入深度。"
+     },
+     {
+      "t": 14.1,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–14.167 s 的密集帧及视频 14.1 s 单帧中，机器人继续夹持金属销缓慢推进，销端保持在蓝色方孔内的红色区域，未见松脱、退出或横向移出；末段深度被销与夹爪遮挡，不能直接量出2厘米阈值。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 38,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、video_episode_success=1、deterministic=1、state_identical=1，replays=2；log step 38 对已交付轨迹的回放工具结果报告 success=true、end_reason=success，control_steps=1700、sim_time_s=14.1667。"
+     },
+     {
+      "t": 14.1,
+      "log_step": null,
+      "text_zh": "推断：结合本次成功评分与视频末段持续夹持推进且未退出的画面，插销入孔节点终值为真；首次达成以所检查的末段帧锚定为视频约 14.1 s，时间精度约0.3秒，不能凭画面独立确定精确越过深度阈值的瞬间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0 s、3.5–7.0 s 及12.5–14.167 s，单臂末端二指夹爪从两侧夹住深色金属销，随机器人靠近、对准并推进至墙上蓝色方孔，末段仍夹持，未见释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，靠近墙面、对准蓝色方孔并缓慢推进，唯一节点“插销入孔”在视频约 14.1 s 达成，最终为1/1；评分器报告两次回放均成功且结果一致，无失败断点。末段外观与成功参考相符，但双视角均遮挡销端的精确深度，故最终达成结合本次评分判断，首次达成时间为近似锚点；本次没有逐帧状态日志。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点插销入孔：评分器 success=1 且两次回放一致，视频末帧销已深入红色背板区域并仍被夹持；节点 final=true、14.1 s 近似锚点、抓握接触、无失败断点均合理。",
+    "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": "2026-10-30T02:57:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "936ba546cccb8d25cfa4a438bdeda0f74c29278042315e5c66c66af1ad90cd9d",
+   "video_sha256": "7c3a62a6ebd379e35a35192e37ccb9ad5ea81c1db8adb9d53c7d78277ecb896e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--68zzihh.json

@@ -0,0 +1,167 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--68zzihh",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 807,
+   "sim_steps": 807,
+   "physics_steps": 807,
+   "steps": 806,
+   "elapsed_s": 1152.9,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-peg-in-hole-fahexa-i00-standard--68zzihh/replay.mp4",
+  "duration_s": 6.767,
+  "fps": 30.0,
+  "frames": 203,
+  "sha256": "90a3b668703cc97d2e5fdc4a7f3c3e91630e71f7a6d64358f3c018747200d460"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双机载视角中，深色金属销位于白色二指夹爪之间，蓝色方孔仍在远处墙面上，初态未插入。视频 0.5–3.1 s 机器人携销靠近并调整朝向；视频 3.2–5.2 s 继续接近孔口，销与夹爪共同运动。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 48,
+      "text_zh": "观察：视频 5.1、5.2、5.5、5.6 s 的视图显示夹爪持销停在蓝框红色开口前；log step 48 的实时仿真服务返回 control_steps=672、done=false，尚未成功。视频 5.7–6.733 s 蓝框逐渐放大，机器人继续向孔内推进，没有可见的松手、滑落或撤回。"
+     },
+     {
+      "t": 6.73,
+      "log_step": 52,
+      "text_zh": "观察：log step 52 中，agent 脚本向实时仿真服务提交最后一段推进，服务返回 done=true、reason=success、control_steps=807、control_steps_chunk=135、resumes=0；inputs/run.json 的评分字段 live_success=1、graded_by_live=1、finalized=1、infra_error=0。视频 6.7、6.733 s 中销仍朝蓝框内部延伸并被夹爪夹持，前端受遮挡，没有直接可见的未达标证据。"
+     },
+     {
+      "t": 6.73,
+      "log_step": 52,
+      "text_zh": "推断：本次为同一个无重置实时回合；log step 48 的累计控制步 672 与 log step 52 的 dt=1/120 s 给出仿真 5.600 s，对应已核对的视频约 5.6 s 预插入停留末端，之后开始最后推进。log step 52 的成功步 807/120=仿真 6.725 s 对应视频末尾约 6.73 s（30 fps 量化），据此将节点首次达成锚定为视频 6.73 s；method 保持 visual。精确深度不能从二维重叠独立量出，最终达成依据实时服务及评分器的成功判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0、2.5、5.6、6.733 s 中，单臂末端白色二指夹爪从两侧夹住深色金属销，携销靠近并送向蓝色方孔；整个推进过程销与夹爪保持共同运动，未见释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，完成靠近、对准与末段推进，唯一节点“插销入孔”在视频约 6.73 s 达成，终态为 1/1。log step 52 的实时仿真服务在 control step 807 返回成功，评分器亦确认实时回合成功；节点时刻由已在视频约 5.6 s 核对的控制步时钟辅助定位。缺少状态日志，末段销前端受遮挡，视频无法独立精确量出插入深度；参考成功视频也有相似遮挡，仅作外观对照。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 peg_inserted 在视频约 6.73 s 达成，帧与实时服务成功读数（control_steps=807）一致；接触标注为抓握合理���无失败层，无错误。",
+    "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": "2026-10-30T02:37:38Z",
+  "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/ambench-peg-in-hole-fahexa-i00-standard--68zzihh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--68zzihh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7e4357d09fc5dc9aa4a7381b29324f1a14a7e245ab6b49b6e56d16b246ce7506",
+   "video_sha256": "90a3b668703cc97d2e5fdc4a7f3c3e91630e71f7a6d64358f3c018747200d460",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--izphuvf.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--izphuvf",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "state_identical": 1,
+   "live_matches_replay": 1,
+   "episode_timeout": 1,
+   "time_up": 0,
+   "instance_mismatch": 0,
+   "video_episode_success": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2399,
+   "sim_steps": 2399,
+   "physics_steps": 2399,
+   "steps": 190,
+   "elapsed_s": 954.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "replay_gpu_fault": 0,
+   "live_gpu_faults": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.313,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.851,
+   "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/ambench-peg-in-hole-fahexa-i00-standard--izphuvf/replay.mp4",
+  "duration_s": 20.033,
+  "fps": 30.0,
+  "frames": 601,
+  "sha256": "74e7dfbf8a5e4dfaebec697c3825ee74143e297cd461497ff324096b4d748e98"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 21,
+      "text_zh": "观察：视频 0.0–2.8 s，机器人二指夹爪夹持深色金属销靠近墙上的蓝框红底方孔；视频 2.8 s 的销仍在孔口前方，尚未插入。log step 21 的服务读数为 control_steps=336、sim_time_s=2.8、夹爪开度约 0.03974 m、gripper_cmd=-1。"
+     },
+     {
+      "t": 2.9,
+      "log_step": 23,
+      "text_zh": "观察：视频 2.8 s 销与夹爪相连，视频 2.9 s 两者出现间隙，视频 3.0 s 销向下翻落；末端相机中孔内红色背板仍完整可见。log step 23 的脚本将夹爪指令改成 +1，log step 24 服务报告开度增至约 0.08423 m。"
+     },
+     {
+      "t": 12.3,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–12.9 s，机身相机能看到深色销躺在蓝色地面上，夹爪位于其上方；视频 13.2–15.0 s 机械臂遮住部分抓取区域，视频 15.3–17.7 s 末端重新可见时夹指间没有销，未见销随夹爪离地。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 78,
+      "text_zh": "观察：视频 19.0–20.0 s 机器人将空夹爪移到方孔附近，未见金属销进入孔内；成功参考视频约 3.0–5.5 s 则能看到夹持的黑色销持续朝红色背板推进。log step 78 服务报告 control_steps=2399、done=True、reason=episode_timeout；本次评分字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 78,
+      "text_zh": "推断：结合初次接近时销仍在孔外、视频 2.9–3.0 s 脱落、后续地面销与空夹爪画面及实时/回放评分均未成功，插销入孔状态全程未达到。仅凭下落时或末段的二维重叠不认定插入深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–2.8 s，单臂末端的二指夹爪从两侧夹持金属销并携带接近方孔；视频约 2.9 s 张开后销脱离。后续重新闭合夹指，未见恢复对销的抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "peg_inserted",
+   "t": 2.9,
+   "log_step": 23,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人正夹销接近方孔，视频 2.8 s 仍持销，视频 2.9–3.0 s 夹爪张开后销与其分离并向下落，尚未送入孔内；视频 12.3 s 销在地面，视频 19.0–20.0 s 仅空夹爪到达孔口，插入步骤未修复。"
+  },
+  "unmet": {
+   "peg_inserted": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.9,
+    "log_step": 23,
+    "evidence_zh": "观察：视频 2.8 s，金属销仍被机器人夹爪夹住；视频 2.9 s 销与夹爪产生明显间隙，视频 3.0 s 销下落翻转，视频 3.1 s 后夹爪为空。销在搬运途中脱离，并非已插入后的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "t": 2.9,
+    "log_step": 23,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 23 把 log step 21 的约 0.03974 m 夹爪开度误作张开，将原本夹持销的 -1 指令改为 +1，目的是“恢复闭合”；log step 13 的服务接口说明明确 -1=closed、+1=open，log step 24 的服务读数证实 +1 后开度增至约 0.08423 m，视频 2.9–3.0 s 同时可见销脱离下落，故错误调整夹爪指令直接导致丢销。agent 后来也在 log step 45 自述首次闭合的开度是销直径，随后开爪使销掉落。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法直接量测销前端与孔口的三维距离；视频 13.2–15.0 s 的地面恢复抓取局部被机械臂遮挡，不能逐一确定指尖是否短暂碰到销。此前丢销及之后空夹爪均清楚可见，结合未成功的评分可判插入未达成；不将遮挡期间的闭爪动作计为抓取成功。"
+ },
+ "summary_zh": "机器人起初夹持金属销靠近方孔，但视频约 2.9 s 因错误地把夹爪指令改成张开而丢销，插销入孔节点从未达到，最终为 0/1。随后搜索地面并尝试重新抓取，末段仅空夹爪靠近孔口，服务以 episode_timeout 结束。缺少逐帧状态日志且恢复抓取局部遮挡，但丢销画面、空夹爪和实时/回放未成功结果相互一致。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 peg_inserted 未达成、breakpoint 在视频约 2.9 s 夹爪张开丢销、地面销与末段空夹爪均与帧一致；时间、接触、现象与根因有证据支持，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": "2026-10-30T02:34:39Z",
+  "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/ambench-peg-in-hole-fahexa-i00-standard--izphuvf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--izphuvf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6d5ffb4048014fa2f65094506a24bb2c7f5a54730efa436a03a5c974f6b220f7",
+   "video_sha256": "74e7dfbf8a5e4dfaebec697c3825ee74143e297cd461497ff324096b4d748e98",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--jywmshx.json

@@ -0,0 +1,162 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--jywmshx",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1371,
+   "sim_steps": 1371,
+   "physics_steps": 1371,
+   "steps": 1251,
+   "elapsed_s": 1532.8,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-peg-in-hole-fahexa-i00-standard--jywmshx/replay.mp4",
+  "duration_s": 11.467,
+  "fps": 30.0,
+  "frames": 344,
+  "sha256": "bf892bf53af7929c92dfb4e7463ffc7421d3fd6d77db18676182b736e9094134"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.43,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中深色金属销位于末端两指之间，蓝框红背板方孔在前方墙上，销尚远离孔口；视频 1.0–5.0 s 中机器人携销靠近并转向孔口，视频 5.0–6.0 s 在孔前短暂停留。"
+     },
+     {
+      "t": 11.43,
+      "log_step": 31,
+      "text_zh": "观察：视频 8.0–11.433 s 中机器人保持两指夹销，沿对准的孔口继续缓慢推进；逐帧抽查视频 10.0–11.433 s 可见销与红色孔内区域持续重叠，没有可见脱落或撤回，销前端深度被自身遮挡。log step 31 的本回合服务返回 done=True、reason=success，最终 control_steps=1371；log step 35 再次读取服务状态仍为 done=True、reason=success、control_steps=1371、resumes=0，评分字段 live_success=1、graded_by_live=1。"
+     },
+     {
+      "t": 11.43,
+      "log_step": 31,
+      "text_zh": "推断：log step 8 的服务规格给出 control_hz=120；log step 25 的 control_steps=600 对应视频 5.0 s，已与该帧机器人到达孔前并在视频 5.0–6.0 s 停留的画面核对。log step 31 的首次成功控制步 1371 映射为视频 1371/120=11.425 s，与视频 11.433 s 的末帧一致，故将插销入孔达成时刻标为视频约 11.43 s，终态为真；严格横向范围与超过2厘米深度由本回合服务验收支持，不能仅凭画面中的二维重叠量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–11.433 s 中，单臂末端的两指夹爪从两侧夹持深色金属销并携销推进至蓝色方孔，未见主动松手；飞行基座未见与支撑面接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，完成靠近、对准与缓慢推进，唯一节点“插销入孔”于视频约 11.43 s 达成，最终为 1/1，服务和评分器均判成功。已对照成功参考视频的孔口外观，并密集检查本视频末段；没有失败断点。缺少状态日志且销前端深度受遮挡，严格几何验收与达成时刻依赖本回合服务的成功终态和控制步映射。",
+ "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，唯一节点 peg_inserted 于视频约 11.43 s 达成；control_steps 1371/120 Hz 映射与末帧一致，接触标注（单手抓握）与帧相符，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:19:47Z",
+  "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/ambench-peg-in-hole-fahexa-i00-standard--jywmshx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--jywmshx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "97a1323d4ff74371f2b4330218158b2f5da0d2b3d9ce264a6538d6a1401dd551",
+   "video_sha256": "bf892bf53af7929c92dfb4e7463ffc7421d3fd6d77db18676182b736e9094134",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny.json

@@ -0,0 +1,167 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--mfrpuny",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 909,
+   "sim_steps": 909,
+   "physics_steps": 909,
+   "steps": 909,
+   "elapsed_s": 257.9,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.313,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.941,
+   "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/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny/replay.mp4",
+  "duration_s": 7.633,
+  "fps": 30.0,
+  "frames": 229,
+  "sha256": "20594c3e9f97d431db58a60306cf21cfd30984de54dc06081e85aa9c78ff5925"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双机载视角中，深色金属销位于二指夹爪之间，蓝色方孔仍在前方墙面远处，插入条件尚未成立；随后机械臂携销接近，未见松手或掉销。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 31,
+      "text_zh": "观察：视频 4.6 s 和视频 6.4 s，机器人持销逐步靠近蓝框内的红色背板，视频 6.4 s 已横向对准；log step 31 的实时机器人服务返回 control_steps=768、sim_time_s=6.4、done=false，尚未验收成功。"
+     },
+     {
+      "t": 7.6,
+      "log_step": 35,
+      "text_zh": "观察：已逐帧检查视频 6.4–7.6 s，机器人持续夹销向方孔推进，末帧销与孔口保持对齐，未见回撤或脱落。log step 35 的实时机器人服务返回 done=true、reason=success、control_steps=909、sim_time_s=7.575；评分器 reward.live_success=1、graded_by_live=1、finalized=1，且无重置或恢复。"
+     },
+     {
+      "t": 7.6,
+      "log_step": 35,
+      "text_zh": "推断：本次为单个实时评分回合，log step 21 的控制脚本以120 Hz提交动作；log step 25 的552控制步对应仿真4.6 s、log step 31 的768控制步对应仿真6.4 s，分别与视频4.6 s的第一段接近结束及视频6.4 s的对准停靠核对一致。因此log step 35 的909/120=仿真7.575 s成功对应末帧视频7.6 s，取视频7.6 s为节点达成锚点。末端遮挡使二维图像无法独立量出严格超过2厘米的深度，最终达成依据本次服务成功验收和评分结果；成功参考视频仅用于比较持销推进及末段遮挡外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频0.0–7.6 s，单臂末端二指夹爪从两侧夹持深色金属销，携销接近、对准并向蓝色方孔推进；未见松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人持续夹持金属销接近墙面蓝色方孔，对准后推进至视频约7.6 s，实时服务与评分器均确认成功，唯一节点“插销入孔”最终达成。推断：依据本次回合909控制步的服务成功验收及末段视频，将节点完成锚定于视频7.6 s，无失败断点。观察：输入没有状态日志，末端遮挡使插入深度和孔内前端面中心位置无法从视频独立精确测量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点插销入孔，实时服务 done=true/success、reward 1，视频末帧销已入蓝框红色背板；时钟换算有 control_steps/120 与可见事件核对，接触标注合理，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:54:24Z",
+  "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/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8308ad937fddc844899e0d2793cd23edbe9950dc91e56db718523d15c5c75ca8",
+   "video_sha256": "20594c3e9f97d431db58a60306cf21cfd30984de54dc06081e85aa9c78ff5925",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--skzptkr.json

@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--skzptkr",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2064,
+   "sim_steps": 2064,
+   "physics_steps": 2064,
+   "steps": 2064,
+   "elapsed_s": 1155.4,
+   "episode_timeout": 0,
+   "time_up": 1,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-peg-in-hole-fahexa-i00-standard--skzptkr/replay.mp4",
+  "duration_s": 17.233,
+  "fps": 30.0,
+  "frames": 517,
+  "sha256": "0de57415479f0674c818dae24789daa7177355687a57ed0e9f77f62d26507849"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s，机器人二指夹爪夹持深色金属销靠近蓝色方孔；视频 6.5 s 的机身视角仍显示销尖停在孔口外，末端视角可见销前方的红色背板，尚未插入。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 33,
+      "text_zh": "观察：视频 7.2–8.1 s，机器人撤离墙面时，金属销在夹爪间偏转，视频 7.8–8.0 s 翻滚脱离夹爪并从画面下方掉走；视频 8.2 s 夹爪间已空。log step 33 的实时服务返回累计 control_steps=984、done=False。"
+     },
+     {
+      "t": 17.2,
+      "log_step": 58,
+      "text_zh": "观察：视频 8.2–17.2 s，机器人空夹爪再次向蓝框推进，最后一秒各检查帧均只见白色指尖和红色背板，没有销被重新夹住或留在孔内；log step 58 的实时服务状态为 control_steps=2064、done=False，评分器 live_success=0。"
+     },
+     {
+      "t": 17.2,
+      "log_step": null,
+      "text_zh": "推断：插入前销仍在孔外，随后已脱落且未恢复，故本次插销入孔从未成立；这一判断有销的可见去向支持，并非仅由零分反推。成功参考视频约 3.0–5.0 s 的相同机载视角仍显示夹持中的深色销送向孔内，本次末段只剩空夹爪。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端的二指夹爪起初夹住深色金属销并携销靠近孔口；视频约 7.2–8.1 s 销偏转脱落，之后夹爪未重新夹住销。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "推断：视频约 13.5–17.2 s，失去销后的空夹爪指尖抵向孔内红色背板并停滞；log step 45 记录继续推进时末端距目标仍落后约 0.044 m，log step 56 再次推进仍停在近似位置，支持指尖受背板阻挡的接触判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "peg_inserted",
+   "t": 7.8,
+   "log_step": 33,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.2–8.1 s，机器人持销调整位置时，金属销相对夹爪转动并脱离，随后掉出视野；视频 8.2–17.2 s 机器人继续空夹爪推进且没有恢复持销，因此插销入孔这一步的持握丢失始终未修复。"
+  },
+  "unmet": {
+   "peg_inserted": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.8,
+    "log_step": 33,
+    "evidence_zh": "观察：视频 6.5–7.1 s 销仍在二指夹爪间，视频 7.2–7.7 s 销逐渐偏转，视频 7.8–8.1 s 销翻滚脱离并掉走；后续视频至 17.2 s 夹爪持续空着。销原先已被夹持，失败发生在保持夹持的过程中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 7.8,
+    "log_step": 32,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：接近轨迹的目标点计算有���号错误。log step 32 的脚本以 a_in 表示入孔方向、axial=(tip-C)·a_in，却用 travel=axial-0.20 及 p1=p0-lat+a_in*travel 计算本欲接近孔口的目标；log step 33 返回 axial=-0.2510，故指令轴向位移约为 -0.451 m，而到孔前 0.20 m 应沿入孔方向移动约 +0.051 m。服务返回的末端位置由 [1.5063,-0.2833,1.4256] 变为 [1.1020,-0.2809,1.6289]，证实实际大幅后撤。视频 6.0–8.1 s 的后撤过程中，销在视频 7.2–7.7 s 偏转、视频 7.8–8.1 s 翻滚脱落；这一时序支持错误后撤导致持销失败的因果推断，具体力学机制未知。log step 26 与 log step 45 记录夹爪命令均为 -1.0，开度却由约 0.0397 m 变为 0.0034 m，与销已丢失相符。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志、接触力或摩擦参数，无法确定销脱落的具体力学机制，也无法仅凭图像精确测量插入深度；不过销在孔外掉走及末段空夹爪均可见，节点未达成可以判断。agent 在 log step 55、59 将脱落归于最后推进和低摩擦，但视频约 7.8–8.1 s 已显示脱落，早于空夹爪最终推进，故不采纳其时点及未经独立核验的摩擦、重力解释。"
+ },
+ "summary_zh": "机器人起初夹销靠近蓝色方孔，但视频约 7.8 s 在撤退调整中丢失金属销，之后一直空夹爪推进，插销入孔最终为 0/1。断点为插销入孔操作中的“没保持住”；日志证实接近轨迹的目标点计算存在符号错误，指令及实际运动均大幅后撤，根因归为“控制／轨迹或逆解”。视频支持销在该后撤过程中脱落，但缺少状态和力传感数据，无法进一步确定脱落的具体力学机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（插销入孔·操作中·没保持住，视频约 7.8 s）和时钟均与视频、log 一致：销在 7.2–8.1 s 脱落，8.4–17.1 s 夹爪始终为空，control_steps 984≈视频 8.2 s 的映射也吻合。唯一问题是根因停在泛化的“控制”，而文件自己引用的证据（log step 33 的 travel=axial-0.20、axial=-0.251 使指令位移为 -0.451 m、末端实际后退约 0.4 m）已指向具体的轨迹目标点算错。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第2轮复核：节点未达成、断点（插销入孔·操作中·没保持住，视频约7.8 s）、轨迹或逆解根因均与视频和log一致，第1轮意见已落实，无新问题。",
+    "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": "2026-10-30T03:04:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--skzptkr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--skzptkr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--skzptkr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--skzptkr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bb3fc5f00330d8fdd0be69b5154b169f5b0f5468932f2af0301c39f5cd4c66b1",
+   "video_sha256": "0de57415479f0674c818dae24789daa7177355687a57ed0e9f77f62d26507849",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--txygwpn.json

@@ -0,0 +1,167 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ambench-peg-in-hole-fahexa-i00-standard--txygwpn",
+ "taskKey": "ambench/peg_in_hole",
+ "dag_sha256": "4ce14549cf9f097f094786c0e57e61d08ef25b8811c7d32b3ac24624a7503b3a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1066,
+   "sim_steps": 1066,
+   "physics_steps": 1066,
+   "steps": 1066,
+   "elapsed_s": 445.1,
+   "episode_timeout": 0,
+   "time_up": 0,
+   "live_gpu_faults": 0,
+   "hold_pad_rows": 0,
+   "determinism_verdict_mode": 0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "instance_mismatch": 0,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ambench-peg-in-hole-fahexa-i00-standard--txygwpn/replay.mp4",
+  "duration_s": 8.933,
+  "fps": 30.0,
+  "frames": 268,
+  "sha256": "5a7dfbb874c846ff57e9e4324e00c84cf4188af6d5915d297513728c9ffcc1bf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "peg_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中深色金属销位于两侧白色夹指之间，蓝框红底方孔仍在前方墙面远处，初态尚未插入；视频 0.5–4.5 s 中机器人携销靠近并对准方孔。"
+     },
+     {
+      "t": 8.9,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–8.9 s 中机器人保持夹持并继续向孔推进；已逐帧抽查视频 7.8–8.9 s（间隔 0.1 s）及视频 8.9 s 的末帧，深色销端与蓝框内红色背板区域对齐，未见松脱或撤回。成功参考视频 5.0–5.6 s 也呈现同类遮挡与推进外观；参考仅用于辨认视图，不作为本次达成的证据。"
+     },
+     {
+      "t": 8.9,
+      "log_step": 100,
+      "text_zh": "观察：log step 99 读取本次第二段执行结果的服务元数据，control_steps=1066、sim_time_s=8.8833；log step 100 同一结果记录 done=true、reason=success；log step 104 的服务最终状态再次确认成功且 resumes=0。评分器 reward 中 success=1、live_success=1、graded_by_live=1、finalized=1，sim_error=0、infra_error=0；这些是实时仿真服务及评分器结果，并非 agent 的完成自述。"
+     },
+     {
+      "t": 8.9,
+      "log_step": 99,
+      "text_zh": "推断：log step 20 的服务控制频率为 120 Hz，本次连续回合无重置（sim_total.reset=0），故 log step 99 的 control step 1066 对应仿真 1066/120=8.8833 s；已与视频 8.8–8.9 s 的推进末段及停帧核对，取所检查末帧的视频 8.9 s 为约略达成锚点，误差约 0.1 s。结合服务成功终止与评分器成功，插入节点末态为真；精确深度受遮挡，不能仅由二维重叠测得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–8.9 s 中机载单臂末端的两侧夹指夹持深色金属销，携销靠近并向蓝色方孔推进，末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人持续夹持金属销，靠近并对准墙上的蓝色方孔后向孔内推进；结合本次实时服务的成功终止及评分器结果，唯一节点“插销入孔”约在视频 8.9 s 达成并保持至结束，最终 1/1。未见脱落或撤回，成功运行无失败断点。没有状态日志，销前端在末段有遮挡，无法从双视角独立精确量出插入深度；达成时刻由末段画面与本次服务控制步记录共同确定。",
+ "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，唯一状态节点“插销入孔”在视频约 8.9 s（末帧）达成，由 control_steps=1066/120 Hz=8.88 s 与服务成功终止、评分器结果界定；夹爪抓握接触、无失败断点均与画面一致，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": "2026-10-30T02:54:41Z",
+  "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/ambench-peg-in-hole-fahexa-i00-standard--txygwpn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ambench-peg-in-hole-fahexa-i00-standard--txygwpn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7163a582138654ca3bac75466f006b08743334a0dae7841608b598b2b5f48644",
+   "video_sha256": "5a7dfbb874c846ff57e9e4324e00c84cf4188af6d5915d297513728c9ffcc1bf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--al3udbs.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--al3udbs",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 239,
+   "sim_steps": 478,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.082,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--al3udbs/replay.mp4",
+  "duration_s": 12.1,
+  "fps": 10.0,
+  "frames": 121,
+  "sha256": "fc4991b2c9edd61fa21d1beb8433c208ed405717f7306c50b582fb5e42156d2d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧木柜的上层抽屉面板贴合柜体，灰色横把手未被拉出。"
+     },
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.0 s 机器人横置二指夹爪接合上层把手；视频 3.2–3.9 s 把手、面板随夹爪向画面右侧移动，约视频 3.4 s 已露出抽屉内腔，至视频 4.0 s 明显拉开。到达时间为目测，约有 0.2 s 误差。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–5.5 s 机器人离开把手，上层抽屉保持拉出；视频 12.0 s 仍打开。此节点为已打开即锁存的事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.4–4.5 s Panda 横置二指夹爪夹住上层抽屉灰色横把手，保持接合向外拉；随后张开并离开把手。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.7–6.8 s 黑色花纹碗在机器人尚未抓住时从桌面原位置突然移到邻近位置；视频 7.5–8.5 s 夹爪下降到移动后的碗沿。此位置变化本身不计入屉进度。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.9–9.5 s 黑碗随机器人夹爪升离桌面，原位置变空；视频 10.0–11.5 s 机器人保持夹持，将碗搬到已打开的最上层抽屉内腔上方。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–12.0 s 机器人持碗向抽屉内下降，末帧碗已降低到抽屉内腔位置，夹爪尚未松开；inputs/run.json 的 reward.success=1、deterministic=1、n_actions=239。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 11.5–12.0 s 的下降与评分器成功结果，碗在末帧满足原生区域包含及所属物体接触条件，故以视频 12.0 s 为到达锚点（约 0.2 s 不确定性）。无逐帧状态日志，画面不能单独精确恢复区域盒边界和碗底接触；DAG 明确允许持碗完成，不要求松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.5–9.5 s Panda 二指夹爪夹住黑色花纹碗的碗沿并提起；视频 10.0–12.0 s 持续夹持搬运和下降入屉，末帧仍夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人约在视频 3.4 s 拉开上层抽屉，随后夹起重定位后的黑碗并搬运、下降到抽屉内，约视频 12.0 s 完成第二节点，最终为 2/2，评分成功。末帧仍持碗，符合该任务允许夹持状态完成的判据，无失败断点。没有逐帧状态日志，也无独立参考视频；精确区域包含和支承接触由视频下降过程结合评分器成功结果确认，入屉时刻约有 0.2 s 不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽屉约 3.4 s 拉开、碗在末帧下降入屉，与帧及评分成功一致；无失败断点，接触标签合理。",
+    "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": "2026-10-30T02:56:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--al3udbs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--al3udbs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eb9d299dd91d7674d5b4d747d30d53dbf981ee245ec47e7e977a128a97cad27c",
+   "video_sha256": "fc4991b2c9edd61fa21d1beb8433c208ed405717f7306c50b582fb5e42156d2d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 283,
+   "sim_steps": 566,
+   "event_fired": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.982,
+   "peak_processes": 13,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir/replay.mp4",
+  "duration_s": 14.3,
+  "fps": 10.0,
+  "frames": 143,
+  "sha256": "d2b9d7d312d45c9c99fb3021a23dc5570c68b644928b7a598f2975407838eadf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.5–12.3 s，Panda 二指夹爪停在左侧木柜上层把手处，机械臂姿态几乎不变，上层面板始终贴合柜体，没有露出内腔；视频约 12.5 s 起机器人开始撤离，视频 4.2 s 未见回拉或夹爪与柜体拉开距离。"
+     },
+     {
+      "t": 14.2,
+      "log_step": 24,
+      "text_zh": "观察：视频 13.0–14.2 s，机器人空夹爪撤离，木柜上层仍关闭；log step 24 记录早期控制器的六次 pull 指令均 TIMEOUT，末端位置基本不变（pull0 为 [0.042, -0.096, 1.106]，pull1–pull5 为 [0.043, -0.096, 1.106]），抽屉位移均为 0；retreat 在控制动作 283 收敛后保存。评分器 n_actions=283、event_fired=0，与本段回放一致；log step 26、34 的开抽屉属于后续会话试验，不能计入本次进展。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 2.5–12.3 s，Panda 二指夹爪停在上层抽屉把手附近，没有夹住并带动把手的可见证据；log step 24 记录闭合后手指 qpos 约为 [0.001, -0.0011]，接近全闭。推断：未建立有效夹持；单一低分辨率视角不能确认指尖是否擦碰把手或面板，因此不记为抓握。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色花纹碗位于木柜右侧、酒瓶与白色炉台之间的桌面。全段回放中机器人仅在柜前操作及撤离，未见碗离开此处。"
+     },
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–14.2 s，夹爪撤离后黑碗仍在原桌面位置，上层抽屉保持关闭；没有抓碗、搬运或碗下沉入抽屉的动作。成功参考视频 4.0–5.0 s 可见抽屉明显拉出，参考视频 11.0–12.0 s 可见碗随夹爪移入内腔，本次回放均无这些变化。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_drawer_opened",
+   "t": 4.2,
+   "log_step": 24,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.5–12.3 s，机器人夹爪停在上层把手处，机械臂姿态几乎不变，上层抽屉面板始终贴合柜体；视频 4.2 s 未见回拉，约 12.5 s 起机器人撤离，至视频 14.2 s 失败没有修复。log step 24 对应交付前保存的早期控制器，六次 pull 均 TIMEOUT，末端位置基本不变（约 [0.043, -0.096, 1.106]），抽屉位移均为 0，闭合后手指 qpos 约为 [0.001, -0.0011]。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.2,
+    "log_step": 24,
+    "evidence_zh": "推断：机器人未建立能拉动上层抽屉的有效夹持，而非已经持住后滑脱。观察：视频约 2.5–12.3 s，夹爪停在上层把手处，机械臂几乎不动，面板始终贴合柜体；log step 24 中闭合后的手指关节位置约为 [0.001, -0.0011]，接近全闭，六次 pull 均 TIMEOUT、末端位置基本不变且抽屉位移均为 0；视频约 12.5 s 起才撤离。推断：近全闭的手指间距支持把手未被夹在指间；无法据此断言指尖从未擦碰把手或面板。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：失败来自早期控制器的把手抓取姿态与接触几何不适配。观察：视频约 2.5–12.3 s 显示夹爪停在把手附近、机械臂几乎不动；log step 24 记录手指几乎完全闭合且抽屉不动，agent 在 log step 25 自述局部轴姿态组合有误，随后改用另一抓取姿态并增加贴近把手的动作。log step 26 的独立会话试验记录闭合间距约 [0.0079, -0.0087]，并将抽屉拉至约 -0.1599 m，验证存在可行替代，但该试验没有保存为交付轨迹。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志，回放仅为 256×256 的固定外部视角，无法确认失败抓取过程中指尖是否短暂擦碰把手或面板，故实际接触类型保留未知；没有将后续会话试验中的开抽屉或抓碗计入交付进展。",
+  "unmet": {
+   "bowl_in_top_drawer": false
+  }
+ },
+ "summary_zh": "观察：交付回放中机器人夹爪停在上层把手处，尝试回拉的控制指令未使末端明显移动，抽屉始终关闭，黑碗一直留在桌面，两节点均未达到。推断：断点为打开上层抽屉，早期抓取姿态未建立有效夹持；后续会话虽验证了可行的开抽屉姿态，交付文件仍为早期保存的 283 步轨迹。观察：没有状态日志，低分辨率单视角不能确认指尖是否有短暂擦碰。",
+ "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（两节点均未达到）、断点节点、根因类别基本正确；但文件把视频 4.2 s 写成“闭合后回拉”，而画面显示机械臂约 2.5 s 到位后在把手处静止至约 12.3 s 才撤离，log step 24 的六次 pull 位置不变（卡住），所述“回拉”是不成立的观察。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达到、断点为打开上层抽屉、没建立接触、根因抓取和接触设计均与视频及 log step 24/26 一致；上轮的回拉说法已修正，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": "2026-10-30T03:03:44Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--kevrhir/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4db2fe7e388ed9518533141ee9b673b469ff7222293742c54e169f1d62c55681",
+   "video_sha256": "d2b9d7d312d45c9c99fb3021a23dc5570c68b644928b7a598f2975407838eadf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--qsbn4zj.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--qsbn4zj",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 249,
+   "sim_steps": 498,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.329,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.831,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--qsbn4zj/replay.mp4",
+  "duration_s": 12.6,
+  "fps": 10.0,
+  "frames": 126,
+  "sha256": "2c96ee7f9bca133057a8fda3176ede298040a48fab20fd4bc5cbc3a03eba00e8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，左侧木柜最上层面板与柜体贴合，上层抽屉尚未打开。"
+     },
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "观察：视频 3.4–4.5 s，Panda 夹爪夹着上层灰色横把手向画面右侧拉，最上层面板离开柜体并露出内腔；视频约 3.7 s 已有清楚开口，随后继续拉大，开启时刻有约 0.2 s 的视觉不确定性。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–6.0 s，机器人松开把手并抬起离开，上层抽屉保持拉出；视频 12.5 s 末帧也仍处于拉出位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.8–3.4 s，Panda 单个二指夹爪从上下夹住最上层抽屉横把手，随后保持夹持向外拉动抽屉，打开后松开。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.1,
+      "log_step": null,
+      "text_zh": "观察：视频 8.8–9.4 s，机器人在桌面黑色花纹碗的碗沿处闭合夹爪；视频 9.6–10.1 s，碗随夹爪离开原桌面位置并上升，随后被搬向已打开的上层抽屉。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 11.3–12.2 s，机器人持碗移动到拉出的上层抽屉上方；视频 12.3–12.5 s，碗继续下降，视频 12.5 s 末帧中碗的下部进入抽屉内腔，夹爪仍夹住碗。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 44,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=1、deterministic=1、n_actions=249；log step 43 验证最终提交的 249 行动作与成功候选逐项相同，log step 44 的检查输出确认两次新进程回放成功且末态一致。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频末尾的持碗下降与评分器 success=1，将碗放入上层的首次到达锚定在视频 12.5 s 末帧，精度约 0.2 s；原生区域边界及碗与柜体的精确接触不能由单一外部视角直接测量，依据本次成功判分确认。DAG 明确允许持碗验收，因此无需等候松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.3–10.1 s，Panda 二指夹爪夹住黑色花纹碗的碗沿并将其提离桌面；视频 10.1–12.5 s 持碗搬运至上层抽屉并下降，末帧仍未松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人约在视频 3.7 s 夹住把手拉开上层抽屉，随后夹起黑碗并搬至抽屉，在视频 12.5 s 末帧下降至目标位置，两个节点最终均完成。评分器 success=1、deterministic=1，日志确认提交的 249 步动作两次独立回放成功；按本任务判据，夹爪仍持碗时也可完成验收。没有逐帧状态日志，精确区域边界和碗与柜体接触由成功判分辅助确认，到达时间取末帧视觉锚点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的到达时间与接触标注与视频一致；评分器 success=1 支持碗在末帧到位，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": "2026-10-30T02:32:54Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--qsbn4zj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--qsbn4zj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a9abaec6754da7266159bc9a1be9f92542d669355ec9882b55714aeafac40d17",
+   "video_sha256": "2c96ee7f9bca133057a8fda3176ede298040a48fab20fd4bc5cbc3a03eba00e8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--udjfwjc.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--udjfwjc",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 237,
+   "sim_steps": 474,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.618,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.004,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--udjfwjc/replay.mp4",
+  "duration_s": 12.0,
+  "fps": 10.0,
+  "frames": 120,
+  "sha256": "75c3aa28b7b96f49ac165474f6932dedee07f8105af6870fb4baa72b95de2598"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木柜最上层抽屉的面板和横把手贴近柜体，抽屉关闭。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7–3.6 s，机器人夹爪接触最上层横把手并向画面右侧拖动，面板离开柜体、抽屉内腔逐渐露出；视频约 3.0 s 已明确拉开，视频 4.5 s 夹爪离开后仍可见内腔。打开时刻按画面估计，误差约 0.3 s。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 81,
+      "text_zh": "推断：视频 1.8–3.2 s 可见机器人收拢的夹爪抵在横把手上并带动抽屉外移；结合 log step 81 所写交付脚本先闭合夹爪、下压到把手上再拖动，以及 log step 88 的该脚本成功执行记录，实际方式为指端压擦拖动，而非两指对夹把手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "Panda 收拢的二指夹爪以指端压住最上层抽屉的灰色横把手，再向外拖动使抽屉拉开；视频 1.8–3.6 s，接触方式结合 log step 81、88 推断。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.9,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–8.6 s，机器人二指夹爪在桌上黑色花纹碗的碗沿处闭合；视频 8.7–9.5 s，碗随夹爪上升，原桌面位置腾空，之后机器人持碗向已打开的抽屉搬运。"
+     },
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–11.9 s，机器人将夹持的碗移至上层抽屉内腔上方并连续下降；视频 11.7–11.9 s，碗落入内腔范围，碗的下部被抽屉壁遮住，末帧仍与夹爪贴合。未将悬在抽屉上方的搬运阶段计为放入。"
+     },
+     {
+      "t": 11.9,
+      "log_step": 91,
+      "text_zh": "推断：末段画面支持碗下降进入抽屉；inputs/run.json 的评分器字段 success=1、deterministic=1、n_actions=237，且 log step 88 保存 237 个动作后，log step 90–91 对该交付文件的新进程回放返回 success=true、done=true。因此将视频末帧 11.9 s 作为达到目标的近似锚点并判最终为真。无状态日志，无法从画面单独恢复原点入区域盒和接触柜体的精确首帧，时间误差约 0.3 s；此判据允许仍夹持碗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住黑色花纹碗的碗沿，抬离桌面后持续夹持搬运，并下降放入木柜最上层抽屉；视频 8.7–11.9 s 可见碗跟随夹爪运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频约 3.0 s 以收拢夹爪压擦拖开上层抽屉，随后夹住碗沿抬碗，并在视频 11.9 s 末帧将碗降入抽屉，两个节点最终均完成。推断：评分器 success=1 及 log step 91 对最终交付文件的新进程成功回放确认目标成立，持碗状态符合本任务允许夹持完成的判据，无失败断点。观察：输入无状态日志，画面不能��确确定区域盒边界及接触首帧，入碗到达时刻取视频末帧附近的近似值；参考成功视频仅用于比较打开内腔与持碗下降的外观。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "抽屉约3 s打开、碗被夹持降入抽屉，评分器success=1，两节点终态为真、无断点，标注与视频一致。",
+    "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": "2026-10-30T02:26:41Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--udjfwjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--udjfwjc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1b774ca98de40acfc5539d7ab06b23b9b0b6786dc9c2214e104c7150cbc63630",
+   "video_sha256": "75c3aa28b7b96f49ac165474f6932dedee07f8105af6870fb4baa72b95de2598",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--xuwjj5q.json

@@ -0,0 +1,172 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--xuwjj5q",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 224,
+   "sim_steps": 448,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.616,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--xuwjj5q/replay.mp4",
+  "duration_s": 11.3,
+  "fps": 10.0,
+  "frames": 113,
+  "sha256": "5b966b5534e3f780e57bc9945a3798306f97eb2e6eb34c6e4a1884d9bd384057"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，左侧木柜最上层抽屉面板贴合柜体，尚未拉开。"
+     },
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.2–2.6 s，机器人夹爪在最上层灰色横把手处闭合；视频 2.7–3.2 s，夹爪向画面右侧移动，把手和抽屉面板随之离开柜体，内腔逐渐露出，约视频 2.8 s 已打开。视频 4.0 s 抽屉明显拉出，视频 11.2 s 仍保持拉出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 二指夹爪夹住木柜最上层抽屉横把手并向外拉，随后松开把手。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.2–8.9 s，机器人夹爪在桌面黑色花纹碗碗沿处闭合；视频 9.0–9.3 s，碗随夹爪上升并离开桌面原位置，随后由夹爪携向打开的上层抽屉。"
+     },
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.1–10.8 s，机器人持碗移到已拉出的上层抽屉上方；视频 10.9–11.2 s，碗继续下降，末帧碗下部进入抽屉开口所在位置，夹爪仍持碗，未见松手。"
+     },
+     {
+      "t": 11.2,
+      "log_step": 43,
+      "text_zh": "推断：结合视频 11.2 s 的末帧下降位置与 inputs/run.json 的 reward.success=1、deterministic=1，按本次原生验收将入上层目标区域记为末帧达到；DAG 允许持碗成功。精确入盒时刻只能定位到末尾约半秒；log step 43 输出的 SiteObjectState.check_contact 恒返回 True，因此不把成功字段当作碗与柜体实体接触的独立证明。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 二指夹爪夹住黑色花纹碗的碗沿，抬离桌面、搬到上层抽屉开口并下降；末帧仍夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人约在视频 2.8 s 拉开最上层抽屉，随后抓起黑碗并搬至抽屉开口，视频 11.2 s 末帧下降至原生验收接受的位置，两个节点最终均完成，评分器 success=1。夹爪末帧仍持碗，符合本次允许持物完成的规则。无状态日志，区域边界和实体接触无法由低分辨率画面精确核验；log step 43 显示原生区域接触检查恒真，与 DAG 所述实体接触要求存在差异，目标节点终值结合评分器判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点的时间与接触与视频一致：约 3 s 抽屉拉出，9.3 s 抓起花纹碗，末帧碗在抽屉开口上方下降，与 oracle 一致；success=1，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": "2026-10-30T02:34:13Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--xuwjj5q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--xuwjj5q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "53e8b797e56c6ca37d538117d5eac97ae50786167cd02b6c755d6aebf39fb547",
+   "video_sha256": "5b966b5534e3f780e57bc9945a3798306f97eb2e6eb34c6e4a1884d9bd384057",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--y5wewu6.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--y5wewu6",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 87,
+   "sim_steps": 174,
+   "event_fired": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.531,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.831,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--y5wewu6/replay.mp4",
+  "duration_s": 4.5,
+  "fps": 10.0,
+  "frames": 45,
+  "sha256": "439b7c55d194cb38dafebb6d7d0cca0d5ffd981596aabddc54c40cd48e7cfab3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧木柜最上层抽屉面板贴合柜体，初态关闭。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.3–3.6 s，Panda 二指夹爪夹着上层把手向画面右侧拉，最上层面板离开柜体，露出深色内腔；视频 4.0–4.4 s 保持拉出。首次明确打开约在视频 3.5 s，视觉时间误差约 0.2 s。"
+     },
+     {
+      "t": 4.4,
+      "log_step": 72,
+      "text_zh": "观察：视频 4.4 s 抽屉仍拉出、夹爪仍在把手处；log step 72 的本次脚本输出记录 control_steps=87、上层关节位置约 -0.123 m，评分器也记录 n_actions=87。此日志仅佐证所交付前缀的身份，节点时间取自视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.6–4.4 s，Panda 二指夹爪合拢包夹上层灰色把手并向右拉，抽屉随夹爪移动；没有移动底盘。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 花纹黑碗在桌面、白色炉具左侧，未在木柜上层。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.0–4.4 s；机器人只接近并拉动木柜把手，花纹黑碗一直留在炉具左侧桌面，没有被夹起、搬运或放进抽屉。末段视频 3.5–4.4 s 亦无取碗动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_in_top_drawer",
+   "t": null,
+   "log_step": 72,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–4.4 s 的交付回放只包含拉开抽屉，尚未启动取碗或装碗；打开抽屉已在视频约 3.5 s 完成，黑碗直至视频 4.4 s 仍在桌面。推断：断点为“碗放入上层”启动前；这里的首步前指该节点尚未启动，不能将已完成的打开抽屉判为失败。log step 72 的 87 动作前缀与评分器 n_actions=87 一致；log step 73 的后续抬升失败未包含在交付视频中，故无可定位的物理失败瞬间，t 留空。"
+  },
+  "unmet": {
+   "bowl_in_top_drawer": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 72,
+    "evidence_zh": "观察：视频 0.0–4.4 s 中，Panda 始终未到黑碗处建立抓取或搬运尝试，交付结束时仍夹着抽屉把手；黑碗留在炉具左侧桌面。此现象只描述评分回放内装碗步骤未启动，不把后续会话中的动作当作已交付动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：装碗前的末端撤离控制未能完成，使保存的抽屉动作前缀未扩展到取碗。log step 72 记录本次脚本在 87 个控制动作时已拉出抽屉；log step 73 随后在 action_to(s, [0.02, 0.0, 1.25], grip=-1.0) 报 waypoint failed，实际末端位置约为 [0.0306, 0.0072, 1.1218] m；log step 74 显示这是 main 中装碗前的动作调用。评分器最终仅回放 87 个��作，且视频 4.4 s 仍停在把手处。该归因来自未保存的会话后续执行，仅解释为何装碗未启动；不足以区分接触干涉、轨迹设计或跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或接触日志；画面及抽屉随动可确认把手抓握和打开，但不能恢复精确接触力。log step 73 的撤离失败发生在已保存前缀之后，交付视频没有这段动作，且 log step 74 的代码输出中段被截断，因此无法进一步确定末端撤离失败的具体控制机制，也不将其标为评分回放内的碰撞或位姿不准。"
+ },
+ "summary_zh": "评分回放中，机器人约在视频 3.5 s 抓住把手并拉开上层抽屉，完成 1/2 个节点；黑碗始终留在桌面，装碗步骤未启动。日志显示保存前缀之后的撤离抬升调用未到达目标并报错，最终评分仅包含 87 个动作的抽屉前缀；这支持控制层归因，但失败动作本身未被交付，无法从视频确定更细的控制机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽屉约视频3.5 s拉开、碗未动、断点在碗放入上层(首步前/没尝试)与控制(agent自身脚本在log 73崩溃，D38)均与视频、log 72/73及n_actions=87一致，未发现需要改的内容。",
+    "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": "2026-10-30T02:37:19Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--y5wewu6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-privileged--y5wewu6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "128f156b051f2b3490664cdd622e3f21f38473299f0edd9b45a6f0b166f23423",
+   "video_sha256": "439b7c55d194cb38dafebb6d7d0cca0d5ffd981596aabddc54c40cd48e7cfab3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--bmwyyhb.json

@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--bmwyyhb",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1284,
+   "sim_steps": 1284,
+   "calls": 396,
+   "rows": 1184,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1027.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.272,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.256,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--bmwyyhb/replay.mp4",
+  "duration_s": 64.3,
+  "fps": 10.0,
+  "frames": 643,
+  "sha256": "2034a6f81dcb25f04f7dcbcd9b476bf262e53e4d480f1223c109a5fd8486a9dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，左侧木柜最上层面板贴合柜体，横把手未向右拉出；视频 4.0–8.0 s 的首次夹爪靠近和退回后，抽屉仍未打开。"
+     },
+     {
+      "t": 28.8,
+      "log_step": 130,
+      "text_zh": "观察：视频 27.0–28.3 s，Panda 夹爪横向贴近上层灰色把手并闭合；视频 28.4–29.1 s，把手和抽屉面板随夹爪向画面右侧移动，约视频 28.8 s 已露出内腔，视频 30.0 s 抽屉进一步拉出。log step 130 的脚本输出记录夹紧后指间距 0.0176 m 并开始拉抽屉，与该段动作一致；到达时间取自视频，误差约 0.3 s。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0 s，机器人已经张爪离开横把手，上层抽屉保持拉出；视频 64.2 s 末帧仍可见拉出的上层内腔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 27.0–30.5 s，Panda 二指夹爪从横把手上下两侧合拢夹住并向画面右侧拉，上层面板随之拉出；随后张爪离开。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": 104,
+      "text_zh": "观察：视频 15.5–20.5 s，机器人夹住花纹黑碗并将其从桌面抬起、搬到柜体上方；视频 21.5–22.0 s 夹爪抬离，碗留在柜顶，上层抽屉尚未拉出，因此这次搬运没有完成放入。log step 104 的脚本输出为 Done: False。"
+     },
+     {
+      "t": 54.0,
+      "log_step": 174,
+      "text_zh": "观察：视频 36.0–46.0 s，机器人在柜顶碗附近下探，再空手移动到抽屉上方并抬离，碗始终留在柜顶；视频 48.0–54.0 s 的后续横向动作后，碗仍未进入抽屉。log step 174 的脚本输出仍为 Done: False，不能将脚本所述抓取与放置计作已完成。"
+     },
+     {
+      "t": 60.4,
+      "log_step": 215,
+      "text_zh": "观察：视频 58.6–59.6 s，机器人二指夹爪在柜顶黑碗的碗沿两侧闭合；视频 59.8–61.0 s，碗离开柜顶并随夹爪升起，随后搬到已拉出的上层抽屉上方。log step 215 记录此次夹紧后指间距 0.0082 m；实际持碗由视频中的碗随爪移动确认。"
+     },
+     {
+      "t": 64.2,
+      "log_step": 225,
+      "text_zh": "观察：视频 63.2–64.2 s，机器人保持夹住碗沿，黑碗从上层抽屉上方持续下降，末帧碗底进入内腔，未见松爪；参考成功轨迹的 oracle 视频 12.0 s 也呈现持碗下降到抽屉内的终态。log step 225 的控制脚本先收到 Episode done during submit! Reason: success，随后尝试松爪才收到 episode finished; reason success；log step 227 的机器人服务状态为 done=True、reason=success。"
+     },
+     {
+      "t": 64.2,
+      "log_step": 227,
+      "text_zh": "推断：结合视频 64.2 s 的碗入内腔终态、机器人服务成功状态，以及 inputs/run.json 的 live_success=1、replay_success=1、deterministic=1，将目标节点记为末帧到达并保持；到达锚点取视频 64.2 s，约有 0.3 s 不确定性。当前没有状态日志，画面不能独立恢复原生区域盒边界或核实被遮住的碗底接触；其精确验收以评分器成功结果支持，持碗成功符合本 DAG 的判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 15.5–20.5 s，Panda 二指夹爪夹住黑碗搬到柜顶；视频 58.6–64.2 s 再次夹住碗沿，使碗离开柜顶、升起并搬入上层抽屉，成功结束时仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人先把黑碗搬到柜顶，随后约在视频 28.8 s 夹住横把手拉开上层抽屉，最终在视频 64.2 s 将重新夹起的碗降入内腔，两个节点均完成。观察：log step 225 显示机器人服务在持碗下降时已判成功，之后松爪调用因回合已成功结束而被拒绝；评分记录的现场及回放成功均为 1，failure 为 null。推断：没有状态日志，区域盒边界和被遮挡的碗底接触不能由画面精确复核，末态精确验收结合原生成功结果判定，节点到达时间取视频近似锚点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功回合，两个节点的值和时间与视频一致：抽屉约 28.8 s 被拉出，碗在 64.2 s 末帧降入抽屉；contact_actual 合理，failure 为 null 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": "2026-10-30T02:30:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--bmwyyhb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--bmwyyhb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8b6d08ac9b0dcd9e14bd845febf7f4fb8edda84de2dcbc6ba69dbd037a565bb",
+   "video_sha256": "2034a6f81dcb25f04f7dcbcd9b476bf262e53e4d480f1223c109a5fd8486a9dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fhuhs9c.json

@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fhuhs9c",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1069,
+   "sim_steps": 1069,
+   "calls": 340,
+   "rows": 1069,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 781.5,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.244,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.251,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fhuhs9c/replay.mp4",
+  "duration_s": 53.6,
+  "fps": 10.0,
+  "frames": 536,
+  "sha256": "1179a0ed4e0c2c14c7ef85ece89d9617b4f6d302a8787e68407fa6b4863fb176"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木柜最上层抽屉面板贴着柜体，灰色把手尚未向外移出。"
+     },
+     {
+      "t": 24.4,
+      "log_step": 25,
+      "text_zh": "观察：视频 23.0–24.0 s，机器人将横向夹爪闭合在最上层灰色把手上下两侧；视频 24.2–25.0 s，把手、抽屉面板及内腔随夹爪一起向画面右侧移出，视频 26.0–28.0 s 开口进一步扩大。首次露出内腔记为视频约 24.4 s，时间误差约 0.3 s；log step 25 的机器人控制调用为夹紧把手后分段外拉。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 17,
+      "text_zh": "推断：视频 6.0–15.0 s，机器人先竖直下探，靠柜侧手指停在柜顶边缘，抽屉仍关闭；log step 17 的下降目标为 1.12 m，末端停在 1.137 m，结合画面判断手指抵压柜顶，随后机器人退开并改为横向夹持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "推断：视频 6.0–15.0 s，Panda 靠柜侧手指在竖直下探尝试中抵压木柜顶边；依据画面和 log step 17 的下降未到位反馈判断。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 23.0–28.0 s，Panda 二指夹爪从上下夹住上层抽屉灰色横把手，保持夹持并向外拉开抽屉。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      53.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色花纹碗位于木柜右侧桌面，尚未进入抽屉。"
+     },
+     {
+      "t": 43.8,
+      "log_step": 43,
+      "text_zh": "观察：视频 40.0–41.8 s，机器人在桌面碗沿处合拢夹爪；视频 42.0–44.0 s，碗随夹爪升起并倾斜，原桌面位置露出，随后视频 46.0–50.0 s 机器人持碗移到打开的上层抽屉上方。"
+     },
+     {
+      "t": 53.5,
+      "log_step": 50,
+      "text_zh": "观察：视频 50.0–53.5 s，机器人保持夹住碗沿，碗由抽屉上方逐渐下降至内腔，视频 52.6–53.5 s 逐帧检查未见松手或掉碗。log step 50 的机器人服务返回 DONE success，log step 51 的服务状态为 done=True、reason=success；评分记录 live_success=1、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 53.5,
+      "log_step": 51,
+      "text_zh": "推断：视频末段的碗下降形态与成功参照的入屉形态一致，但固定视角不能直接量出区域盒或看清碗底接触。依据本次评分器的原生成功结果，碗原点入上层目标盒且接触木柜的条件已在结束时成立，将首次达标记为视频约 53.5 s（约 0.3 s 误差）；该判据允许仍夹着碗，不额外要求松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 40.0–42.0 s，Panda 二指夹爪夹住黑色花纹碗的一��碗沿；视频 42.0–53.5 s 持续夹持，将碗提离桌面、移至上层抽屉并下降，末帧未松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人在视频约 24.4 s 拉开上层抽屉，随后夹住黑碗碗沿提起搬运，于视频约 53.5 s 持碗下降入屉，两个节点最终均完成。现场及回放评分均成功，夹爪未松手符合本任务验收，无失败断点。无状态日志，固定视角不能精确恢复目标区域边界和碗柜接触，末态原生关系依据评分器结果确认，达标时间为末段画面的近似值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的达成时间与帧一致（抽屉约24.4 s拉出，末帧碗已入抽屉），评分器成功，无失败断点，标签合理。",
+    "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": "2026-10-30T02:33:59Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fhuhs9c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fhuhs9c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "38af661b76a3d437140e768077732773f585e2c5ca4d5c5942a81f1bc4de022b",
+   "video_sha256": "1179a0ed4e0c2c14c7ef85ece89d9617b4f6d302a8787e68407fa6b4863fb176",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fx4xpdy.json

@@ -0,0 +1,172 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fx4xpdy",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 0,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 0.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.225,
+   "peak_processes": 5,
+   "peak_disk_gb": 0.198,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fx4xpdy/replay.mp4",
+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "6e2f7360b5e74c1854885a7a08e91eb1e3857d9ea54a55a1a9419d484adeb067"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 2,
+      "text_zh": "观察：本次视频仅有视频 0.0 s 一帧，左侧木柜最上层抽屉面板仍贴合柜体，未露出内腔，机器人夹爪位于后方上空；未出现成功参考视频中抽屉向画面右侧拉出的形态。inputs/run.json 的 reward.n_actions、sim_steps、calls 均为 0，log step 2 没有工具调用。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：log step 2 记录供应商过滤拦截消息且无工具调用；评分记录为零动作，未交付机器人操作轨迹，仅渲染初始帧。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 2,
+      "text_zh": "观察：本次视频仅有视频 0.0 s 一帧，花纹黑碗仍在木柜右侧桌面、瓶子与白色炉台之间，未进入抽屉，机器人夹爪没有夹持碗；inputs/run.json 的 reward.n_actions、sim_steps 均为 0，未执行搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：log step 2 记录供应商过滤拦截消息且无工具调用；评分记录为零动作，未交付机器人操作轨迹，仅渲染初始帧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 2,
+   "where": "首步前",
+   "evidence_zh": "观察：完整日志只有 log step 2，消息为“This request was blocked by Gemini's filters”，calls 为空；评分记录 n_actions=0、sim_steps=0、rows=0。本次视频仅有视频 0.0 s 初始帧，未形成可定位到某个操作节点的执行失败。"
+  },
+  "unmet": {
+   "bowl_in_top_drawer": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 2 记录模型供应商 Gemini 过滤拦截，发生在任何工具调用或机器人动作之前；视频虽存在，但全片仅视频 0.0 s 的初始帧，无执行过程或状态日志可供分析。推断：按外部因素规则及 CASES.md FAIL-5，本次为执行前外部中断，应重测并排除于智能体失败分析；现象和根因均留空，不标“没尝试”。评分字段 timeout=1 予以保留，但它不能替代日志中的拦截证据。"
+ },
+ "summary_zh": "观察：本次视频仅视频 0.0 s 初始帧，上层抽屉关闭，黑碗仍在桌面，两节点均未达到，最终为 0/2。观察：log step 2 记录 Gemini 过滤拦截且无工具调用，评分记录为零动作；推断：这是首步前的外部中断，断点记 unknown，现象与根因留空，应重测并排除于智能体失败分析。没有执行过程可用于判断机器人操作能力。",
+ "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：log 仅 step 2 的 Gemini 过滤拦截、零动作、视频仅 0.0 s 一帧；两节���未达、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合 FAIL-5。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:31:44Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fx4xpdy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--fx4xpdy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "34726a0b687a8fa5014021a548afce9548d6351d2ee5b74b3598bef82ecd814b",
+   "video_sha256": "6e2f7360b5e74c1854885a7a08e91eb1e3857d9ea54a55a1a9419d484adeb067",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--hztwpsr.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--hztwpsr",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1027,
+   "sim_steps": 1027,
+   "calls": 99,
+   "rows": 927,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1786.3,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.312,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.843,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--hztwpsr/replay.mp4",
+  "duration_s": 51.5,
+  "fps": 10.0,
+  "frames": 515,
+  "sha256": "4027f37eafb96730046182a026c5c53c7840eb25c721b9a4977674de871369f0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧木柜的上层抽屉面板贴合柜体，没有露出内腔。"
+     },
+     {
+      "t": 15.0,
+      "log_step": 62,
+      "text_zh": "观察：log step 62 中 agent 宣布转向抽屉；视频 14.0–23.5 s 机器人空夹爪在柜顶及上层把手附近下降、抵靠和移开，上层面板未向画面右侧拉出，也未露出可放碗的内腔。"
+     },
+     {
+      "t": 51.4,
+      "log_step": 175,
+      "text_zh": "观察：视频 44.0–51.4 s 机器人再次靠近柜前，末帧上层面板仍贴合柜体。参考成功视频约 4.0–5.0 s 可见整层抽屉明显伸出且内腔露出，本次没有该特征。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 14.5–15.5 s，Panda 张开的夹爪手指抵在木柜上部表面/前缘；随后在把手附近反复抵靠，未见两指夹住横把手并拉出抽屉。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": 40,
+      "text_zh": "观察：视频 8.0–9.3 s 机器人在右侧白色方板的深色圆盘处合爪并抬起，夹爪没有带走物体；真正的花纹碗仍在左侧黑瓶旁的桌面上。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 62,
+      "text_zh": "观察：视频 9.5–12.8 s 机器人继续在白色方板处合爪、抬手，花纹碗仍留在黑瓶旁；log step 62 中 agent 自述“碗还在板上”，其指认与视频中真正碗的位置不符。"
+     },
+     {
+      "t": 41.5,
+      "log_step": 158,
+      "text_zh": "观察：视频 25.0–41.5 s 机器人再次在白色方板及圆盘附近反复调整、合爪和抬手，花纹碗没有随夹爪离开桌面。"
+     },
+     {
+      "t": 51.4,
+      "log_step": null,
+      "text_zh": "观察：视频 50.5–51.4 s 花纹碗仍位于黑瓶右侧、白色方板左侧的桌面上，未进入木柜；run.json 的 live_success 与 replay_success 均为 0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 8.2–8.8 s、10.0–10.3 s 及后续重试中，Panda 手指在被误认成碗的白色方板/深色圆盘组件上向下抵压并合拢；未见对真正花纹碗建立包夹，抬手时为空夹爪。接触落在圆盘还是底座的细分无法由外部视角确定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_in_top_drawer",
+   "t": 8.5,
+   "log_step": 40,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8.5 s，机器人在右侧白色方板的圆盘处合爪，视频 9.0–9.3 s 抬起时为空夹爪；真正花纹碗留在黑瓶旁。之后多次同类重试和抽屉尝试均未把碗搬入柜内，直至视频 51.4 s 仍未修复这一最早开始的放碗步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.5,
+    "log_step": 40,
+    "evidence_zh": "观察：视频 8.0–9.3 s，机器人夹爪在白色方板上方闭合并空手上升，与左侧真正花纹碗相隔明显距离；视频 10.0–12.8 s 及 25.0–41.5 s 重试后仍未见机器人夹持或搬运该碗。所需的碗抓握接触没有建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 8.5,
+    "log_step": 16,
+    "evidence_zh": "推断：agent 在 log step 10、16 将白色方板上的深色同心圆物体指认为碗，log step 36 继续按这一位置执行接近；视频 8.0–12.8 s 的合爪正落在该圆盘处，而有花纹的真实碗清楚可见于黑瓶旁。参考成功视频约 7.0–11.0 s 机器人取走的是该花纹碗。物体身份识别错误使本次抓取始终指向错误对象；log step 139、159 仍沿用“碗在板上”的判断。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "输入没有逐帧状态或接触力日志，所提供回放只有固定外部视角；手指遮挡使各次接触究竟落在深色圆盘还是白色底座上无法精确区分。两节点均有可见判据，真实碗未搬入木柜与上层抽屉未打开不依赖这一细分。",
+  "unmet": {
+   "bowl_in_top_drawer": false
+  }
+ },
+ "summary_zh": "机器人反复在右侧白色方板的深色圆盘处尝试抓取，随后两次转向木柜，但上层抽屉始终未打开，真正花纹碗也未进入木柜，最终为 0/2。最早未修复的断点是“碗放入上层”：日志与视频对照表明 agent 把圆盘误认为碗，未对真正的碗建立抓握。无状态/接触力日志，圆盘与底座之间的具体接触位置存在遮挡。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成、末帧抽屉仍关闭、花纹碗始终在黑瓶旁，与视频一致；断点（先被处理的放碗步骤，夹爪在白色方板圆盘处空抓）与感知误认的根因有视频支持。",
+    "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": "2026-10-30T03:05:03Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--hztwpsr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--hztwpsr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "be46a9354b23b12f7787024408e55f097cc6523c3a394c538d7f64669e40de94",
+   "video_sha256": "4027f37eafb96730046182a026c5c53c7840eb25c721b9a4977674de871369f0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--ufgn9qg.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--ufgn9qg",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "replayed": 1,
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+   "n_actions": 785,
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+   "calls": 165,
+   "rows": 785,
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+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 467.0,
+   "video_rendered": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--ufgn9qg/replay.mp4",
+  "duration_s": 39.4,
+  "fps": 10.0,
+  "frames": 394,
+  "sha256": "7944fc865951c830eebbbc51be12a61cc95af44c234a483e346b75e33fa6a5f6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频初始画面中，左侧木柜最上层抽屉面板贴合柜体，灰色横把手尚未向右拉出。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 8.4 s 夹爪闭合在最上层抽屉的灰色横把手处；视频 8.7–10.8 s 机器人向画面右侧拉动，把手和面板随夹爪一起离开柜体，露出内腔，约视频 9.0 s 已可辨认抽屉打开（到达时间约有 0.3 s 不确定性）。视频 16.0 s 机器人松开把手后抽屉仍拉出，至视频 39.3 s 未关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.5–8.4 s Panda 二指夹爪在最上层抽屉横把手处合拢，随后视频 8.7–14.0 s 夹住把手向外拉；视频 16.0 s 已松开并离开把手。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": 39,
+      "text_zh": "观察：本次视频 21.9–22.2 s，机器人接近碗时，碗在桌面上的位置发生改变；agent 在 log step 39 自述碗移动，并重新定位后再接近。此时碗仍在桌面，尚未入抽屉。"
+     },
+     {
+      "t": 31.2,
+      "log_step": 48,
+      "text_zh": "观察：本次视频 29.2–30.4 s 机器人在碗沿处合拢夹爪，视频 30.8–32.8 s 碗随夹爪上升并离开原桌面位置；视频 34.0–38.5 s 机器人持续夹持碗并移到已打开的上层抽屉上方。log step 48 记录闭爪和抬升命令，与画面动作一致。"
+     },
+     {
+      "t": 39.3,
+      "log_step": 60,
+      "text_zh": "观察：本次视频 38.6–39.3 s 机器人夹持碗向下移动，末帧碗下部降入上层抽屉内腔，夹爪仍夹着碗沿；log step 60 的机器人服务响应为 done=True、reason=success，inputs/run.json 的 live_success=1、replay_success=1、deterministic=1。"
+     },
+     {
+      "t": 39.3,
+      "log_step": 60,
+      "text_zh": "推断：结合本次视频末段的下降入腔画面、成功参考视频 11.8–12.0 s 的同类终态，以及本次现场和回放成功判定，将碗入上层区域的首次达成锚定在本次视频 39.3 s（约末帧，误差不超过约 0.3 s）。无状态日志，无法仅凭画面测出原点入盒及接触发生的精确时刻；这些原生验收条件由评分结果补充确认。该节点允许持碗完成，无需松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 29.2–30.4 s Panda 二指夹爪合拢夹住黑色花纹碗的碗沿，视频 30.8–39.3 s 碗随夹爪抬升、搬运和下降入抽屉，末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人约在视频 9.0 s 拉开上层抽屉，碗在接近过程中改变桌面位置后，机器人重新定位、夹住碗沿并搬运，至视频 39.3 s 将碗降入抽屉，两节点均完成。现场服务及确定性回放均判定成功，终态仍夹持碗，符合本任务允许持物验收的规则。无状态日志，精确区域边界及物体接触的时刻无法由单一外部视角直接测量，碗入区终态由末段画面与评分结果共同��认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点的到达时间与接触标注与视频帧一致，成功由评分结果支持，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": "2026-10-30T02:29:09Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--ufgn9qg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--ufgn9qg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3b1ebf10f2e761c0c16e30fe04ec0e6886df373db1d79ad69a4772efd15b03b5",
+   "video_sha256": "7944fc865951c830eebbbc51be12a61cc95af44c234a483e346b75e33fa6a5f6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/trajectories/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--uwcpnxn.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--uwcpnxn",
+ "taskKey": "libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation",
+ "dag_sha256": "bce12eadde18a9a40fb07f0ae41831c74e81c35bf4523a744cb4991e4d90b067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1559,
+   "sim_steps": 1559,
+   "calls": 352,
+   "rows": 1559,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1694.5,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.326,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.007,
+   "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--uwcpnxn/replay.mp4",
+  "duration_s": 78.1,
+  "fps": 10.0,
+  "frames": 781,
+  "sha256": "afdd71d34ed51e860e7f872545db0d81e1307bed0eebd2769e605779ab40c251"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "top_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，上层抽屉面板贴合木柜，尚未打开。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 103,
+      "text_zh": "观察：视频 11.8–12.5 s，Panda 夹爪夹住最上层横把手向画面右侧拉，上层面板离开柜体并露出内腔；取视频约 12.2 s 为到达时刻，误差约 0.2 s。log step 103 记录向外拉把手的调用；视频 14.0 s 以后夹爪离开而抽屉保持拉出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.0–12.8 s，Panda 二指夹爪夹持上层抽屉横把手并向外拉，随后松开。"
+     }
+    ]
+   },
+   "bowl_in_top_drawer": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": 135,
+      "text_zh": "观察：视频 29.0–32.5 s，机器人在灶台后方的深色凸起物处下降、闭爪、抬升；抽屉右侧、灶台左侧的灰白花纹碗始终留在桌面，未随夹爪移动。log step 135 的抓取目标为 [-0.404,0.248,0.950]，调用后的闭爪指位为 [0.0027,-0.001]。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 149,
+      "text_zh": "观察：视频约 36.0–40.0 s，机器人空爪移到抽屉内下降并张开；花纹碗仍在抽屉右侧桌面，并未被搬入。log step 149 的放置调用报告松爪前指位约 [0.0005,-0.0005]，服务未报成功。"
+     },
+     {
+      "t": 65.5,
+      "log_step": 161,
+      "text_zh": "观察：视频 42.0–67.4 s 多轮重试仍对着灶台后方深色物体闭爪，视频 65.5–66.9 s 可见该物体被夹爪拨歪；目标花纹碗没有移动。"
+     },
+     {
+      "t": 78.0,
+      "log_step": 163,
+      "text_zh": "观察：视频 77.0–78.0 s 逐帧可见抽屉打开且内腔未放入碗，花纹碗仍在右侧桌面；机器人张爪返回抽屉附近。log step 163 的服务状态为 done=False、reason=None；评分器 live_success=0、replay_success=0，与视频未完成放入一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人为放碗步骤反复向灶台后方深色非目标物闭爪，视频 65.5–66.9 s 手指拨动该物使其倾斜；未见夹爪接触或夹持抽屉旁的花纹目标碗。此处记录可见的拨动，不把闭爪指令本身当作已抓住目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_in_top_drawer",
+   "t": 30.0,
+   "log_step": 135,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 29.0–32.5 s，机器人开始所谓抓碗动作时，夹爪实际落在灶台后方深色物体上，抽屉旁花纹碗未动；后续多次重试及视频 77.0–78.0 s 末段仍未将花纹碗搬入抽屉。log step 135 为该次抓取调用，因此断点是碗放入上层步骤，之后始终未修复。"
+  },
+  "unmet": {
+   "bowl_in_top_drawer": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 30.0,
+    "log_step": 135,
+    "evidence_zh": "观察：视频 29.0–32.5 s、42.0–60.0 s 及 62.5–67.4 s，机器人反复在灶台后方深色物体处闭爪；真正的花纹碗始终在抽屉右侧桌面，没有与手指建立抓取接触，也没有随抬升动作离开桌面。视频 77.0–78.0 s 仍未搬入目标碗。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 30.0,
+    "log_step": 135,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 认错了目标物体。log step 27 把固定视图像素 (138,109) 的花纹碗称作 metalbowl，把灶台后 (174,93) 的深色物称作 blackobj；log step 124、128 转而定位后者，log step 135 及 155–163 持续向其坐标附近抓取，log step 166 仍自述目标碗在 (-0.40,0.20)。本次视频 29.0–32.5 s、42.0–67.4 s 显示这些动作落在后方深色物上，而花纹碗留在另一位置；参考成功视频 8.0–12.0 s 搬入的是同外观的花纹碗，仅用作目标外观对照。故失败首先由物体身份识别错误解释，不能将 agent 自述的“碗滑脱”当作本次目标碗曾被抓住的证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志；本次视频仅有固定外部视角，不能精确恢复深色非目标物与两指之间是否短暂形成对向夹持，也不能测量原生目标区域盒边界。目标花纹碗留在桌面及放入未达可直接判断；物体身份识别错误由本次画面、日志的像素/坐标选择和参考视频的目标外观共同推断。"
+ },
+ "summary_zh": "机器人在视频约 12.2 s 拉开上层抽屉，最终完成 1/2 个节点，花纹目标碗始终留在抽屉右侧桌面。放碗步骤在视频约 30.0 s 的首次抓取时即偏向灶台后方另一深色物体，后续重试没有修复；日志的目标坐标与画面对应，支持认知·感知中的物体识别错误，而非目标碗已抓住后滑脱。无状态日志且无腕部视频，非目标物的精确夹持接触无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽屉约 12.2 s 打开、碗未放入、断点与感知（认错目标）根因与帧一致；成功视频搬运的是抽屉旁灰白花纹碗，本次夹爪始终在灶台后方深色物体处，该碗未动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:59:35Z",
+  "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/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--uwcpnxn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-akita-black-bowl-in-wooden-cabinet-top-target-relocation-i00-standard--uwcpnxn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf3387805e3be4185c8286928eb73075d2dc7989cf4aaf32ee23cc50af5317dd",
+   "video_sha256": "afdd71d34ed51e860e7f872545db0d81e1307bed0eebd2769e605779ab40c251",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dewfyqs.json

@@ -0,0 +1,167 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dewfyqs",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 158,
+   "sim_steps": 316,
+   "event_fired": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.897,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.83,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dewfyqs/replay.mp4",
+  "duration_s": 8.0,
+  "fps": 10.0,
+  "frames": 80,
+  "sha256": "cf57a1fda6ad249aab71a96802bb5b492578d3cb153fd4434a80d4444be89475"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左后方木质酒架顶部没有酒瓶，黑色书形遮挡物位于取瓶位置前方。"
+     },
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s 机器人张开的夹爪在遮挡物上方移动、转腕；视频 3.1–5.5 s 夹爪向画面上边缘升高，未见携瓶移向左后方酒架。酒架上未出现参考成功视频 3.5–4.3 s 所见的瓶体及夹持放置姿态。"
+     },
+     {
+      "t": 7.9,
+      "log_step": 95,
+      "text_zh": "观察：视频 7.0–7.9 s 机器人仍停在高处，酒架顶部仍无酒瓶；log step 95 确认最终文件为 158×7 个有限值动作，与评分器 n_actions=158 一致，评分器 success=0、event_fired=0。推断：结合全段未见取瓶搬运及酒架末态，唯一放置节点始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0.0–3.0 s 可见 Panda 二指夹爪在酒瓶所在的黑色书形遮挡物上方调整姿态，未见夹住酒瓶；后段夹爪大部分移出画面上缘，瓶体被遮挡。实际夹爪与酒瓶的接触方式无法直接核实，不据任务典型方案填写抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottle_on_rack_top",
+   "t": 4.5,
+   "log_step": 92,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.1 s 起机器人夹爪升至画面上缘，视频 4.2–7.9 s 未下降到取瓶位置，也未携瓶向酒架运动。log step 87 启动最终版本，log step 92 记录该版本已转腕后尝试下降至世界坐标 z=0.955 m，实际末端 z 持续约 1.34 m；log step 95 确认交付 158 步。推断：放置步骤在取瓶接近阶段未到位，之后没有修复；视频 4.5 s 为高位停滞的近似导航锚点。"
+  },
+  "unmet": {
+   "wine_bottle_on_rack_top": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.5,
+    "log_step": 92,
+    "evidence_zh": "观察：视频 3.1–5.5 s 机器人夹爪上移并停在取瓶位置上方，视频 7.0–7.9 s 仍未进入取瓶高度；log step 92 的最终脚本输出显示，下降目标 z=0.955 m，而末端 z 从约 1.337 m 变为约 1.346 m，持续未到位。推断：取瓶接近运动的末端位置偏高，未能继续完成取瓶和上架。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 80 的控制脚本按目标与当前末端位置之差生成平移命令；log step 87 将最终脚本改为三次转腕后直接下降；log step 92 显示该版本在反复发送下降命令时仍有约 0.38–0.39 m 高度误差，log step 95 的交付动作数与评分器记录同为 158，视频 4.2–7.9 s 也显示机器人停在高处。推断：最终控制过程未能实现预定的下降接近，足以归于控制；没有最终关节限位、接触力或控制器内部记录，不能确定更细子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供固定相机视频和完整会话日志，没有状态日志或本次重放的腕部视频；黑色书形遮挡物遮住瓶体，后段夹爪大部分出画，因此实际接触填未知。log step 42、56 的接触��告来自先前会话测试，不能用来断言最终交付轨迹碰到书、瓶或酒架；也无足够证据区分最终控制失败的逆解、关节限位或跟踪原因。"
+ },
+ "summary_zh": "观察：交付视频中机器人仅在取瓶位置上方接近、转腕，随后停在高处，酒架顶部始终未出现酒瓶，唯一节点终态为 0/1。推断：断点为“酒瓶放上酒架”的操作中，末端下降未到位，最终脚本的持续高度误差支持控制根因；瓶体遮挡且无状态日志，实际接触及更细控制机制无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "未发现需要修改的错误：视频全程酒架顶部无酒瓶、夹爪停在高处（0/1）；log step 92 的最终脚本输出（下降目标 z=0.955，末端 z 停在约 1.34 m）与交付的 158 步（83 步到位姿 + 75 步下降尝试）吻合，位姿不准与控制（未细分）有证据支持，接触未知合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:20:09Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dewfyqs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dewfyqs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b44aecb24561d472e94bb57034ffb0adae4f7ef4b058bd96730392f904bb8b06",
+   "video_sha256": "cf57a1fda6ad249aab71a96802bb5b492578d3cb153fd4434a80d4444be89475",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dflcqqj.json

@@ -0,0 +1,148 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dflcqqj",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 86,
+   "sim_steps": 172,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.611,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.248,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dflcqqj/replay.mp4",
+  "duration_s": 4.4,
+  "fps": 10.0,
+  "frames": 44,
+  "sha256": "02a5e354b3915dcf1468a8fbd44904f4862d3e5667a87482a59edd4b276dae70"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左后方木质斜面酒架顶部没有酒瓶；机器人夹爪随后下降到酒架右前方黑色立书后方，视频 0.8 s 起场景变为紫色。初始放置关系未成立。"
+     },
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.1–2.8 s，酒瓶从黑色立书后方升起，瓶颈位于二指夹爪之间，瓶身随夹爪上升；视频 3.0–3.5 s，机器人夹持酒瓶向左搬至酒架顶部上方。"
+     },
+     {
+      "t": 4.3,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 3.4–4.3 s，机器人保持夹持瓶颈并向下移动，末帧瓶底降至木质酒架上部表面，未见松手或酒瓶跌落；inputs/run.json 的评分器字段 success=1、deterministic=1、n_actions=86。"
+     },
+     {
+      "t": 4.3,
+      "log_step": null,
+      "text_zh": "推断：末段瓶底与酒架的可见贴合和评分器成功结果共同支持唯一目标关系已成立，故以视频 4.3 s 作为约略到达锚点并保持至结束。无状态日志，不能由画面精确测量瓶原点及区域高度阈值，首次满足完整谓词的时刻约有 0.3 s 不确定性；本节点允许保持夹持，不要求松手静置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.1–4.3 s，Panda 单臂二指夹爪夹住酒瓶瓶颈，抬起并向左搬运，随后将瓶底降至酒架上部；结束时仍夹持酒瓶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人夹住酒瓶瓶颈，将酒瓶抬起并搬到酒架顶部，再下降至架面，视频约 4.3 s 完成唯一节点，终态为 1/1，评分器 success=1。推断：持续夹持的放置符合本任务验收规则，视觉主题变紫未阻止完成。无状态日志，瓶底接触和目标区域阈值的精确到达时刻只能由末段画面结合成功评分判断；所给 oracle 与本次运行相同，未作为独立参照。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点标注与视频一致：夹爪夹住瓶颈搬到左后方酒架并下降，评分器 success=1，时间锚点 4.3 s 合理，接触为抓握，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": "2026-10-30T02:16:53Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dflcqqj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--dflcqqj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b7f6f018d567cafdf35c74814c07fcdaa95368f83b475124f3a4a0c5472da447",
+   "video_sha256": "02a5e354b3915dcf1468a8fbd44904f4862d3e5667a87482a59edd4b276dae70",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--gmfpold.json

@@ -0,0 +1,148 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--gmfpold",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 77,
+   "sim_steps": 154,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.793,
+   "peak_processes": 10,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--gmfpold/replay.mp4",
+  "duration_s": 4.0,
+  "fps": 10.0,
+  "frames": 40,
+  "sha256": "fd8ed3aef33b84761c6962db4eedb269d94c8425dd04d2f80cb26b33485d7fcb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，左后方木质斜面酒架顶部没有目标酒瓶，机器人夹爪在酒架右侧、黑色遮挡物后方上空；初始目标关系不成立。"
+     },
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–3.3 s，机器人二指夹爪上升，夹爪下方的酒瓶从黑色遮挡物后方升出并随夹爪一起移动；视频 3.4–3.8 s，夹爪保持夹持并将酒瓶移向左后方酒架。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.8–3.9 s，机器人仍夹住酒瓶，瓶身下部抵近酒架上部右侧，终帧未见松手或掉落；成功参考视频 4.2–4.3 s 也呈现夹持酒瓶至酒架上部的终态，仅用于比较外观。inputs/run.json 的评分器字段 success=1、deterministic=1、invalid_trajectory=0。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "推断：本次视频末段的持瓶搬运与成功评分相符，唯一目标“酒瓶放上酒架”在终态成立；按终帧取视频约 3.8 s 为首次到达锚点，时间误差约 0.2 s。低分辨率固定视角下接触点部分被夹爪及酒瓶遮挡，且无状态日志，不能直接逐帧核验区域边界及高度阈值；仍持瓶不妨碍该任务验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.5–3.8 s，Panda 单臂二指夹爪夹持酒瓶上部，提起酒瓶并向左后方酒架搬运，终帧仍夹持；抓握建立时刻被黑色遮挡物部分遮住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人夹持酒瓶提起并搬至左后方酒架上部，约视频 3.8 s 达成唯一放置目标，终态为 1/1；评分器记录成功且确定性复现通过。该任务允许仍夹持酒瓶时完成，视频末段未松手符合验收条件。没有状态日志，且固定视角中的接触点部分遮挡，区域位置、高度与实际触架关系结合成功评分判定，到达时间为近似值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功任务，评分器 success=1，终态成立；视频 0 s 目标未成立，约 3.8 s 瓶到达酒架上部，与参考视频外观一致，接触为单臂夹爪抓握，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": "2026-10-30T02:19:50Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--gmfpold/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--gmfpold/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef0d1c77fa78c061b2b10882a0dcad967aa6d02cbdeef275350cf2c1c3642f48",
+   "video_sha256": "fd8ed3aef33b84761c6962db4eedb269d94c8425dd04d2f80cb26b33485d7fcb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--k2gpkbv.json

@@ -0,0 +1,148 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--k2gpkbv",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 136,
+   "sim_steps": 272,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.221,
+   "peak_processes": 13,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--k2gpkbv/replay.mp4",
+  "duration_s": 6.9,
+  "fps": 10.0,
+  "frames": 69,
+  "sha256": "0092ff239356a21f2254742b97d35ccb1afd8a583d69000070108a9068b10fa0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，左后方斜面酒架顶部没有酒瓶，夹爪位于黑色遮挡书本后上方；初始放置条件未成立。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 4.2–5.4 s，酒瓶从黑色书本后升出，瓶颈位于二指夹爪之间，瓶身随夹爪上升；随后机器人将酒瓶移向左后方酒架，酒瓶未留在原处。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.9–6.8 s，机器人保持夹住瓶颈并下降，瓶底逐渐靠近酒架上部；视频 6.8 s 末帧瓶底与酒架上部表面相接，夹爪仍未松开。已逐帧检查视频 5.4–6.8 s；该末态与成功参考视频 4.3 s 的放置外观一致。"
+     },
+     {
+      "t": 6.8,
+      "log_step": 43,
+      "text_zh": "推断：视频 6.8 s 的末态与评分器 reward.success=1、deterministic=1 一致；log step 35 记录将 136 步候选轨迹选为最终交付，log step 43 的两次独立重放均返回 success=true、control_steps=136 且终态哈希一致。因此将到达时刻取为约视频 6.8 s，终态为真；未用早先 187 步会话测试的结果或 agent 工作时间代替视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.2–6.8 s，Panda 单臂二指夹爪夹住酒瓶瓶颈两侧，抬升、搬运并下降至酒架上部，末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人在视觉主题变紫后继续抓取并搬运酒瓶，约视频 6.8 s 将瓶底降到酒架上部，唯一节点“酒瓶放上酒架”完成，终态为 1/1。末帧仍夹持瓶颈，符合本任务允许持物完成的判据，评分器成功且两次交付重放结果一致，无失败断点。无状态日志，原生区域边界与精确接触时刻无法逐帧数值复核，到达时间按末帧估计并由成功评分佐证。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功，终态为真，与评分器成功一致；视频末段夹爪带瓶下降至酒架，接触标注为抓握合理，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:18:13Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--k2gpkbv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--k2gpkbv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "018d7f53c77ef4c456ef327eba836872e010c7939ce7e51caf9456b4604d97ce",
+   "video_sha256": "0092ff239356a21f2254742b97d35ccb1afd8a583d69000070108a9068b10fa0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--n94m9kf.json

@@ -0,0 +1,148 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--n94m9kf",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 156,
+   "sim_steps": 312,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.913,
+   "peak_processes": 14,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--n94m9kf/replay.mp4",
+  "duration_s": 7.9,
+  "fps": 10.0,
+  "frames": 79,
+  "sha256": "f2375fe40a1fe6045582b6a2cb84d96707936132bb9c28ca75bc388b53d09a40"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左后方木质酒架顶部为空，酒瓶原位置在桌面书本后方；视频 0.0–3.5 s 机器人夹爪向该位置下降，目标关系尚未成立。"
+     },
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.7–4.7 s 酒瓶从书本后方升起，瓶身随机器人二指夹爪同步上移，瓶颈处于两指之间；随后机器人将酒瓶向画面左后方酒架搬运，确认实际抓握和搬运。"
+     },
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–7.8 s 机器人保持夹住瓶颈并下降，酒瓶瓶底逐渐贴近木质酒架上部；视频 7.8 s 末帧瓶底位于酒架上部，夹爪仍闭合。已逐帧检查视频 6.8–7.8 s，未见瓶子脱落或机器人松手。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 23,
+      "text_zh": "推断：将酒瓶放上酒架的达成时间标为视频约 7.8 s（末段视觉锚点，时间约有 0.3 s 不确定性）。输入评分器字段 success=1、deterministic=1；log step 20、23 对同一交付动作文件的独立重放均返回 success=True、control_steps=156 且终态哈希一致，支持末帧已满足区域及接触条件。无状态日志，256×256 固定视角不能单独精确测量区域边界和首次物理接触时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.7–4.7 s Panda 单臂二指夹爪夹持酒瓶瓶颈并将其提离桌面；随后持续夹持搬到酒架上方，视频 6.4–7.8 s 下降至酒架上部，末帧仍未松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人抓住酒瓶瓶颈，将其提离书本后方并搬到木质酒架上部，视频约 7.8 s 达成唯一目标节点，最终为 1/1；评分器 success=1、deterministic=1。末帧仍夹持酒瓶，符合本任务允许持物触架即成功的验收条件，无失败断点。无状态日志，固定视角分辨率有限，精确接触及区域边界由成功评分补充确认，达成时间为末段视觉近似。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点任务，评分器 success=1，视频末段可见酒瓶被夹持搬到左后方酒架上部，达成时间约 7.8 s 与视频末帧一致；抓握接触标签合理，无失败断点，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": "2026-10-30T02:16:38Z",
+  "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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+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--n94m9kf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--p7kejfm.json

@@ -0,0 +1,165 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--p7kejfm",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 102,
+   "sim_steps": 204,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.359,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--p7kejfm/replay.mp4",
+  "duration_s": 5.2,
+  "fps": 10.0,
+  "frames": 52,
+  "sha256": "91854f2c6584df97dd3cc022010a265959eec1ab4128b1e5799e8aa07eb0638c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 酒架顶部没有酒瓶，机器人夹爪位于桌面后方；酒瓶初始位置被前方黑色竖立物部分遮挡。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–3.9 s 酒瓶从黑色遮挡物后方升起，瓶颈夹在机器人二指夹爪之间，瓶身随夹爪一起上移；视频 4.0–4.6 s 机器人持瓶移向画面左侧酒架上方。"
+     },
+     {
+      "t": 5.1,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 4.2–5.1 s，机器人将酒瓶向酒架上部下降，视频 4.8–5.1 s 瓶身倾斜，末帧瓶底的位置仍高于成功参考视频 4.3 s 的落位位置，酒瓶没有松脱或落回桌面。"
+     },
+     {
+      "t": 5.1,
+      "log_step": 22,
+      "text_zh": "推断：本次视频没有出现成功参考末段的落位状态，结合评分器 success=0、deterministic=1，以及 log step 22 对已保存的 102 个动作进行新进程重放所得 success=False，判定目标关系全程未达到、终态为假；log step 21、23 的会话内 success=True 不能作为评分轨迹已完成的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–5.1 s，Panda 单臂二指夹爪夹住酒瓶瓶颈，提起酒瓶并搬向酒架、下降；末段仍夹持酒瓶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottle_on_rack_top",
+   "t": 4.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.7–5.1 s，机器人持瓶下降至酒架上部时瓶身倾斜，最终瓶底落位与成功参考视频 4.3 s 不同；评分器 success=0，之后没有补正动作。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.8–5.1 s，机器人夹持的酒瓶在下降过程中偏斜，末帧瓶底仍比成功参考视频 4.3 s 的瓶底位置高。推断：搬运已进行，但最终放置位姿没有使酒瓶满足顶部区域与接触的联合验收条件；并非松手后失稳。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；视频仅提供低分辨率固定相机视角，不能精确拆分终态不满足的是区域平面范围、高度还是酒架接触条件。log step 21、23 的会话内成功与 log step 22 的新进程重放失败不一致，log step 24 虽发起逐步差异诊断，但没有返回结果；缺少足以确定差异来源、具体控制缺陷或交付操作错误的证据，故根因留空。",
+  "unmet": {
+   "wine_bottle_on_rack_top": false
+  }
+ },
+ "summary_zh": "机器人已夹住酒瓶、将其提离桌面并搬至酒架上方，但视频 4.8–5.1 s 下降时瓶身倾斜、落位偏差，酒瓶放上酒架节点始终未达到，终态为 0/1。会话内成功结果未在新进程重放中复现；无状态日志且差异诊断没有返回，无法确定具体根因。",
+ "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：酒瓶被夹起并搬到酒架上方��末段仍悬在架上方未落位，节点未达到、终态为假，与评分器 success=0 及 log step 22 新进程重放失败一致；会话内成功未当作事实。断点、现象和空根因（含 gap_zh）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": "2026-10-30T02:17:14Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--p7kejfm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--p7kejfm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e5aa358504fa104c24323e007cb0b4a5ec6c52e7fabbfa2eb019441e14307ea",
+   "video_sha256": "91854f2c6584df97dd3cc022010a265959eec1ab4128b1e5799e8aa07eb0638c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--ykqbbrj.json

@@ -0,0 +1,148 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--ykqbbrj",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "n_actions": 182,
+   "sim_steps": 364,
+   "event_fired": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.238,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.005,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--ykqbbrj/replay.mp4",
+  "duration_s": 9.2,
+  "fps": 10.0,
+  "frames": 92,
+  "sha256": "42cbe79d349e44569cf45f0353edee568d38a0dd024eead99e032da18e3b753e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左后方木质斜面酒架顶部为空，夹爪位于桌面黑色立书后上方，酒瓶尚未出现在酒架顶部。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–6.5 s 机器人夹爪上升，酒瓶从黑色立书后方被提起；视频 5.5–6.5 s 可见瓶颈位于闭合的两指之间，瓶身悬在夹爪下随其上升，离开原桌面位置。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.3 s 酒瓶随机器人移至左侧酒架上方，瓶底仍高于酒架；视频 8.4–9.1 s 机器人持瓶下降，视频 9.0–9.1 s 瓶底已降至酒架上部并与其表面相接，瓶颈仍被夹持。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 83,
+      "text_zh": "推断：结合视频 8.4–9.1 s 的下降与接架画面、log step 83 对提交的 182 步动作独立重放所得 success=true、done=true，以及评分器 reward.success=1、deterministic=1，唯一目标关系在末段成立；将首次达到标在视频约 9.0 s（视觉精度约 ±0.2 s）。无逐帧状态日志，精确区域边界及接触谓词由成功评分佐证；该节点允许仍夹持酒瓶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.5–6.5 s Panda 单臂二指夹爪夹住酒瓶瓶颈，瓶身悬垂并随夹爪上升；随后机器人持瓶移向酒架，在视频 8.4–9.1 s 将瓶底降到酒架上部，末帧仍保持夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人夹住瓶颈提起酒瓶，将其搬至左后方酒架并下降，约视频 9.0 s 达到“酒瓶放上酒架”，最终完成 1/1 个节点。末帧仍夹持酒瓶，符合该任务无需松手的判据；提交轨迹的独立重放（log step 83）与评分器均报告成功。无逐帧状态日志，精确目标区域边界及接触谓词无法仅凭低分辨率画面测量，到达时刻约有 ±0.2 s 的视觉误差。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功标签与视频和评分器一致：视频 5–6.5 s 夹爪夹瓶颈提起，视频 8.4–9.1 s 瓶底降至酒架上部，首次达到约视频 9.0 s 合理；log step 83 的独立重放 success=true 存在；contact_actual 为手指/夹爪·抓握，符合实际；无失败，failure 为 null 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": "2026-10-30T02:22:24Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--ykqbbrj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--ykqbbrj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69d2a185e74ff94b85dbe99d37ac6943fed4e9cb1f980c8e3f53ba4046ccc2ec",
+   "video_sha256": "42cbe79d349e44569cf45f0353edee568d38a0dd024eead99e032da18e3b753e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf.json

@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "finalized": 0,
+   "missing_log": 0,
+   "infra_error": 1,
+   "grader_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 0,
+   "sim_steps": 1372,
+   "calls": 199,
+   "rows": 1312,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 3587.0,
+   "video_rendered": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf/replay.mp4",
+  "duration_s": 68.7,
+  "fps": 10.0,
+  "frames": 687,
+  "sha256": "a23e8899c4afd5a9d1818d7a32b133cea5a4dcf78837eeddbc35481d9e62185b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 酒瓶在夹爪下方的桌面区域，左后方木质斜面酒架顶部没有酒瓶。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–9.5 s 机器人夹爪夹住酒瓶并抬起、向酒架前侧搬运；瓶子没有到达斜面上部。视频 11.8–12.4 s 夹爪抬高而瓶子留在酒架低处，之后视频 15.0–19.0 s 可见瓶子仍在下沿。"
+     },
+     {
+      "t": 36.5,
+      "log_step": null,
+      "text_zh": "观察：视频 19.5–35.5 s 机器人旋转手腕并反复靠近酒架低处；视频 36.0–38.0 s 夹爪移开后，瓶子仍留在酒架前侧下沿，没有随夹爪提走。视频 39.0–60.0 s 后续闭爪、抬手和换向同样没有把瓶子送到顶部。"
+     },
+     {
+      "t": 68.6,
+      "log_step": 272,
+      "text_zh": "观察：视频 67.7–68.6 s 逐帧检查，夹爪停在酒架前侧低处，瓶子仍在下沿，顶部没有瓶子；log step 272 最后一次推进返回 done=False、reason=None。对照成功参考视频 3.6–4.3 s 的瓶底降到酒架上部，本次没有出现该状态。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段 success=0、live_success=0、replay_success=0；同时 infra_error=1、finalized=0、deterministic=0。节点未达标由本次视频判断，零分本身不作为未操作的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.5–9.5 s Panda 单臂二指夹爪夹住酒瓶，瓶子随手抬起并向酒架前侧移动；随后视频约 12.0 s 提手时瓶子留在低处。后续反复闭爪不代表再次建立有效抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottle_on_rack_top",
+   "t": 12.0,
+   "log_step": 84,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 11.8–12.4 s，机器人在酒架前侧抬起夹爪，酒瓶未随手上升，留在酒架低处。agent 在 log step 82 自述此前下压因瓶子碰到架体受阻；该步实际执行横向调整，服务本体读数 eef z=1.1612 m，log step 83 再执行下压后 z=1.1503 m，仅下降约 0.011 m。log step 84 执行 grip=1 闭爪上抬，返回双指位置约 0.0012 与 −0.0013 m；这些读数不是夹持失效原因的测量。推断：自述、下压前后位移与视频中瓶子贴近架侧的位置共同支持下压受阻后提手时瓶留在低处，但不能单凭这些读数确定失持机制。视频后续至 68.6 s 的重抓与推进未完成酒瓶上架，故断点仍为酒瓶放上酒架。"
+  },
+  "unmet": {
+   "wine_bottle_on_rack_top": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.5,
+    "log_step": 83,
+    "evidence_zh": "观察：视频 9.5–11.5 s，机器人把酒瓶带到酒架前侧低处，瓶身贴近斜架前缘，没有到达顶部目标区域上方；视频 12.0–12.4 s 提手后，酒瓶仍留在前侧下沿。agent 在 log step 84 自述此前认错低处红色表面、瓶子正接触酒架侧面，在 log step 95 自述瓶子停在酒架前侧下沿，与视频可见位置一致。这是放置位置未到位，与随后失去抓握分别记录。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 12.0,
+    "log_step": 84,
+    "evidence_zh": "观察：视频 8.5–9.5 s 酒瓶随夹爪移动；视频 11.8–12.4 s 夹爪上升而酒瓶留在酒架前侧下沿。log step 84 的上抬命令仍为 grip=1，未命令松手，其返回双指位置约为 0.0012 与 −0.0013 米；视频 12.4 s 可见手与瓶颈分开。这是搬运中失去夹持，未在目标顶部完成计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "agent 自述 / 日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 54 把腕部画面的低处红色矩形表面当成酒架顶部并向那里搬运，log step 84 又自述“低处红色表面是旁边的台沿，酒架条板顶部更高”；视频 9.5–12.4 s 瓶子确实停留在酒架前侧低处。log step 174 agent 还自述此前把手的一部分误认作瓶子，随后改变接近位置；视频 19.5–38.0 s 反复调整时真实瓶子仍在下沿。目标表面与物体位置的误识别影响了放置和重抓定位。"
+   }
+  ],
+  "gap_zh": "观察：输入没有状态日志，本次视频仅有固定相机视角，无法量出瓶原点、精确目标区域及夹持力，失去夹持的时刻仅定位到视频约 12.0 s。日志没有夹持力、滑移或控制跟踪误差读数，无法区分夹持几何、摩擦不足与碰触酒架后的失稳，因此不再把失持现象归因为控制失效；下压受阻由 agent 自述、本体位移及视频位置共同支持推断，不能确定精确碰撞部位。评分字段 infra_error=1、finalized=0，但所给日志未显示具体基础设施异常，无法解释该标志或核实确定性重放；物理失持与后续未上架已在本次视频中可见，不据此标志臆造环境根因。"
+ },
+ "summary_zh": "机器人曾夹起酒瓶并搬到酒架前侧低处，但没有完成“酒瓶放上酒架”，最终为 0/1。目标表面及瓶子位置误识别有日志和视频支持；视频约 12.0 s 提手时酒瓶留在低处，后续重抓未修复，现象为位姿不准和没保持住。无状态日志，失持的具体物理机制不明，故删除控制根因；评分器虽标 infra_error=1，所给日志未说明其原因，无法核实精确接触与重放有效性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点（酒瓶放上酒架，操作中，约 12 s 提手时瓶留在低处）和 contact_actual 与视频一致；但失败原因的归因有问题：搬运到酒架侧面低处时下压被架子挡住、瓶子在手里滑脱，这个碰撞阻断没有标成现象；根因“控制”（夹持控制未维持接触）只靠指宽读数推断，证据不足，且与 gap_zh 自述的“无法区分几何/摩擦/碰触失稳”相矛盾。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（酒瓶放上酒架，操作中，约视频 12 s 提手时瓶留在低处）、contact_actual、位姿不准+没保持住、感知根因与视频一致；第一轮意见已被采纳，无新问题。",
+    "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": "2026-10-30T03:10:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--dswcvwf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fda1d65f7564c81b234616f6588a92218f625d0c804ca64be1b096e4b1225159",
+   "video_sha256": "a23e8899c4afd5a9d1818d7a32b133cea5a4dcf78837eeddbc35481d9e62185b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--fxqeloj.json

@@ -0,0 +1,159 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--fxqeloj",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 258,
+   "sim_steps": 258,
+   "calls": 20,
+   "rows": 258,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1496.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.357,
+   "peak_processes": 9,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--fxqeloj/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 10.0,
+  "frames": 130,
+  "sha256": "8e26a2cc9220bf68e8bf0a5bc02e66b3926bf71d758ba8f67f4c18131bd020d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左后方木质酒架顶部空置；视频 8.6–10.6 s，机器人夹爪下方的酒瓶从桌面前方遮挡物后升起，随后随夹爪向上移动，尚未放到酒架顶部。"
+     },
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.8–11.7 s 机器人持瓶移至酒架上方；视频 11.8–12.2 s 瓶底逐渐下降至酒架上层斜面，视频 12.2–12.9 s 酒瓶保持在该处，夹爪仍夹住瓶颈，未见脱落或离开。首次达标记为视频约 12.2 s，视觉估计误差约 0.3 s。"
+     },
+     {
+      "t": 12.9,
+      "log_step": 72,
+      "text_zh": "观察：log step 72 中机器人服务返回 done=true、reason=\"success\"、control_steps=258；inputs/run.json 的评分器字段 live_success=1、replay_success=1、deterministic=1、resets=0。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 72,
+      "text_zh": "推断：结合本次视频 12.2–12.9 s 瓶底到达酒架上层的画面及 log step 72 的服务成功结果，唯一目标区域的位置、高度及接触条件已满足；该判据允许继续夹持，故不等待松手。成功参照视频 4.3 s 也呈现瓶底到达上层、瓶颈仍被夹持的外观，仅用于比较目标关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.6–10.6 s Panda 单臂二指夹爪夹住酒瓶瓶颈并带瓶抬升，随后将其搬至酒架上方；视频 11.8–12.9 s 夹爪继续夹持瓶颈，降低酒瓶直至瓶底接触酒架上层。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人重新对准后夹住酒瓶瓶颈、抬升并搬至左后方酒架，在视频约 12.2 s 将瓶底降至上层目标区域，唯一节点最终完成（1/1）。评分器的在线成功与重放成功均为 1，终态仍夹持酒瓶符合本任务验收，无失败断点。无状态日志且视频仅有固定相机视角，精确区域边界和接触时刻无法独立数值核验；达标时间结合逐帧画面与服务成功结果估计。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功标注（视频约12.2 s 瓶底到达酒架上层，终态夹持）与帧及服务成功结果一致，无失败断点，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": "2026-10-30T02:21:20Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--fxqeloj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--fxqeloj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4559488bed3217a4aa71dd22341083d7f86078a90e2bedbb95dfde2db23c29a4",
+   "video_sha256": "8e26a2cc9220bf68e8bf0a5bc02e66b3926bf71d758ba8f67f4c18131bd020d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--ngffw2s.json

@@ -0,0 +1,153 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--ngffw2s",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "replayed": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "timeout": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 249,
+   "sim_steps": 249,
+   "calls": 104,
+   "rows": 249,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 296.7,
+   "video_rendered": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--ngffw2s/replay.mp4",
+  "duration_s": 12.6,
+  "fps": 10.0,
+  "frames": 126,
+  "sha256": "3564cf18aab7998fc2cd26e1c199aa67724df41d340835016a8a54e24497d7ea"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 酒架顶部为空，酒瓶仍在夹爪下方的原位置，尚未放上左后方木质斜面酒架。"
+     },
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看视频 4.5–6.4 s，机器人夹爪先在原位置合拢，随后酒瓶随夹爪上升；视频 6.0–7.0 s 可见瓶身从原位置抬起并悬在夹爪下方，证明实际抓持并带起酒瓶。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–11.5 s 机器人持续持瓶抬高并向左后方酒架移动；视频 11.5–12.5 s 逐帧显示酒瓶向酒架上部下降，末帧瓶底已降到木质斜面处，夹爪仍持瓶，没有松手。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 35,
+      "text_zh": "观察：log step 35 中机器人在线服务（执行动作并返回任务判定的接口）在 control_steps=245 时返回 done=false，随后在 control_steps=249 返回 done=true、reason=success；inputs/run.json 的评分字段 live_success=1、replay_success=1、deterministic=1、resets=0。视频 12.5 s 的末帧显示持瓶触及酒架上部，与成功参考视频 4.3 s 的末态相符。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 35,
+      "text_zh": "推断：结合视频末段的持瓶下降、酒瓶与酒架相接的外观及在线和回放均成功的原生判定，酒瓶放上酒架节点在视频约 12.5 s 达成并保持至片尾；时间取最后可见帧，精度约 0.1–0.3 s。没有状态日志，不能仅由图像独立量出目标区域边界和毫米级高度阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.5–6.4 s Panda 单臂二指夹爪在酒瓶上部合拢，酒瓶随夹爪抬升；随后机器人保持抓握，将酒瓶搬至木质酒架上方并下降，直至视频 12.5 s 结束仍未松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：机器人在视觉主题变紫后抓住酒瓶并抬离原位置，搬至左后方酒架上方，下降后于视频约 12.5 s 完成唯一节点“酒瓶放上酒架”；在线服务与回放评分均成功，结束时夹爪仍持瓶，符合该任务无需松手的判据。推断：达成时间由末段逐帧画面和原生成功判定共同确定；无状态日志，无法从固定相机独立复核目标区域边界、毫米级高度和精确接触时刻。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功运行：节点在视频约 12.5 s 达成并保持至片尾，与 log step 35 的 control_steps=249 done=true reason=success 及 249 步/20 Hz≈12.45 s 吻合；抓握接触、final=true、无失败层均合理。",
+    "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": "2026-10-30T02:31:33Z",
+  "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--ngffw2s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--ngffw2s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5147852dbb95c307e73058b046feaa14e34eaa3edad49f03acc2416d6c0d3717",
+   "video_sha256": "3564cf18aab7998fc2cd26e1c199aa67724df41d340835016a8a54e24497d7ea",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/trajectories/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--zdekqsd.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--zdekqsd",
+ "taskKey": "libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch",
+ "dag_sha256": "26ec651d4078d231478bb4952c63167129215ceee4e280c250a2a05e70710447",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "instance_mismatch": 0,
+   "timeout": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "event_fired": 0,
+   "event_step": 0,
+   "n_actions": 68,
+   "sim_steps": 68,
+   "calls": 18,
+   "rows": 68,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1032.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.319,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.302,
+   "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/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--zdekqsd/replay.mp4",
+  "duration_s": 3.5,
+  "fps": 10.0,
+  "frames": 35,
+  "sha256": "be9fede7f91e350c5083adae5a92305fa87a068fae4239057d20353b4d56496c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottle_on_rack_top": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 木质斜面酒架位于画面左后方，顶部目标处没有酒瓶；机器人夹爪空置。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 20,
+      "text_zh": "观察：逐帧检查视频 0.0–3.4 s，机器人先抬高手臂，再空手改变观察位置；桌上物体未见移动，夹爪未携瓶到酒架，视频 2.4–3.4 s 的末段仍无上架动作。成功参考视频 3.6–4.3 s 可见瓶体随夹爪移到木架上部并下降，本次没有这一可见变化；评分器 live_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：视频 0.0–3.4 s，Panda 夹爪只在桌面上方移动以改变腕部相机视角，未见接触酒瓶或酒架，也未开始合爪抓取。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottle_on_rack_top",
+   "t": 2.4,
+   "log_step": 20,
+   "where": "探索",
+   "evidence_zh": "观察：视频约 2.4–3.4 s，机器人空夹爪从高处向画面右后方移动，桌面物体和左后方酒架均未被搬动。log step 20 的脚本明确只移到一个酒瓶候选物上方拍照，log step 22 仍反复辨认酒瓶身份；整局止于观察探索，酒瓶放上酒架未完成。"
+  },
+  "unmet": {
+   "wine_bottle_on_rack_top": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 20,
+    "source_zh": "日志",
+    "evidence_zh": "推断：酒瓶身份识别未解决，使机器人持续换视角而未进入搬运。log step 16 中 agent 自述瓶与酒架仍有歧义；log step 20 明确承认先前把板件与小圆物误认作横放酒瓶，随后把另一黑色物体选为酒瓶候选并命令机器人移到其上方拍照；log step 22 又反复改判圆物、圆柱与酒瓶。视频 0.0–3.4 s 对应的只有空手观察移动，没有针对酒瓶的抓取或上架。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志；本次视频只有固定相机视图，酒瓶初始位置部分受前方竖立物遮挡，日志中腕部图片仅有占位记录。完整视频与动作代码只显示观察移动，未显示已经执行的抓取或放置失败，因此现象层留空；不能据未完成目标虚构空夹、滑落、碰撞或放置偏差。"
+ },
+ "summary_zh": "评分尝试始终停留在空手观察，酒瓶放上酒架未达成，最终为 0/1。断点位于该步骤的探索阶段；log step 16、20、22 记录了持续的目标辨认困难和误认，支持认知·感知根因。视频全部 35 帧未见搬运，缺少状态日志及可复查的腕部图像，无法给出具体接触或运动失败现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频全程（0–3.5 s，对应 68 个控制步）只有空手抬臂和换观察位置，酒瓶未被触碰，节点���达成、final=false、无接触的标注与帧一致；断点（探索）和感知根因有 log step 16/20/22 支持，现象层留空有 gap_zh。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": "2026-10-30T03:13:31Z",
+  "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_rerun1/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--zdekqsd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-standard--zdekqsd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "98628dcef8aea95d7f70afaf7601e4f398ec8ac1761071c2653d0a7a604bc8c9",
+   "video_sha256": "be9fede7f91e350c5083adae5a92305fa87a068fae4239057d20353b4d56496c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--3b2g2mm.json

@@ -0,0 +1,157 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "metaworldplus-basketball-i00-privileged--3b2g2mm",
+ "taskKey": "metaworldplus/basketball",
+ "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581",
+ "outcome": {
+  "success": 1,
+  "reward": 10.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 316,
+   "sim_steps": 632,
+   "video_rendered": 1,
+   "final_reward": 10.0,
+   "verifier_wall_s": 3.88,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.352,
+   "peak_processes": 10,
+   "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/metaworldplus-basketball-i00-privileged--3b2g2mm/replay.mp4",
+  "duration_s": 3.975,
+  "fps": 40.0,
+  "frames": 159,
+  "sha256": "9d8c7fbb20ef8c3d84a408e4dd275d09848471e0d5ae32f18c3a9eef0c30cce0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_in_hoop": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.60 s，橙色篮球位于桌面，尚未到达白色篮板旁的篮圈上方目标区域。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–1.40 s，Sawyer二指夹爪在桌面球处闭合；视频 1.50–2.40 s，球离开原来的桌面位置，随夹爪升起并搬运，视频 2.40 s 可见球位于两指之间。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 12,
+      "text_zh": "推断：视频 2.60–3.00 s，机器人将夹住的球向篮圈上方移入并下调高度，约视频 2.80 s 进入验收区域，起点不确定性约0.30秒；log step 12 的交付脚本在圈上方阶段打印球心约(0.0882,0.8044,0.3283)米、加权距离0.0566米，随后继续移向目标。该日志的运动顺序与视频相符，但没有该阶段的控制步计数，故起点为视觉估计。"
+     },
+     {
+      "t": 3.95,
+      "log_step": 14,
+      "text_zh": "观察：视频 3.00–3.95 s，夹爪停留在篮板旁圈上方，球体受篮板与夹爪部分遮挡，未见球落回桌面。log step 14 明确重放已交付的316个动作，返回success=True，末球心(0.08717969,0.80953742,0.30016821)米；inputs/run.json评分器字段success=1、replay_success=1、deterministic=1，支持该目标节点末态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.50–2.40 s，Sawyer单臂二指夹爪夹住篮球并将其提离桌面，随后持球移向篮圈；视频 3.00–3.95 s 保持夹爪闭合，未见主动松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "obj_to_target",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人抓起桌上篮球并持球移至篮圈上方目标区域，约视频 2.80 s 达成且保持至视频 3.95 s，末态完成1/1节点，评分器确认确定性重放成功。任务设计问题：任务文字要求将球放穿篮圈，实际验收只检查末帧球心加权距离且允许持球，因此本次持球到位按原生规则成功（log step 12、14；评分器success=1）。无逐帧状态日志，末段球体部分遮挡，达成起点约有0.30秒不确定性；评分器reward字段未报告obj_to_target数值，故原生指标value留空，日志中的末距离约0.0018米仅作辅助证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 ball_in_hoop 在视频 2.8 s 达成并保持到末帧，与帧和评分器字段（success=1、replay_success=1、log step 12/14 末球心距目标在0.08 m内）一致；抓握接触正确，无失败层，时钟均标明视频时间。",
+    "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": "2026-10-30T02:32:18Z",
+  "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/metaworldplus-basketball-i00-privileged--3b2g2mm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/metaworldplus-basketball-i00-privileged--3b2g2mm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "922eb498054e5de0d64480403de22cc12f6467de755d4032ff760e3030f6c693",
+   "video_sha256": "9d8c7fbb20ef8c3d84a408e4dd275d09848471e0d5ae32f18c3a9eef0c30cce0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--cnj6kgw.json

@@ -0,0 +1,157 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "metaworldplus-basketball-i00-privileged--cnj6kgw",
+ "taskKey": "metaworldplus/basketball",
+ "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581",
+ "outcome": {
+  "success": 1,
+  "reward": 10.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 233,
+   "sim_steps": 466,
+   "video_rendered": 1,
+   "final_reward": 10.0,
+   "verifier_wall_s": 3.85,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.345,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-privileged--cnj6kgw/replay.mp4",
+  "duration_s": 2.95,
+  "fps": 40.0,
+  "frames": 118,
+  "sha256": "4c98a4cf94c8c082e95a0b27345992977a34808fecc9d02e10f33980ac2a33ca"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_in_hoop": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙色篮球位于桌面，Sawyer 夹爪在球的上方，篮球尚未到达篮圈上方目标区域。"
+     },
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–0.85 s 二指夹爪在桌面球的两侧闭合；视频 0.90–1.80 s 球随夹爪上升，原桌面位置不再有球，视频 1.50–1.80 s 可见橙色球体夹在两指之间，随后机器人持球向篮板方向横移。"
+     },
+     {
+      "t": 2.3,
+      "log_step": 7,
+      "text_zh": "推断：视频 2.20–2.40 s 机器人持球下降至篮板旁的篮圈上方区域，约视频 2.30 s 达到节点，起点估计误差约 0.2 s；视频 2.40–2.925 s 夹爪停在该处，球体被篮板遮挡，未见脱落。判定结合末帧原生验收成功；没有逐帧状态日志，不能从正面像素精确复核 0.08 m 加权距离边界。"
+     },
+     {
+      "t": 2.925,
+      "log_step": 7,
+      "text_zh": "观察：log step 7 的机器人脚本保存了 233 动作轨迹，原生 s.check()（Meta-World 对当前状态的任务验收接口）返回 success=True、obj_to_target=0.005265113171784609 m，球心为 (0.08709712,0.81302889,0.30027273) m，重放返回 success=True。log step 8 从已保存文件独立重放同样成功且状态哈希一致；评分器 reward 字段 n_actions=233、deterministic=1、replay_success=1，与视频中先提升再横移下降的过程一致，故本次标签采用该交付轨迹而非 log step 6 的失败试跑。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Sawyer 单臂末端二指夹爪在视频 0.60–0.85 s 闭合夹住篮球，随后提离桌面；视频 1.50–2.25 s 可见篮球位于两指之间并随夹爪搬运、下降。末段夹爪保持闭合，没有计划松手动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "obj_to_target",
+   "value": 0.005265113171784609,
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹起篮球，先竖直提升再横移下降，约视频 2.30 s 达成篮球入篮节点并保持到末帧，最终完成 1/1，交付轨迹的独立重放及评分器均确认成功。任务设计问题：任务文本要求将球放穿篮圈，但明示验收只检查末帧球心到圈上方目标点的加权距离，允许仍持球；本次 log step 7 的原生验收距离约 0.00527 m，因此按该规则记成功。未提供逐帧状态日志，且视频末段篮板遮挡部分球体，首次跨过距离阈值的时刻只能估计，末帧结论由视频过程及原生验收共同支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 ball_in_hoop 标注与视频一致：球在 0 s 位于桌面，约 0.6–0.85 s 被夹起，1.5–2.3 s 夹持搬运至篮板旁，末帧原生验收成功（obj_to_target 0.00527 m < 0.08 m）；起点约 2.3 s 在允许误差内，contact_actual 为手指/夹爪·抓握，成功运行无失败层，任务设计问题说明合理。未发现需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:05Z",
+  "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/metaworldplus-basketball-i00-privileged--cnj6kgw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/metaworldplus-basketball-i00-privileged--cnj6kgw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "325e30da3967bfd12a58c74121a713fa45bf16a9d2fa4da5cedb67912f1c6f02",
+   "video_sha256": "4c98a4cf94c8c082e95a0b27345992977a34808fecc9d02e10f33980ac2a33ca",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--dphfegy.json

@@ -0,0 +1,157 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "metaworldplus-basketball-i00-privileged--dphfegy",
+ "taskKey": "metaworldplus/basketball",
+ "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581",
+ "outcome": {
+  "success": 1,
+  "reward": 10.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 178,
+   "sim_steps": 356,
+   "video_rendered": 1,
+   "final_reward": 10.0,
+   "verifier_wall_s": 2.36,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.459,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.001,
+   "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/metaworldplus-basketball-i00-privileged--dphfegy/replay.mp4",
+  "duration_s": 2.25,
+  "fps": 40.0,
+  "frames": 90,
+  "sha256": "f746565c30089c3e55bd9a3a45f505a7c79c334d959b9caf4f8ebd800f99b799"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_in_hoop": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 橙色篮球位于桌面，低于白色篮板与篮圈目标区，节点初始不成立。"
+     },
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.20–0.75 s，Sawyer 单臂的二指夹爪下降并在篮球两侧合拢；视频 0.80–1.50 s，篮球随夹爪升高，离开原桌面位置，并被搬至白色篮板上方；视频 1.50 s 可见夹爪两侧夹住球体。"
+     },
+     {
+      "t": 1.75,
+      "log_step": null,
+      "text_zh": "推断：视频 1.60–1.90 s，机器人夹球从篮板上方下降至篮圈目标区，估计视频约 1.75 s 开始满足节点，时间误差约 0.2 s；其后至视频 2.225 s 末帧，夹爪保持在该处。末段球心被篮板及夹爪遮挡，无法仅凭正面图像精确测量 0.08 m 加权距离阈值；此处以可见下降过程及交付文件的成功重放记录共同判断。"
+     },
+     {
+      "t": 2.225,
+      "log_step": 54,
+      "text_zh": "观察：inputs/run.json 的评分器 reward 字段为 success=1、deterministic=1、replay_success=1、n_actions=178、final_reward=10.0；log step 49 保存并重放最终 178 动作文件，log step 51 对该文件渲染出 90 帧，与本视频相符，log step 54 两次独立重放均返回 success=True、相同 state_sha 和 obj_to_target=0.0009695277918825956 m。视频 1.90–2.225 s 机器人末端保持在篮板后方目标位置，桌面原球位为空，未见掉球或撤离；按本次允许持球的验收，末态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.20–0.75 s，Sawyer 单臂二指夹爪在篮球两侧闭合；视频 0.80–1.65 s 球随夹爪离开桌面并被提升、搬运，在视频 1.40–1.65 s 可见球体夹在两指之间，随后夹球下降至篮圈目标区，末段未见松爪。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "obj_to_target",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹起桌上篮球，提升并搬至篮圈上方后下降，篮球入篮节点估计自视频约 1.75 s 起成立并保持至末帧，最终完成 1/1，评分器确认成功且重放一致。任务设计问题：任务文本要求将球放穿篮圈，但明示验收仅检查末帧球心到目标区域的加权距离并允许持球，本次机器人以夹爪持续持球达标（视频 1.90–2.225 s；log step 49、54），无需脱手穿圈。没有状态日志，篮板与夹爪遮挡末段球心，首次达成时刻为视觉估计；终态由原生成功记录支持，评分器 reward 未报告 obj_to_target，故原生指标值留空，log step 54 的文件重放距离仅作为补充证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 ball_in_hoop 的达成（约视频 1.75 s）、持球抓握接触、final=true 与评分器成功一致；帧上球被夹爪带离桌面、搬到篮板上方并保持至末帧，无失败层，标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:29:39Z",
+  "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/metaworldplus-basketball-i00-privileged--dphfegy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/metaworldplus-basketball-i00-privileged--dphfegy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69f4b97c46bb981d70d6f7007fd61a1a82c971d63792661e798f5f9b3c0709ef",
+   "video_sha256": "f746565c30089c3e55bd9a3a45f505a7c79c334d959b9caf4f8ebd800f99b799",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}