diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--aflj4wv.json new file mode 100644 index 0000000000000000000000000000000000000000..1571e6ac098990862b965ea2d44219a0a683669d --- /dev/null +++ b/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": 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"eb84e9588a40f71de59f767677128cda94e9ad930b1946973391f72992241385", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--bwbf7zo.json new file mode 100644 index 0000000000000000000000000000000000000000..1487a3970838aa7b90339d6382ca14e40ed20ddc --- /dev/null +++ b/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": [] + }, + 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"bf5742f58f57fae616f2d5bc577aaa5dc764b41ae71f6dc23e0fb1ebd1b8c569", + "video_sha256": "0de4e9b4d3f7e4e0a3e9b2d21429a204b4d229b287d737860dfd20d549cee8cb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--by9hwdk.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fa2b77f8187c1e866a9365bb17a72695c17949 --- /dev/null +++ b/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。无状态日志，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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--nn5qmdt.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ad5e6dbe95e242f2c6b6a0b90ba66b0ddbf2a3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--tbn9hia.json new file mode 100644 index 0000000000000000000000000000000000000000..2850368253275d0f01fbe49f363c0403b2444fed --- /dev/null +++ b/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": "抓握", + "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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc.json new file mode 100644 index 0000000000000000000000000000000000000000..cef3324686b83d063ac29b7b0b71f13dee83e95f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--gkgtvpw.json new file mode 100644 index 0000000000000000000000000000000000000000..845f273a570ef66f243378935b45747c987401a6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--kovygv8.json new file mode 100644 index 0000000000000000000000000000000000000000..dee0b5bb876434582a371c828cf2e8cb7933b715 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--rr5qyed.json new file mode 100644 index 0000000000000000000000000000000000000000..16acc10ac7d791392944904409405736fa8e15db --- /dev/null +++ b/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，随后带罐退出格口并向上搬运，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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--upn73uu.json new file mode 100644 index 0000000000000000000000000000000000000000..678cbbe3c94578cf762fa66cedbefdbdf42d147f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--usntgzn.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e10a3ceb7631da84015626000df71704d67cb5 --- /dev/null +++ b/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，提起后撤出格口，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" + } + } +} diff --git a/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls.json b/phase2/ambench/cabinet_pick_place/trajectories/ambench-cabinet-pick-place-fahexa-i00-standard--utxg8ls.json new file mode 100644 index 0000000000000000000000000000000000000000..96bccc1972d466435fdd395bbb1d62589e939414 --- /dev/null +++ b/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": 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"video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--69bhdol.json new file mode 100644 index 0000000000000000000000000000000000000000..144bd8ecd41ca9a334bd47bcef24ffae1444dcac --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--djjokfa.json new file mode 100644 index 0000000000000000000000000000000000000000..72cf71fdea36bd38d897278b6f1e5fe292f7fac8 --- /dev/null +++ b/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 + } 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"661712c2866373348c3cfdfa214027a8b0af9fb2e1692b3ea54fbb4fe86274c5", + "video_sha256": "005019ad2c3ccb8d0f1065aa237611380d3daf440acd8fa8f7af27f98732ff41", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--fsqfqxz.json new file mode 100644 index 0000000000000000000000000000000000000000..ea39b6c2c8bd14ff1d888e3f04e00bc70e3ac7d7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--hxzpprb.json new file mode 100644 index 0000000000000000000000000000000000000000..ba30177ae8e404325dc8fea42650de0523093743 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--jkzfydp.json new file mode 100644 index 0000000000000000000000000000000000000000..9aeda26809957b639384a2a64a2405421fb3e4ab --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-privileged--rqoy7yc.json new file mode 100644 index 0000000000000000000000000000000000000000..2156646480028490e8a05505afe39295aceb50ff --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--68zzihh.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--68zzihh.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0a368d4e59ffc9ebe2243f65f93130604b786d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--izphuvf.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--izphuvf.json new file mode 100644 index 0000000000000000000000000000000000000000..ec8c4085117e92576c0687c062bf78453b5d9940 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--jywmshx.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--jywmshx.json new file mode 100644 index 0000000000000000000000000000000000000000..039a639d49a9d58aa892531182256480901e6a12 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--mfrpuny.json new file mode 100644 index 0000000000000000000000000000000000000000..6b800e64b96136a10f51825f0a3c70382a5aeb45 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--skzptkr.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--skzptkr.json new file mode 100644 index 0000000000000000000000000000000000000000..56474476e90942d6201503d94abbda0c663f4d32 --- /dev/null +++ b/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符号错误。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" + } + } +} diff --git a/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--txygwpn.json b/phase2/ambench/peg_in_hole/trajectories/ambench-peg-in-hole-fahexa-i00-standard--txygwpn.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2dcb60672adcfa784e3462fb83d6d38f18be52 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..174873a47e61acacfdfb1ec4cd19009c5377b535 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..021c71f4d27b09b318a598fd55f30979edcfe60d --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f1cbb1400fe9e77cbbb2d7a408f623486de7fc98 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..91d0092a9ba76f8034b4c122e61f6340dded753d --- /dev/null +++ b/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，画面不能精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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..687bcc70ae2b04ee54bc58a0854b0d907918ddb6 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..268c842f2f8b3b0020dfb3b6420c9c600260ea3a --- /dev/null +++ b/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 个动作，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", + 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b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..fcd7940a69ef770eb43e882eeb2aced162145bae --- /dev/null +++ b/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侧碗沿；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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c31bad189b7e15cba99fa8da0fcb30305da503ea --- /dev/null +++ b/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；两节点未达、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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e1bce28eb28359283f4bc25f9ab5d8cf743d5672 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7314fe531353319083aaad479c8d3b09525fae9c --- /dev/null +++ b/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, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "timeout": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 785, + "sim_steps": 785, + "calls": 165, + "rows": 785, + "resets": 0, + "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": "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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..bbbdef484d28d1edf36ccc1a5bce56c35a875b0e --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..aa931d19a7732fa8d6f4f999f4ed5763f6fc9822 --- /dev/null +++ b/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 的接触报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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6910f9236724936ea297d2bd159bd086614100b3 --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d9c845570efec8ed7d59c47254d65168104a142f --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7525e5abb29e022bf0500bd8e4ef2ef1879b9c59 --- /dev/null +++ b/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": 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"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": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/libero-max-goal-wine-bottle-on-wine-rack-top-visual-theme-switch-i00-privileged--n94m9kf/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--n94m9kf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9de101d73fb5b0df60c0f4d3e4113ff005eae2d4226235758d65bdf7184c6b80", + "video_sha256": "f2375fe40a1fe6045582b6a2cb84d96707936132bb9c28ca75bc388b53d09a40", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d5e7a632aebbb723e5ea4644511593b81abb6766 --- /dev/null +++ b/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": 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a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1691076a15449ec4ace851dbc18699aab85f2c1c --- /dev/null +++ b/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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..009f0025ef49ffe6749210ca279124fcd22449b3 --- /dev/null +++ b/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": [] + }, + 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"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" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..66d4e426f3b18b8a6f6e7d39dd790421aefb0c22 --- /dev/null +++ b/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": 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"4559488bed3217a4aa71dd22341083d7f86078a90e2bedbb95dfde2db23c29a4", + "video_sha256": "8e26a2cc9220bf68e8bf0a5bc02e66b3926bf71d758ba8f67f4c18131bd020d8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..97fa2c4be4adbb7f3c701e64dc45671246699385 --- /dev/null +++ b/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": 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b/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，节点未达成、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" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--3b2g2mm.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--3b2g2mm.json new file mode 100644 index 0000000000000000000000000000000000000000..2a1256582aa6519319ab1caa99036b3061318371 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--cnj6kgw.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--cnj6kgw.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd13b06a7aabef9486e0db7015ca1aab13b64c5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--dphfegy.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--dphfegy.json new file mode 100644 index 0000000000000000000000000000000000000000..eb413e60ba041461a89b460f09182461e24d180d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--hkjbwvr.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--hkjbwvr.json new file mode 100644 index 0000000000000000000000000000000000000000..68d9010e8b3bb49c1c7a837163ae6416a5c60218 --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--hkjbwvr.json @@ -0,0 +1,151 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-privileged--hkjbwvr", + "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": 219, + "sim_steps": 438, + "video_rendered": 1, + "final_reward": 10.0, + "verifier_wall_s": 1.5 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-privileged--hkjbwvr/replay.mp4", + "duration_s": 2.775, + "fps": 40.0, + "frames": 111, + "sha256": "f9bf5d9c847da85a2b7c3ef479a8b01622b84a1b524f15906331d859153d2584" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.25 s，橙色篮球位于桌面，Sawyer夹爪向其下降，球尚未进入篮圈上方目标区域。" + }, + { + "t": 0.75, + "log_step": null, + "text_zh": "观察：视频 0.30–0.70 s，夹爪在球处合拢；视频 0.75–1.05 s，篮球离开原桌面位置并随夹爪上升，原位置已无球。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：视频 1.20–1.35 s，夹爪携带的橙色球体部分露在指垫旁，移至白色篮板上缘旁的圈上方区域；其位置与成功参考视频约 2.75–3.75 s 的持球终态相近。将首次达成估计为视频 1.2 s，误差约 0.2 s；单一正面视角无法直接量出0.08 m加权距离。" + }, + { + "t": 2.75, + "log_step": 25, + "text_zh": "观察：视频 1.35–2.75 s，夹爪在篮板旁停留并稍向下调整，球体大部被篮板及夹爪遮挡，未见球回到桌面或移离目标区域。log step 25对最终交付的219行动文件进行了两次独立重放，两次均报告success=True且state_sha相同；其中末球心为(0.08725574,0.81138453,0.26696638) m，obj_to_target为0.06616524291883434 m。评分器reward字段同时记录success=1、replay_success=1、deterministic=1。" + }, + { + "t": 2.75, + "log_step": 25, + "text_zh": "推断：末段遮挡没有直接显示目标不成立；结合视频中的搬球过程、最终交付文件重放结果及评分器成功记录，篮球入篮节点末值为真，达成区间延续至视频结束。log step 22的继续松爪测试属于会话测试，不把该测试后续的球下落计入本次评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：Sawyer单臂二指夹爪在视频 0.30–0.70 s 于篮球两侧合拢，视频 0.75–1.35 s 篮球随夹爪离桌并移到篮板旁，属于夹持搬运；末段夹爪与球的分离被篮板遮挡，无法从正面画面精确判断脱离时刻。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人夹起桌面篮球并搬至篮板旁的篮圈目标区域，约视频 1.2 s 达成篮球入篮，末帧完成1/1节点；评分器确认交付轨迹成功且两次重放确定一致。任务设计问题：任务文本要求将球放穿篮圈，而DAG所述原生验收只检查末帧球心加权距离，不要求实际穿圈或松手静置，本次按该验收记录成功。无状态日志，正面篮板遮挡末段球体，因此首次达成时刻为目测估计，松手过程不能直接核实；评分器reward未报告obj_to_target数值，故native_metrics保留null，log step 25的交付文件重放读数仅作为补充证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单节点ball_in_hoop在视频约1.2 s达成并保持至末帧，与帧和评分器success=1一致；contact_actual为手指/夹爪·抓握，合理；无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:55:20Z", + "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/metaworldplus-basketball-i00-privileged--hkjbwvr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-privileged--hkjbwvr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b5df2d82f0b0ec1e0f0eb2ebcaca70e2d42c695c2170dde9eef6a0fa366ced4", + "video_sha256": "f9bf5d9c847da85a2b7c3ef479a8b01622b84a1b524f15906331d859153d2584", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--k6uavr4.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--k6uavr4.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea095d396c5b4d113c8d908a179d33c4930c960 --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--k6uavr4.json @@ -0,0 +1,157 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-privileged--k6uavr4", + "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": 309, + "sim_steps": 618, + "video_rendered": 1, + "final_reward": 10.0, + "verifier_wall_s": 2.33, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.258, + "peak_processes": 9, + "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--k6uavr4/replay.mp4", + "duration_s": 3.9, + "fps": 40.0, + "frames": 156, + "sha256": "18b3ff0d14d1e725ee2a36b8bad16798ea9074f0be0b0ed6266fad871d30c4d3" + }, + "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 0.0–0.5 s，橙色篮球位于桌面，Sawyer单臂夹爪从上方接近，球尚未到达篮圈目标区域。" + }, + { + "t": 1.9, + "log_step": 25, + "text_zh": "观察：视频 0.6–1.0 s，二指夹爪下降包围橙色篮球并合拢；视频 1.9–2.1 s，夹爪上升，篮球原先的桌面位置已空，球随夹爪进入篮板遮挡区域；log step 25 的最终生成脚本在合爪后持续使用关闭指令提升并搬运球。" + }, + { + "t": 2.8, + "log_step": 26, + "text_zh": "推断：视频 2.4–3.2 s，机器人继续向篮圈上方搬运，末端升至篮板上缘附近后停留，估计视频约 2.8 s 首次进入验收区域，时间因球体被篮板遮挡约有 0.3 s 不确定性；视频 3.3–3.875 s 小幅调整后保持该区域，未见球掉回桌面。log step 26 的最终交付生成过程记录搬运后 success=True，随后微调仍为 True；成功参照视频仅用于核对同一视角下目标区域的外观。" + }, + { + "t": 3.875, + "log_step": 28, + "text_zh": "观察：视频 3.875 s 末帧，夹爪停在篮板旁上方，球体受篮板与夹爪遮挡，桌面原球位仍空；log step 28 重新运行最终生成脚本、保存309个动作并重放交付文件，返回 success=True、final_reward=10.0；log step 27 两次独立重放的末状态哈希相同。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，支持本节点末态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.6–1.0 s，Sawyer单臂的二指夹爪在篮球两侧合拢。推断：结合视频 1.9–2.1 s 原球位变空、夹爪上升及 log step 25–28 的交付脚本和成功重放，夹爪夹持篮球并将其搬至篮圈上方；末段球体被篮板遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人夹住桌面篮球并抬起搬运，约视频 2.8 s 达到篮圈上方验收区域，末态完成篮球入篮节点（1/1），评分器确认交付轨迹确定性重放成功。任务设计问题：任务文字要求球穿过篮圈，但明示验收允许持球，仅检查末帧球心到目标区域的加权距离；本次持续合爪也获得成功（log step 25–28、评分器 success=1）。无状态日志且篮板遮挡末段球体，首次达标时刻为约值；评分器未报告 obj_to_target 数值，原生指标留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点 ball_in_hoop 标注与视频一致：球 ~2.0 s 离开桌面，~3.0 s 前后夹爪到篮板上缘，末帧球位保持，评分器 success=1。成功为真，无断点；任务设计问题说明合理。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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"18b3ff0d14d1e725ee2a36b8bad16798ea9074f0be0b0ed6266fad871d30c4d3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--ps9qwkw.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--ps9qwkw.json new file mode 100644 index 0000000000000000000000000000000000000000..8ee52658c963f8102722e85ee7d95b9d2e6517cc --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--ps9qwkw.json @@ -0,0 +1,157 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-privileged--ps9qwkw", + "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": 244, + "sim_steps": 488, + "video_rendered": 1, + "final_reward": 10.0, + "verifier_wall_s": 2.09, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.308, + "peak_processes": 8, + "peak_disk_gb": 0.823, + "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--ps9qwkw/replay.mp4", + "duration_s": 3.075, + "fps": 40.0, + "frames": 123, + "sha256": "2c86cbe8506c2b620ee32b5847b7de2822bc6dc979ec79a321ad21b855251d22" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 2.75, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.375 s，橙色篮球位于桌面、白色篮板右下方，尚未进入篮圈上方目标区域。" + }, + { + "t": 1.625, + "log_step": null, + "text_zh": "观察：视频 0.625–1.30 s，Sawyer二指夹爪下降并在球两侧合拢；视频 1.325–1.625 s 夹爪上升，球的桌面原位置已空，随后视频 2.175–2.50 s 可见夹爪两侧之间的橙色球随夹爪移至篮板上方。" + }, + { + "t": 2.75, + "log_step": 13, + "text_zh": "推断：逐帧检查视频 2.00–3.05 s，机械臂先持球平移，视频约 2.60–2.85 s 再下降至篮板旁目标区域；以视频约 2.75 s 为首次达标锚点，误差约 0.15 s。末段球体被篮板和夹爪遮挡，不能从正面像素精确测量球心距离；log step 13 记录最终保存的244动作轨迹，原生检查 success=True、obj_to_target=0.0038333381982903316 m，评分器又确认该交付确定性重放成功，因此末帧节点为真。这里的达标时间取自视频，未将agent工作时间换算为视频时间。" + }, + { + "t": 3.05, + "log_step": 13, + "text_zh": "观察：视频 2.95–3.05 s，夹爪仍在篮板上沿附近，球未见返回桌面或掉出目标区域；log step 13 的交付脚本在末段执行9次开爪动作后保存，输出 Gripper opening=1.0。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、n_actions=244、final_reward=10.0，与该交付对应；正面遮挡本身不足以否定末帧原生验收。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.625–1.30 s，Sawyer单臂的二指夹爪在桌面篮球两侧闭合；视频 1.325–2.50 s 将球夹持提起并搬到篮板上方，球随夹爪移动且桌面原位已空。log step 13 记录该交付末段再张开夹爪释放球；末段球体部分受篮板遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机械臂夹起桌面篮球，搬至篮圈上方并下降，篮球入篮节点在视频约 2.75 s 达成，末帧为真（1/1）；评分器确认244动作轨迹确定性重放成功。任务设计问题：任务文字要求球穿过篮圈，但原生验收只检查末帧球心接近高度0.30 m的目标区域，不要求穿圈或静置，本次按该验收标成功。末段篮板遮挡球体且无状态日志，首次达标时间约有0.15 s不确定性；评分器未报告obj_to_target数值，因此原生指标值留空，log step 13 的交付脚本检查值仅作辅助证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单节点 ball_in_hoop 末帧为真，时间约2.75 s、接触（手指/夹爪 抓握）与评分器字段一致；球在桌面原位消失、被夹爪带走，无失败层，任务设计问题已标注。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"87cc84ff761c375d0183a63187150e6076860b67eb6037dd2cb73d0bdad8510b", + "video_sha256": "2c86cbe8506c2b620ee32b5847b7de2822bc6dc979ec79a321ad21b855251d22", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--pstwef3.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--pstwef3.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2070d11c13bee97e63c71db5a3560e2439fd4a --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-privileged--pstwef3.json @@ -0,0 +1,157 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-privileged--pstwef3", + "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": 117, + "sim_steps": 234, + "video_rendered": 1, + "final_reward": 10.0, + "verifier_wall_s": 2.24, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.439, + "peak_processes": 6, + "peak_disk_gb": 0.249, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-privileged--pstwef3/replay.mp4", + "duration_s": 1.5, + "fps": 40.0, + "frames": 60, + "sha256": "a29b60e5b3505a68a5c4733c2c83dbf2ea6f9686c55d26820a4abc1f0b8eadd3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 0.95, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.15 s，橙色篮球位于桌面，夹爪在其上方，篮球尚未进入篮圈上方目标区域。" + }, + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.25–0.45 s，二指夹爪在球两侧闭合；视频 0.50–0.80 s，橙色球体随夹爪上升，原桌面位置不再有球，随后机器人将持球夹爪向篮板上方移动。" + }, + { + "t": 0.95, + "log_step": null, + "text_zh": "推断：视频 0.80–1.10 s，持球夹爪向篮圈目标靠拢，橙色球体局部可见于夹爪与篮板上沿附近；约视频 0.95 s 进入目标区域，此后至视频 1.475 s 未见移出。结合末帧成功记录判断为持续达成；无逐帧球心坐标，首次达成时刻约有 0.15 s 不确定性。成功参考视频 3.00–3.95 s 也呈现夹爪持球、篮板遮挡的终态，仅用于对照外观。" + }, + { + "t": 1.475, + "log_step": 49, + "text_zh": "观察：视频 1.20–1.475 s，夹爪保持在篮板上沿附近，球的橙色局部仍在夹爪旁，未见松手或掉落；inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、n_actions=117、final_reward=10.0。log step 47–48 记录 agent 的脚本生成并保存 117 步持球轨迹，检查输出 obj_to_target=0.0026389494444198766 m；log step 49 对该交付文件进行两次独立重放，均成功且状态哈希一致。log step 46 的松手下落是另一次会话试验，不是交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sawyer 单臂二指夹爪在视频 0.25–0.45 s 从两侧夹住篮球，随后夹球提升并搬向篮圈目标；末段仍持球，没有采用抛投或松手穿圈。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人用二指夹爪夹起桌面篮球，约在视频 0.95 s 将其移入篮圈上方目标区域并保持至视频 1.475 s，唯一节点完成，评分器确认确定性重放成功。任务设计问题：DAG 记载任务要求放穿篮圈，但原生验收仅检查末帧加权球心距离且允许持球，本次持球终态通过，未观察到松手穿圈。末段篮板遮挡部分球体且无状态日志，首次达标时间为视觉估计；评分器 reward 字段未报告 obj_to_target，故原生指标值留空，交付生成日志 log step 48 的检查值仅作为补充证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点 ball_in_hoop 在视频 0.95 s 达成并保持至末帧，与帧和评分器 success=1 一致；抓握接触正确，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": [] + }, + 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"catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 240, + "sim_steps": 480, + "video_rendered": 1, + "final_reward": 10.0, + "verifier_wall_s": 2.34, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.187, + "peak_processes": 6, + "peak_disk_gb": 0.248, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-privileged--yc5oxqf/replay.mp4", + "duration_s": 3.025, + "fps": 40.0, + "frames": 121, + "sha256": "29e0664ea06f6382ca998641d39b5a2abb2656c12baab9739a685ccde2630646" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 1.45, + 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、白色篮板下方，机器人夹爪尚未包住球，篮球入篮条件不成立。" + }, + { + "t": 0.95, + "log_step": null, + "text_zh": "观察：视频 0.60–0.85 s，机器人二指夹爪在桌面篮球两侧合拢；视频 0.90–1.20 s，末端上升，篮球原来的桌面位置已空，球及夹爪下部随后被篮板遮挡。推断：夹爪夹住篮球并携球提升，实际接触为手指/夹爪×抓握。" + }, + { + "t": 1.45, + "log_step": null, + "text_zh": "推断：视频 1.30–1.60 s，携球夹爪由提升位置向篮圈上方目标移动，随后收敛并保持至视频 3.00 s；结合本次评分器 success=1、replay_success=1、deterministic=1，首次达标估为视频 1.45 s，误差约 ±0.20 s。已逐帧检查视频 1.00–1.775 s，并检查视频 2.00–3.00 s 每隔 0.05 s 的帧，未见球回落桌面；球体末段被篮板遮挡，无逐帧状态记录，不能从图像精确测出 0.08 m 边界。" + }, + { + "t": 3.0, + "log_step": 38, + "text_zh": "观察：视频 3.00 s 末帧，夹爪仍停在篮板旁目标区域，球体主要被篮板遮挡；参考视频 3.80 s 的成功末段也呈现相同遮挡形态，仅用于比较视角。log step 37 的脚本生成并保存最终 240 步动作，log step 38 对该交付文件独立重放两次，均返回 success=True 且 state_sha 相同；其原生检查 s.check() 返回 obj_to_target=0.0000748811800361524 m。评分器 reward 中 success=1、replay_success=1，支持本次末态达标；参考运行不作为本次成功证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 0.60–0.85 s，Sawyer 单臂二指夹爪合拢夹住桌上篮球，视频 0.90–1.20 s 携球提升后原桌面位置变空，随后携球移到篮圈上方并保持；log step 37 的交付脚本在抓球、提升和移至目标各阶段持续闭合夹爪，log step 38 重放验收成功。球在搬运末段被篮板遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人夹住桌上篮球、提升并移向篮圈上方目标区域，估计从视频 1.45 s 起达标并保持至视频 3.00 s 末帧，节点最终完成 1/1，评分器确认确定性重放成功。任务设计问题：DAG 明示验收允许持球到达目标区域，本次成功不要求松手或球实际穿过篮圈。无逐帧状态日志且末段球体被篮板遮挡，首次达标时间约有 ±0.20 s 误差；评分器 reward 未单列 obj_to_target，原生指标值留 null，log step 38 对交付文件的原生重放检查数值仅作支持证据。", + "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 达成、final=true 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"review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90ca3682e452a456cfbb966ba68e5ee7215259ba8b3ee8a27981daed516a2861", + "video_sha256": "29e0664ea06f6382ca998641d39b5a2abb2656c12baab9739a685ccde2630646", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--8ee4gbr.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--8ee4gbr.json new file mode 100644 index 0000000000000000000000000000000000000000..58fd7d284c898ef870921a612383ffbe4c518e49 --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--8ee4gbr.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--8ee4gbr", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 0, + "reward": 2.4128084261640542e-05, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 4519, + "sim_steps": 4519, + "calls": 155, + "elapsed_s": 1913.6, + "final_reward": 2.4128084261640542e-05, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.308, + "peak_processes": 9, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-standard--8ee4gbr/replay.mp4", + "duration_s": 25.88, + "fps": 25.0, + "frames": 647, + "sha256": "dd439a380c76726faf6ef3bb64847d12a429fdf6ab74187e4818e87be770c161" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 橙色篮球在桌面上，低于白色篮板旁的篮圈目标区域。" + }, + { + "t": 1.3, + "log_step": null, + "text_zh": "观察：视频 0.8–1.3 s 机器人夹爪在球上方闭合并上抬，篮球留在桌面原位；视频 3.0–3.5 s、4.75–5.75 s 的低位重试也未把球搬至篮圈上方。" + }, + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频 8.0–10.25 s 及 17.8–19.75 s 夹爪接近或横向推拨篮球，球沿桌面移动；机器人没有带球升到参考成功所示的篮板上沿附近。" + }, + { + "t": 25.84, + "log_step": null, + "text_zh": "观察：视频 24.8–25.84 s 篮球仍在画面右侧桌面上，与空夹爪分离，远离篮圈目标区域；inputs/run.json 的 reward.live_success 和 reward.replay_success 均为0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 17.8–18.5 s Sawyer单臂夹爪从侧面推拨橙色篮球，球沿桌面滚动；此前也多次闭爪试抓，但可见画面未确认双指对向夹住球并带起，故只记录已确认的推拨接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_hoop", + "t": 1.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 0.8–1.3 s 机器人首次闭爪后抬升，篮球没有随夹爪离开桌面；后续反复低位闭爪和推拨仍未将球送入篮圈目标区，视频 25.84 s 球留在桌面。" + }, + "unmet": { + "ball_in_hoop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.3, + "log_step": null, + "evidence_zh": "观察：视频 0.8–1.3 s 闭爪、上抬后，篮球留在桌面；视频 3.0–3.5 s 的再次抬爪同样没有带球。推断：机器人未建立能承载篮球的有效抓取；后续虽有推拨接触，仍未完成夹持搬运。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：试抓时选取的夹爪接触高度未使双指有效包夹篮球。log step 21 中 agent 明知TCP比球心高约11厘米，仍提交原地闭爪；log step 23 随后提交抬升，视频 0.8–1.3 s 所见球未随爪升起与此一致；log step 47、76 又自述指端仍高于球并继续降低试抓。此归因限于接触几何，未验证本次运行中的可行替代抓法。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；正面视频中白色篮板和夹爪局部遮挡低位接触，不能排除短暂夹碰，但各次可见抬升未显示可靠带球。评分字段未报告obj_to_target，不能给出精确球心距离或夹持力；日志控制步时长与视频长度不一致，本文视频锚点均直接取自所检查帧，未由agent时间或控制步换算。" + }, + "summary_zh": "机器人反复尝试抓取并在桌面推拨篮球，篮球入篮节点始终未达成，最终为0/1。首次闭爪抬升时球未随动，后续也未修复有效抓取；接触高度选择不适配是有日志和视频支持的控制原因。末帧球仍远离篮圈，局部接触受遮挡且缺少状态日志及原生距离值。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "球全程未入篮（末帧 25.8 s 球在桌面右侧远离篮圈），0/1、断点 ball_in_hoop、没建立接触、抓取和接触设计与帧及日志 step 21/23/47/76 一致；未发现需改内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:55:50Z", + "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/metaworldplus-basketball-i00-standard--8ee4gbr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--8ee4gbr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "260124e4ee571fe49f39bfa360beca6576dba3e27020254f4222278845fdb727", + "video_sha256": "dd439a380c76726faf6ef3bb64847d12a429fdf6ab74187e4818e87be770c161", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--bt5yyfz.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--bt5yyfz.json new file mode 100644 index 0000000000000000000000000000000000000000..62159a3c1e05ebd09bf9c76b6a53dec937a2c6a9 --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--bt5yyfz.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--bt5yyfz", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 0, + "reward": 0.06247772083638775, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 1302, + "sim_steps": 1302, + "calls": 31, + "elapsed_s": 1840.4, + "final_reward": 0.06247772083638775, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.347, + "peak_processes": 9, + "peak_disk_gb": 0.444, + "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-standard--bt5yyfz/replay.mp4", + "duration_s": 26.08, + "fps": 25.0, + "frames": 652, + "sha256": "6643705fde312d249ddf1cd12ffc0b102bc0e1003865e06d99de5c74279a81dc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 篮球在桌面、白色篮板下方，未在篮圈上方的目标高度。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 0.4–1.6 s Sawyer夹爪下降并合拢，视频 1.8–2.4 s 夹爪上提而篮球仍在桌面；视频 2.8–5.0 s 再次接近球后也未将球带起。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "观察：视频 5.25–11.5 s 篮球沿桌面滚动；视频 12.0–19.8 s 夹爪在球旁下降、开合和小幅移动，篮球仍在桌面，未出现成功参考视频 1.5–2.0 s 中球随夹爪明显升高的过程。" + }, + { + "t": 26.04, + "log_step": null, + "text_zh": "观察：视频 25.0–26.04 s（含末帧）篮球的橙色可见部分仍在篮板支杆底部、桌面高度，未进入篮圈上方目标区域；inputs/run.json 的评分器字段 live_success=0、success=0，与可见终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 0.4–1.6 s、2.8–4.8 s Sawyer夹爪指垫从上方压碰篮球，未见两侧夹住后将球提离桌面。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 0.4–1.8 s、2.8–5.0 s 夹爪接触球时将球拨动，随后球沿桌面滚动；这是抓取尝试中的推碰，并非成功持球搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_hoop", + "t": 1.8, + "log_step": 21, + "where": "操作中", + "evidence_zh": "观察：视频 1.8–2.4 s 首次抓取后夹爪上提，篮球留在桌面；随后视频 2.8–26.04 s 多次尝试仍未提升并送球至目标区域。log step 21 执行的是接近、闭爪、提升的机器人动作，log step 22 agent 自述“grasp failed”；断点为篮球入篮步骤的抓取阶段，视频时刻直接取自画面，未用agent工作时间换算。" + }, + "unmet": { + "ball_in_hoop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.8, + "log_step": 21, + "evidence_zh": "观察：视频 0.4–1.6 s 夹爪接触球后，视频 1.8–2.4 s 空爪升起而球留在桌面；视频 12.0–26.04 s 的后续尝试也没有将球带起。所需的夹持接触未建立；实际发生的压碰、拨动不等于能搬运球的抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 18–21 的机器人脚本明确执行下降到球旁、闭爪、提升，log step 25–26 又执行下降与闭爪诊断；但视频 0.4–5.0 s 显示指垫压碰球后仍空爪抬起，后续视频 12.0–26.04 s 也没有形成承载抓握。目标是抓球再入篮，失败发生在抓取动作实现，支持控制层归因；log step 26 的服务本体读数还显示末端停在 z≈0.062 m，而脚本下降目标为 z=0.035 m。现有证据不能独立区分接触几何、运动跟踪与闭爪时序的贡献，故不细分控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 无状态日志，提供的视频只有正面视角且分辨率为320×240，篮板遮挡部分夹爪，不能精确恢复对向指垫接触、接触力或逐帧球心距离；评分器未报告 obj_to_target，故该原生指标填null。控制层根因可以结合动作脚本与失败抓取判定，但更细子类证据不足。" + }, + "summary_zh": "观察：Sawyer多次接近、闭爪及上提，但篮球始终未被提升至篮圈上方目标区域，唯一节点篮球入篮未达成，末帧与评分器失败结论一致。推断：断点在该步的抓取阶段，所需承载抓握未建立，日志与视频支持控制层失败。观察：无状态日志，正面篮板遮挡及低分辨率限制了具体接触几何和控制子类判定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "篮球入篮未达成（球始终在桌面，末帧在支杆底部，评分器 success=0）、断点在首次抓取、没建立接触、控制根因均与视频和日志一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:55:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--bt5yyfz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--bt5yyfz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7fbadd7f008b6a57b30b84b2dd2758d2759c6a2ef4adcab042260df5d7f9fd34", + "video_sha256": "6643705fde312d249ddf1cd12ffc0b102bc0e1003865e06d99de5c74279a81dc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--fyvyslk.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--fyvyslk.json new file mode 100644 index 0000000000000000000000000000000000000000..6097b70e7f5074384eba9ae72df9950d6044524e --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--fyvyslk.json @@ -0,0 +1,175 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--fyvyslk", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 0, + "reward": 0.023397012628941085, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 2771, + "sim_steps": 2771, + "calls": 55, + "elapsed_s": 858.2, + "final_reward": 0.023397012628941085, + "video_rendered": 1, + "sim_error": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-standard--fyvyslk/replay.mp4", + "duration_s": 27.76, + "fps": 25.0, + "frames": 694, + "sha256": "13e483d0d26de9124736abf3fe068d612bf2b03563670cc0ae25147826973dd8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，橙色篮球在桌面、白色篮板下方，未处于篮圈上方目标区域。" + }, + { + "t": 6.4, + "log_step": 73, + "text_zh": "观察：视频 3.20–5.20 s，夹爪在桌面球旁闭合，球仍留在桌上；视频 6.00–8.00 s，机器人夹爪升高而篮球没有随之升起。log step 71、73 分别记录闭爪和提升指令，不能把闭爪读数当作持球。" + }, + { + "t": 16.24, + "log_step": 89, + "text_zh": "观察：视频 15.40–16.80 s，机器人第二次在球旁闭爪，视频约 16.08 s 起球向画面右侧滚离夹爪；视频 17.00–20.00 s 球沿桌面滚向右侧边缘，夹爪空着升起。log step 89 记录此次闭爪指令。" + }, + { + "t": 27.72, + "log_step": null, + "text_zh": "观察：视频 21.00–27.72 s，机器人空爪移向画面右侧并下降，未把球带回篮板旁；末秒及视频 27.72 s 末帧均未见球位于篮圈上方。评分器字段 live_success=0、replay_success=0。推断：结合全过程未见球离桌抬升至篮圈高度，篮球入篮始终未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：Sawyer二指夹爪在视频约 4.00 s 和 16.08 s 的闭爪尝试中接触、拨动桌面篮球；第二次将球推得沿桌面滚走。未见对向夹持后带球升起，故不记抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_hoop", + "t": 6.0, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频约 6.00 s，机器人执行首次提升时夹爪与留在桌上的篮球分离，未抓起球；视频约 16.08–20.00 s 的再抓尝试又把球拨向桌边，后续追赶直至视频 27.72 s 仍未完成入篮。断点为篮球入篮步骤中的抓球失败。" + }, + "unmet": { + "ball_in_hoop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.0, + "log_step": 73, + "evidence_zh": "观察：视频 6.00–8.00 s 夹爪空着上升而球留在桌面；视频 15.40–16.80 s 再次闭爪后球从夹爪旁滚走。推断：建立的是推拨接触，搬运篮球所需的抓握未建立，没有已持球后掉落的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 16.24, + "log_step": 89, + "source_zh": "视频 / 日志", + "evidence_zh": "观察：log step 68、71、73 记录下降、闭爪、提升；log step 84、89 记录调整位置、进一步下降及再次闭爪。对应的视频 6.00–8.00 s 显示空爪提升，视频 16.08–16.80 s 显示闭爪把球拨走。推断：机器人已到达篮球附近，但两次抓取控制都未形成可携球的接触，导致无法向篮圈搬运；现有证据支持控制层归因，不能可靠细分到具体接触几何、参数或反馈问题。" + } + ], + "gap_zh": "无状态日志、接触对或接触力记录，正面篮板遮住部分夹爪，无法确定两指的精确接触位置及抓取控制失败的具体子类。球在视频约 20.00 s 到达右侧桌边后逐渐离开可见区域，末位置不可精确定位，但未入篮可由此前球的运动、后续空爪动作和原生失败记录共同判定。评分器未报告 obj_to_target，故该原生指标值为 null。" + }, + "summary_zh": "机器人两次尝试抓取篮球，均未带球升起，篮球入篮节点始终未达成，末态为 0/1。首次空爪提升在视频约 6.00 s 已显出抓握未建立；视频约 16.08 s 的重试又把球拨向桌边，支持控制层失败。无状态日志且部分夹爪被篮板遮挡，无法细分控制根因；log step 144–147 保存并描述的后续控制脚本没有执行记录，不能代替视频中的实时评分结果。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（首次空爪提升约6 s）、现象“没建立接触”和控制层根因均与视频相符；球全程在桌面或滚向右侧，未见入篮。时钟与契约校验通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:52:59Z", + "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/metaworldplus-basketball-i00-standard--fyvyslk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--fyvyslk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "19e4a81b5287b87ae68c7cbbf4c088718e9a9d8afc53d6d46ec85122e82a3d81", + "video_sha256": "13e483d0d26de9124736abf3fe068d612bf2b03563670cc0ae25147826973dd8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--gy8qdgh.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--gy8qdgh.json new file mode 100644 index 0000000000000000000000000000000000000000..674a1c3e571a05536fddd203b79843ea53e29f7e --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--gy8qdgh.json @@ -0,0 +1,168 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--gy8qdgh", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 0, + "reward": 6.885587917751244, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 800, + "sim_steps": 800, + "calls": 14, + "elapsed_s": 546.7, + "final_reward": 6.885587917751244, + "video_rendered": 1, + "sim_error": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-standard--gy8qdgh/replay.mp4", + "duration_s": 16.04, + "fps": 25.0, + "frames": 401, + "sha256": "31c0db21ed7d81fd0f2cfd82a76cbfec2fa378592cc6c26542471c3cf81a8ef1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 12.5, + 14.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s橙色篮球在桌面上，未在篮圈上方目标区；视频2.4–4.6 s第一次合爪后上抬，球仍留在桌面。" + }, + { + "t": 8.0, + "log_step": 35, + "text_zh": "观察：视频7.2–8.4 s机器人第二次合拢的二指夹爪向上移动，橙色球体随夹爪离开原桌面位置，随后视频9.0–12.0 s继续提升并搬到篮板旁上方，支持实际抓握搬运。" + }, + { + "t": 13.0, + "log_step": 42, + "text_zh": "推断：视频12.2–13.0 s球体可见部分与夹爪下降到篮板上沿附近，视频13.0–14.0 s的持球位置与成功参考视频3.0–3.95 s的末段位置相符；结合log step 42中agent自己的RGB-D球心估计高度0.28956 m（估计而非原生状态），判断约视频12.5 s进入DAG允许的圈上方区域，边界约有0.3 s误差。参考视频仅用于识别达标外观。" + }, + { + "t": 14.5, + "log_step": 43, + "text_zh": "观察：视频14.0–14.8 s机器人又向下移动夹爪，原来露在篮板上沿上方的夹指与球体逐渐被白色篮板遮住；已逐帧段检查视频15.0–16.0 s，最后姿态低于成功参考的末姿态，未再提升。评分器reward的live_success=0、replay_success=0、deterministic=1。" + }, + { + "t": 16.0, + "log_step": 44, + "text_zh": "推断：log step 43明确命令继续持球降低，log step 44中agent自己的RGB-D球心高度估计为0.25004 m，且视频末段与持续下降一致；按DAG球心目标高度0.30 m、竖直误差加倍的验收，球约在视频14.5 s降出允许区域，末帧false由原生判负支持。离开时刻约有0.3 s误差；球被篮板遮挡，不能从画面独立重算加权距离，未把agent估计冒充状态日志。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sawyer单臂二指夹爪第二次从球的两侧合拢，视频7.2–8.4 s球随夹爪升起，随后保持夹持搬到篮板旁并下降；视频末段未见主动张爪释放。第一次合爪上抬未把球带离桌面，后来重试修复。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_hoop", + "t": 14.5, + "log_step": 43, + "where": "操作中", + "evidence_zh": "观察：视频14.0–14.8 s机器人在已经对准圈上方后继续夹球下降，视频15.0–16.0 s保持更低的末姿态，没有再修复；log step 43下达进一步下降命令，log step 45–46记录按球心接近服务target_pos而停止，评分器live_success与replay_success均为0。推断：按DAG高度0.30 m的验收，篮球入篮状态在约视频14.5 s失去。" + }, + "unmet": { + "ball_in_hoop": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：任务设计问题：本次inputs/run.json的task_text只说明物体需接近meta.task.target_pos、误差几厘米，没有DAG所列的目标高度0.30 m或竖直误差加倍说明；服务在log step 42、44报告target_pos高度为0.25 m。log step 45按自己的RGB-D球心估计(0.08459508,0.80743065,0.25004102)与该target_pos计算距离约0.00245 m，log step 46据此声称已完成并停止，log step 44尚有3111.2 s服务预算；DAG却规定把目标高度替换成0.30 m，故同一末姿态会被原生验收拒绝。推断：提供给agent的目标说明与DAG记录的验收不一致足以解释此次判负，按任务设计问题处理，不为这个被拒绝的解额外归因机器人现象或根因。另无状态日志，末段球被篮板遮挡，评分器未报告obj_to_target数值；暂时达标区间来自可见运动与成功参考的比较，无法独立数值复核边界。" + }, + "summary_zh": "机器人第二次抓取后将球搬到篮圈上方，约视频12.5–14.5 s暂时满足唯一节点，随后继续持球降低，最终0/1，原生live与replay均判失败。任务设计问题：本次任务文本要求接近服务提供的target_pos（高度0.25 m），agent按此完成并停止，而DAG记录的验收将目标高度改为0.30 m且加倍竖直误差，因此不将该差异归为机器人现象或根因。末段篮板遮挡球体且无状态日志，暂时达标与失去的边界约有0.3 s误差，原生距离数值未报告。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、log一致：第二次抓取后持球到篮板旁，末段球被篮板遮挡，最终低于oracle末姿态，final=false与原生live/replay失败一致；任务文本只给target_pos（z=0.25）而DAG验收为z=0.30，按任务设计问题处理、不归因机器人现象合理。暂时达标区间仅为推断且已标注。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:30:13Z", + "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/metaworldplus-basketball-i00-standard--gy8qdgh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--gy8qdgh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f69bdc4a40ad919873c0d407d598feb429ab341cdd6059f17e2687c3ea3a19ee", + "video_sha256": "31c0db21ed7d81fd0f2cfd82a76cbfec2fa378592cc6c26542471c3cf81a8ef1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--mq6wjaf.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--mq6wjaf.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6a47d5648749d587873c3a9449b2dda2a72182 --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--mq6wjaf.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--mq6wjaf", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 1, + "reward": 10.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 16962, + "sim_steps": 16962, + "calls": 1282, + "elapsed_s": 1198.5, + "final_reward": 10.0, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.245, + "peak_processes": 8, + "peak_disk_gb": 0.245, + "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-standard--mq6wjaf/replay.mp4", + "duration_s": 24.28, + "fps": 25.0, + "frames": 607, + "sha256": "85215cc1f2fe64fb8462778eb664eb3bfd0012c962a3ed47d9a800edfcd0f610" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [ + [ + 1.0, + 2.4 + ], + [ + 23.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 3, + "text_zh": "观察：视频0.00 s橙色篮球位于桌面，远低于篮圈上方目标区域；机器人夹爪尚未搬动篮球，初态不达标。" + }, + { + "t": 0.76, + "log_step": 16, + "text_zh": "观察：视频0.28 s第一次抬爪后篮球仍在原桌面位置；视频0.36–0.76 s机器人再次降爪、以二指夹住篮球并提升，篮球离开原位，随后随夹爪升至篮板上方。" + }, + { + "t": 1.0, + "log_step": 19, + "text_zh": "推断：视频0.88–1.04 s机器人把所夹篮球降至篮圈上方，随后保持，外观与参考视频的成功持球位置一致；同一无重置评分局的log step 19中，agent脚本从左右相机深度估测球心约为(0.088,0.816,0.299) m及(0.084,0.812,0.299) m，也与这次降低动作相符。因此首次达标取视频约1.0 s；篮板遮挡球体，边界为视觉近似，未把agent时间或控制步数换算成视频时间。" + }, + { + "t": 2.4, + "log_step": 23, + "text_zh": "观察：视频2.40–2.56 s篮球从篮板遮挡区落下，视频2.48 s起清楚出现在桌面支杆旁，机器人夹爪仍停在篮板上方，故结束首次达标区间于视频约2.4 s。log step 23中agent脚本的多相机估测也把球定位到桌面高度，支持此处确已失去目标关系。" + }, + { + "t": 3.44, + "log_step": 31, + "text_zh": "观察：视频3.28–3.44 s机器人以闭合的空夹爪横向推桌上的篮球，球离开支杆附近并迅速滚走；之后至视频21.92 s，球在桌面上滚动，机器人移动夹爪追踪，期间未见球被送回篮圈上方。视频22.08–22.40 s球才再次离开桌面并随夹爪升高。" + }, + { + "t": 23.0, + "log_step": 44, + "text_zh": "推断：视频22.44–22.84 s机器人夹持的篮球清楚位于篮板上方，视频22.88–23.12 s夹爪带球下降至篮圈目标处，之后不再搬动；结合log step 44中agent脚本的左右相机球心估测约(0.090,0.811,0.296) m及(0.086,0.807,0.298) m，以及原生末帧验收成功，将重新达标记在视频约23.0 s，误差约0.2 s。" + }, + { + "t": 24.24, + "log_step": 45, + "text_zh": "观察：视频23.28–24.24 s（含最后一帧）夹爪保持在篮板上沿附近，篮球被篮板与夹爪遮挡，未见再掉回桌面；inputs/run.json的评分器字段live_success=1、replay_success=1、deterministic=1、success=1，确认该持球末态满足本任务原生验收。评分器未报告obj_to_target数值，native_metrics中保留null；log step 45的坐标是agent脚本估测，未当作评分器的距离指标。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sawyer单臂的二指夹爪在视频0.36–0.76 s夹住并提起篮球，搬到篮圈上方后篮球掉落；视频22.08–22.84 s再次夹起并搬运篮球，随后降至目标区域并持球到结束。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：在两次抓握之间，视频3.28–3.44 s机器人用闭合的空夹爪侧向推桌面篮球，将球从篮圈支杆附近推走；此时未以两指相向夹持球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人在视频约1.0 s持球到达篮圈上方目标区域，视频约2.4 s掉球后失去该关系，经推球、追踪和重新抓取，于视频约23.0 s恢复并保持到末帧，最终完成1/1节点，评分器确认实时与重放均成功。任务设计问题：任务句要求把球放穿篮圈，但明示验收只检查末帧球心到圈上方目标的加权距离，允许继续夹球，本次按该原生规则记成功。无状态日志且篮板遮挡达标时的球体，区间边界为视觉近似；评分器未提供原生距离数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点区间[1.0,2.4]与[23.0,末]、final=true、contact_actual（抓握+推/扫）与视频一致；成功运行无failure，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": "2026-10-30T02:24:58Z", + "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/metaworldplus-basketball-i00-standard--mq6wjaf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--mq6wjaf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b4697d57720de3f6653dbd11cd2f2ec3935d334126f1cef60c9b0aab3bbb8837", + "video_sha256": "85215cc1f2fe64fb8462778eb664eb3bfd0012c962a3ed47d9a800edfcd0f610", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--nyso3x9.json b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--nyso3x9.json new file mode 100644 index 0000000000000000000000000000000000000000..58262a2f3a0f068c0c879c96cd1b74d99353059d --- /dev/null +++ b/phase2/metaworldplus/basketball/trajectories/metaworldplus-basketball-i00-standard--nyso3x9.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-basketball-i00-standard--nyso3x9", + "taskKey": "metaworldplus/basketball", + "dag_sha256": "2442ddc7fc169870901fa6b0112fd0b6358e047d0c7f170fad694f04c7008581", + "outcome": { + "success": 0, + "reward": 0.012718954157967616, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 3262, + "sim_steps": 3262, + "calls": 453, + "elapsed_s": 1813.3, + "final_reward": 0.012718954157967616, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.232, + "peak_processes": 10, + "peak_disk_gb": 1.012, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-basketball-i00-standard--nyso3x9/replay.mp4", + "duration_s": 26.16, + "fps": 25.0, + "frames": 654, + "sha256": "3d82002d36993feda96270a06cb5206de3e581f6806b03ba67e1ce27ae06eeb8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_in_hoop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始画面中橙色篮球在桌面，位于白色篮板下方，未在圈上方目标区域。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 2.6–5.4 s，机器人夹爪在篮板附近上下、左右移动，篮球随后沿桌面向画面左侧滚走，未见球随夹爪被提起。独立日志证据：log step 85 的首次抓取脚本输出闭爪后 opening=1.000、ball_hover.x=0.0416、ball_after_lift.x=0.2065、lifted=0.0028，与球横移而未被提起的现象一致；未核实该日志事件对应的视频时刻，未做时间换算。" + }, + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 17.0–25.0 s，机器人多次把夹爪降到篮球旁，球向画面右侧滚动；夹爪抬升时球留在低处，没有随夹爪搬运到篮圈上方。" + }, + { + "t": 26.12, + "log_step": null, + "text_zh": "观察：视频 25.0–26.12 s（含末帧），篮球在桌面右侧边缘附近、夹爪外侧，与白色篮板旁的圈上方目标区明显分离；评分器字段 live_success=0、replay_success=0，与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 17.0–25.0 s，Sawyer二指夹爪在篮球旁下降、横移及合拢时拨动篮球，使球沿桌面滚向画面右侧；随后还有扫动。未观察到两指对向夹住并带球提升，故实际接触记推/扫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.08, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_hoop", + "t": 3.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 3.6 s 的早段抓球尝试中，机器人夹爪仍在篮板旁，未见篮球被夹起，随后在视频 4.0–5.4 s 沿桌面滚向画面左侧。此后机器人继续追球和重试，视频 20.0–25.0 s 仍只把球拨向另一侧，直至视频 26.12 s 末帧都没有完成篮球入篮。log step 85 的脚本自测输出也显示球横移而未有效提升，但这是独立日志证据，未核实其与视频该段为同一次尝试；t=3.6 仅为视频导航锚点。" + }, + "unmet": { + "ball_in_hoop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.6, + "log_step": null, + "evidence_zh": "观察：视频 3.2–5.4 s 的首次尝试没有建立带球提升的抓持，球沿桌面滚开；视频 20.0–24.0 s 的多次降爪、合拢和抬爪中，球也留在桌面并横向滚走。这里缺失的是抓持接触，夹爪实际存在拨球接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：机器人采用的降爪、合拢接触未把球稳定包在两指之间，接触主要把球横向拨走，导致始终无法提球搬运。依据为视频 20.0–24.0 s 球与夹爪反复接近后横向分离、夹爪空抬；log step 147、149、151 的脚本均尝试降到估计球心附近后闭爪和提升，其自测输出显示球主要横移而未提升，与视频现象一致。没有足够证据进一步确定具体指面偏置或摩擦参数。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，且正面视角的白色篮板遮挡了早段部分指球接触，无法精确恢复接触点、接触力或逐帧加权目标距离；抓取接触几何不适配为结合视频与控制脚本的推断。评分器未报告原生 obj_to_target 数值，故该指标留空；agent 在 log step 159 自行计算的距离不作为原生指标。视频时间直接取自画面，未将 agent 时间或控制步数换算成视频时间。 log step 85 未报告可定位该事件的控制步索引，各日志步 sim.submit 均为 0；未建立其与视频 3.6 s 的对应关系，日志与视频只作现象上的独立对照。" + }, + "summary_zh": "机器人多次接近、拨动并尝试夹取篮球，但未形成可带球提升的抓持，篮球入篮节点始终未达成，末帧为 0/1。失败断在篮球入篮的抓取阶段：夹爪接触使球沿桌面滚走，后续重试也未修复，根因为抓取和接触设计不适配的推断。无状态日志且早段接触受篮板遮挡，具体接触几何与原生目标距离无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点末帧未达成、断点在 ball_in_hoop 抓取阶段、没建立接触 + 抓取和接触设计的方向与视频一致；唯一问题是把 agent log step 85 与视频 3.6 s 直接绑定，却没有说明映射和事件核对（N6）。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点末帧未达成、断点在 ball_in_hoop 抓取阶段、没建立接触 + 抓取和接触设计均与视频一致；上一轮的 log_step/时钟问题已改正（log_step 为 null，且声明未换算）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:03:18Z", + "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-standard--nyso3x9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--nyso3x9/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--nyso3x9/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/metaworldplus-basketball-i00-standard--nyso3x9/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe21b4ffd09723ed3524cb54582f0a66fdca2b85c508e37981ffdb74a326a344", + "video_sha256": "3d82002d36993feda96270a06cb5206de3e581f6806b03ba67e1ce27ae06eeb8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--jw3jobg.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--jw3jobg.json new file mode 100644 index 0000000000000000000000000000000000000000..00f932a07b62c9f6127f6bafe2872b16723527ed --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--jw3jobg.json @@ -0,0 +1,167 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--jw3jobg", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 3.461241061265091, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 180, + "sim_steps": 360, + "video_rendered": 1, + "final_reward": 3.461241061265091, + "verifier_wall_s": 2.54, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.354, + "peak_processes": 10, + "peak_disk_gb": 1.0, + "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/metaworldplus-button-press-topdown-i00-privileged--jw3jobg/replay.mp4", + "duration_s": 2.275, + "fps": 40.0, + "frames": 91, + "sha256": "05da34e4be5c5453ff6e6ca42c43fa52b066e268f267f034a7733d14807af850" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 0.95, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.000 s 中，黄色盒体上的红色按钮帽高高伸出，外露黑色杆较长，Sawyer 夹爪尚未压住按钮。" + }, + { + "t": 0.95, + "log_step": null, + "text_zh": "观察：视频 0.800–0.950 s 的逐帧画面中，Sawyer 单臂夹爪从按钮正上方向下接触红帽，红帽随夹爪下降，黑色杆明显缩短；视频 0.950 s 红帽已靠近黄色盒顶。" + }, + { + "t": 0.95, + "log_step": null, + "text_zh": "推断：结合视频 0.900–1.000 s 的红帽下降过程及评分器末态成功，按下按钮状态约从视频 0.950 s 成立；无逐帧状态日志，无法精确测量 0.024 m 阈值跨越点，此起点为视觉估计，约有 0.1 s 不确定性。" + }, + { + "t": 2.25, + "log_step": null, + "text_zh": "观察：视频 1.000–2.250 s 检查的画面中，夹爪持续压在红帽上，红帽保持靠近盒顶，未见回升；视频 2.250 s 末帧仍保持按下状态。" + }, + { + "t": null, + "log_step": 59, + "text_zh": "观察：log step 59 中，agent 脚本生成并保存最终 180 步动作序列，工具回放返回 success=True，末态按钮顶部 z=0.22308 m、目标 z=0.215 m、高度差 0.00808 m；log step 61 对同一交付文件在两个新进程回放均成功且状态哈希一致，log step 67 再次确认该 180 步文件末态成功。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 字段给出 success=1、replay_success=1、deterministic=1、n_actions=180，与视频末态按钮保持低位一致；评分器 reward 未报告 obj_to_target 数值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 0.825–2.250 s，Sawyer 单臂二指夹爪的合拢指端从上方直接下压红色按钮帽，并持续抵压至末帧；未见从两侧夹住或提起按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "Sawyer 夹爪从上方接触并下压红色按钮帽，视频约 0.95 s 达成唯一节点“按下按钮”，保持到视频 2.25 s 末帧，最终完成 1/1。评分器确认最终 180 步交付序列成功且回放确定，未见未修复的失败。无逐帧状态日志，达成时刻为视觉估计；评分器未报告 obj_to_target 数值，原生指标留空，日志中的末态高度差仅作为辅助证据；所给 oracle 与本次 runId 相同，未作独立参考。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点“按下按钮”约视频 0.95 s 成立并保持到末帧，与帧一致；接触标注（手指/夹爪 压/擦）正确，无失败层，评分器成功，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": "2026-10-30T02:14:19Z", + "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/metaworldplus-button-press-topdown-i00-privileged--jw3jobg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--jw3jobg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a65a54345577e9d140af6f91ceef58569a4f00e4dbe1e20aa36d7b69727c7bfc", + "video_sha256": "05da34e4be5c5453ff6e6ca42c43fa52b066e268f267f034a7733d14807af850", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--n8jnulv.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--n8jnulv.json new file mode 100644 index 0000000000000000000000000000000000000000..daf78a59114a5f525ab260f2435948012e8bb1d3 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--n8jnulv.json @@ -0,0 +1,146 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--n8jnulv", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.497032126762557, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 410, + "sim_steps": 820, + "video_rendered": 1, + "final_reward": 8.497032126762557, + "verifier_wall_s": 2.26 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-privileged--n8jnulv/replay.mp4", + "duration_s": 5.15, + "fps": 40.0, + "frames": 206, + "sha256": "6dec68816d96990384798e98ad72150e4935c3e212eb4f9d6ce307f9ba486438" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 3.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面视角中，红色按钮帽高于黄色盒顶，外露黑色杆较长；机器人夹爪尚未接触按钮，初态未按下。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 2.3–2.6 s，Sawyer 单臂夹爪从按钮正上方下降，指端抵住红色按钮帽顶部；视频 2.7–3.6 s 按钮帽随夹爪继续下降，外露黑色杆逐渐缩短，没有夹住或提起按钮。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "推断：视频 3.3–3.6 s 红色按钮帽已降至黄色盒顶附近，黑色杆几乎不再外露，结合本次评分器 reward.success=1、replay_success=1，判为约视频 3.5 s 达到按下状态；缺少逐帧高度值，阈值跨越时刻为视觉估计，误差约 0.3 s。" + }, + { + "t": 5.125, + "log_step": null, + "text_zh": "观察：密集检查视频 4.1–5.125 s，机器人夹爪一直压在红色按钮帽上，按钮保持低位，没有回升；inputs/run.json 的评分器字段 success=1、deterministic=1、replay_success=1，支持末态达标。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.6–5.125 s，Sawyer 单臂的夹爪指端从上方抵住并下压红色按钮帽，末尾持续压住；未见以相向指面夹持按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人从上方接触并压低红色按钮帽，约视频 3.5 s 达到“按下按钮”，持续保持至视频末帧，最终完成 1/1 节点；评分器报告 success=1、replay_success=1、deterministic=1。没有状态日志，达标时刻按红帽下降和黑杆缩短的可见变化估计；评分器未报告 obj_to_target 数值，未将 agent 在 log step 32 自述的距离作为评分器测量值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频帧显示红帽在约视频 2.6–3.5 s 被压至盒顶并保持到末帧，评分器 success=1；节点时间、接触（手指/夹爪 压/擦）、无断点均合理。", + "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": "2026-10-30T02:18:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--n8jnulv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--n8jnulv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3cca2760687ddbd61913bd45e303de68699eb4af21cae1e20e136ecccdf4248e", + "video_sha256": "6dec68816d96990384798e98ad72150e4935c3e212eb4f9d6ce307f9ba486438", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq.json new file mode 100644 index 0000000000000000000000000000000000000000..7985a08cec5fc339f40079be4c0d0534b3516abc --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq.json @@ -0,0 +1,157 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--pxqcxnq", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.507633046647591, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 95, + "sim_steps": 190, + "video_rendered": 1, + "final_reward": 8.507633046647591, + "verifier_wall_s": 2.19, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.427, + "peak_processes": 6, + "peak_disk_gb": 0.248, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq/replay.mp4", + "duration_s": 1.225, + "fps": 40.0, + "frames": 49, + "sha256": "a4a6d609d0cdd8e89c3bfaef52f3d24fe3551bb456bbc6d3c5388c6d9d682cd8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 0.825, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.000 s 红色按钮帽高高伸出黄色盒顶，黑色杆清晰可见；机器人夹爪尚在按钮侧上方，初态未按下。" + }, + { + "t": 0.825, + "log_step": null, + "text_zh": "观察：视频 0.725–0.825 s，Sawyer 夹爪端部接触红色按钮帽并向下压，红帽下降、外露黑杆明显缩短，至视频 0.825 s 红帽已靠近黄色盒顶；与成功参考视频 1.000–1.125 s 的压低外观一致。" + }, + { + "t": 0.825, + "log_step": null, + "text_zh": "推断：结合视频 0.775–0.850 s 的连续下降画面及评分器最终 success=1，将按压达标的起点估为视频约 0.825 s；缺少逐帧状态日志，不能从画面精确测量 0.024 m 阈值的越界瞬间。" + }, + { + "t": 1.2, + "log_step": 63, + "text_zh": "观察：视频 0.850–1.200 s，机器人夹爪持续压在红帽上，按钮未回升，末帧红帽仍贴近黄色盒顶；log step 62 保存最终 95 步动作并回放成功，log step 63 从所保存文件重新加载并在新 Session 回放成功，final_reward=8.507633046647591，与评分器 reward 字段一致；评分器还记录 replay_success=1、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 0.725–1.200 s，Sawyer 单臂夹爪的合拢指端从上方接触并下压红色按钮帽，末帧继续施压。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人从上方接近按钮并用夹爪向下按压，唯一节点“按下按钮”约在视频 0.825 s 达成，持续到末帧视频 1.200 s，最终完成 1/1。评分器 success=1、replay_success=1、deterministic=1，交付文件在 log step 63 的重新加载回放也成功。无逐帧状态日志，达标起点为视觉估计；评分器 reward 未单独报告 obj_to_target 数值，故原生指标留空，log step 62 的交付前环境检查另报告该值为 0.003303 m。", + "conf": 9, + "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“按下按钮”视频约 0.825 s 达成并保持到末帧，与帧、评分器 success=1 及 log step 62/63 一致；contact_actual（手指/夹爪 压/擦）符合画面，无失败层，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:14:03Z", + "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/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--pxqcxnq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "420ba8958fbc459aa21c3b5ffe2c54d5ae44a0ac86391fab0254f1cae784b023", + "video_sha256": "a4a6d609d0cdd8e89c3bfaef52f3d24fe3551bb456bbc6d3c5388c6d9d682cd8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qanh4ap.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qanh4ap.json new file mode 100644 index 0000000000000000000000000000000000000000..5a344772fb426af5548a5204747b072f4e8067ca --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qanh4ap.json @@ -0,0 +1,157 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--qanh4ap", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.506258997332914, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 134, + "sim_steps": 268, + "video_rendered": 1, + "final_reward": 8.506258997332914, + "verifier_wall_s": 2.14, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.12, + "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-button-press-topdown-i00-privileged--qanh4ap/replay.mp4", + "duration_s": 1.7, + "fps": 40.0, + "frames": 68, + "sha256": "ea1a46c4ae969a2e2e6130e77921b57b6859f2f930444a0643b9f715b9d2d413" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.000 s 红色按钮帽高于黄色盒顶，黑色按钮杆明显外露；机器人随后抬高夹爪并移动至按钮上方。" + }, + { + "t": 1.35, + "log_step": null, + "text_zh": "观察：视频 1.325–1.375 s，Sawyer 单臂合拢的二指夹爪从上方接触红色按钮帽；视频 1.400–1.500 s 红帽随夹爪下移，外露黑杆明显缩短，红帽靠近黄色盒顶。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：根据视频 1.450–1.500 s 红帽下降至盒顶附近、视频 1.500–1.675 s 持续保持低位，以及评分器 reward.success=1、replay_success=1，按下按钮约在视频 1.500 s 达标并保持至结束。无逐帧状态日志，阈值首次跨越时刻为视觉近似。" + }, + { + "t": 1.675, + "log_step": 5, + "text_zh": "观察：视频末帧 1.675 s，机器人夹爪仍从上方压在红帽上，黑杆几乎不再外露；log step 5 保存的最终轨迹为 134 个动作，重放返回 success=True、final_reward=8.506258997332914，与评分器的 n_actions=134、final_reward 一致。该日志还记录末态 obj_to_target=0.006100564371865402 m；评分器 reward 本身未单独报告该距离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.350–1.675 s，Sawyer 单臂合拢的二指夹爪以指端从上方直接压住红色按钮帽并持续下压；按钮帽没有被夹爪包围夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人先抬高夹爪并移到按钮上方，再直接向下压低红色按钮帽；唯一节点“按下按钮”约在视频 1.500 s 达成，并保持至视频末帧 1.675 s，最终完成 1/1。评分器确认成功且重放确定，末态外观与成功参考视频中的低位红帽一致，无失败断点。没有逐帧状态日志，首次满足高度阈值的时刻为视觉估计；评分器未单独报告 obj_to_target，故原生指标值留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点“按下按钮”在视频约1.5 s达成并保持到末帧，与帧和评分器成功一致；接触标注（手指/夹爪 压/擦）符合画面，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": "2026-10-30T02:15:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--qanh4ap/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--qanh4ap/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "265e7851726b32bca67fdb52d7d3d70b911a38084c89865abcd04ebea000e95d", + "video_sha256": "ea1a46c4ae969a2e2e6130e77921b57b6859f2f930444a0643b9f715b9d2d413", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qoqwemh.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qoqwemh.json new file mode 100644 index 0000000000000000000000000000000000000000..88e9d91e1b523ee590187a1cad1650938babad5d --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--qoqwemh.json @@ -0,0 +1,162 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--qoqwemh", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 1.4553116608203596, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 425, + "sim_steps": 850, + "video_rendered": 1, + "final_reward": 1.4553116608203596, + "verifier_wall_s": 4.72, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.441, + "peak_processes": 9, + "peak_disk_gb": 0.266, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-privileged--qoqwemh/replay.mp4", + "duration_s": 5.35, + "fps": 40.0, + "frames": 214, + "sha256": "ca6ad330aca365ff3367d60ace740076fe2515729899c0803fcc8abf42f727b5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 5.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 红色按钮帽高于黄色盒顶，黑色杆外露；机器人夹爪尚未把按钮压低。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 1.50–3.50 s 机器人夹爪从上方持续下压红帽，黑色杆逐渐缩短；视频 4.75–5.075 s 夹爪上升，红帽随之升高、黑杆再次明显外露。" + }, + { + "t": 5.3, + "log_step": 18, + "text_zh": "观察：逐帧检查视频 5.150–5.325 s，机器人夹爪再次向下压红帽，视频 5.300–5.325 s 红帽已贴近盒顶、黑杆几乎不再外露；形态与参考成功视频 1.25–2.00 s 相符。log step 18 的交付生成脚本调用原生检查得到 obj_to_target=0.02062 m，并保存动作后回放成功。" + }, + { + "t": 5.325, + "log_step": 20, + "text_zh": "观察：log step 20 对交付的 425 行动作做两次独立回放，两次 success=True 且 state_sha 相同；inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1。视频末帧仍见夹爪压住低位红帽。" + }, + { + "t": 5.3, + "log_step": 17, + "text_zh": "推断：结合视频末次下压比此前静压更深、log step 17 交付脚本在末次下压低点结束、log step 18 原生末态检查及评分器成功结果，将严格高度条件的达标起点估为视频 5.30 s（约有 0.10 s 不确定性）。先前红帽接近盒顶的画面不能独立证明已经跨过 0.024 m 阈值，故不提前计入；本任务无需松手或额外保持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.50–4.65 s 及视频 5.150–5.325 s，Sawyer 单臂夹爪的指端从上方压在红色按钮帽上，使红帽下移；中途夹爪抬起后再次下压。未见双指对向夹住按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人先下压按钮，再抬起并二次下压，最终完成唯一节点“按下按钮”；视频约 5.30 s 的低位红帽、交付动作的两次一致成功回放及评分器成功结果共同支持末态达标，无失败断点。没有逐帧状态日志，画面也不足以分辨毫米级验收边界，首次达标时刻为近似估计；评分器 reward 未报告 obj_to_target，故原生指标值留空，log step 18 的原生末态检查另记录为 0.02062 m。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "单节点成功任务，评分器 success=1、replay 两次一致；视频末段红帽确实压到最低，标注 5.30 s 达标并已声明不确定性，无失败断点，接触标签（手指/夹爪 压/擦）与画面一致。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:17:02Z", + "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/metaworldplus-button-press-topdown-i00-privileged--qoqwemh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--qoqwemh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a5f2043b2b76b1fcdf3bac3319a05ef1800a5a78fb1770f8bb298976239676a8", + "video_sha256": "ca6ad330aca365ff3367d60ace740076fe2515729899c0803fcc8abf42f727b5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--ubceuv5.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--ubceuv5.json new file mode 100644 index 0000000000000000000000000000000000000000..487432e4703503ad00cbecae51663740a9cd6d6b --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-privileged--ubceuv5.json @@ -0,0 +1,152 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-privileged--ubceuv5", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.464652607639696, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 136, + "sim_steps": 272, + "video_rendered": 1, + "final_reward": 8.464652607639696, + "verifier_wall_s": 2.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.333, + "peak_processes": 8, + "peak_disk_gb": 0.822, + "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-button-press-topdown-i00-privileged--ubceuv5/replay.mp4", + "duration_s": 1.725, + "fps": 40.0, + "frames": 69, + "sha256": "32a9d6af357305f5396ea8be47eb9aa14f7c499d8b84bead98bd2c645ee03646" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 1.55, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 红色按钮帽高于黄色盒顶，外露黑色杆清楚可见，按钮尚未按下。" + }, + { + "t": 1.55, + "log_step": null, + "text_zh": "观察：视频 1.425–1.55 s，Sawyer 单臂夹爪从上方接触红色按钮帽并将其向下压，黑色杆逐渐缩短；视频 1.55 s 红帽已靠近黄色盒顶，至视频 1.70 s 末帧仍受夹爪压住，没有回升。按下状态起点取视频约 1.55 s；无逐帧状态日志，视觉不能精确测量 0.024 m 阈值。" + }, + { + "t": 1.7, + "log_step": 9, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，交付动作数 n_actions=136。log step 9 记录 agent 脚本保存加压后的动作并回放该文件，返回 success=True、control_steps=136，最终按钮高度为 0.22312405 m、目标高度为 0.21499997 m；该回放末态与视频 1.70 s 可见的低位红帽一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 1.425–1.70 s，Sawyer 单臂合拢的二指夹爪以末端从上方向下压住红色按钮帽，红帽随之降低；未见夹爪从两侧夹住按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "Sawyer 单臂先抬高并移到按钮上方，再下降按压；视频约 1.55 s 达到“按下按钮”状态，至视频 1.70 s 末帧保持，唯一目标节点完成，评分器判定回放成功。实际接触为夹爪从上方压住红帽；无状态日志，达标起点由视觉近似确定，评分器未报告 obj_to_target 数值，故原生指标值留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点 button_pressed 的时间（视频约 1.55 s）、接触（夹爪从上方压/擦）和成功结论与帧及评分器字段一致；无失败，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": "2026-10-30T02:15:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-button-press-topdown-i00-privileged--ubceuv5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-privileged--ubceuv5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3c6e4a4460e0071243b81667d9d5169376793706c2eac5c1f3ce08ed72eff49a", + "video_sha256": "32a9d6af357305f5396ea8be47eb9aa14f7c499d8b84bead98bd2c645ee03646", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ajcbfxx.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ajcbfxx.json new file mode 100644 index 0000000000000000000000000000000000000000..6feebe0386acdee873ae430b66acdcbe8d29d1e0 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ajcbfxx.json @@ -0,0 +1,177 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--ajcbfxx", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.431438639361872, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 1376, + "sim_steps": 1376, + "calls": 171, + "elapsed_s": 1218.3, + "final_reward": 8.431438639361872, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.341, + "peak_processes": 10, + "peak_disk_gb": 1.046, + "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-button-press-topdown-i00-standard--ajcbfxx/replay.mp4", + "duration_s": 27.56, + "fps": 25.0, + "frames": 689, + "sha256": "54f49f633a50e9a9f9486519ab501e29de084575babcbc6cc3e7586aa382039f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 6.0, + 11.9 + ], + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，黄色盒体上的红色按钮帽高高伸出，黑色杆清楚可见，初始未按下。" + }, + { + "t": 6.0, + "log_step": null, + "text_zh": "推断：视频 5.88–6.36 s，Sawyer 夹爪从上方向下压红帽，黑色杆由长变短、随后几乎缩入盒顶；与成功参考视频 1.00–2.25 s 的低位红帽比较，首次达到按下状态约在本次视频 6.0 s，阈值跨越时刻有约 0.5 s 的视觉估计误差。" + }, + { + "t": 11.9, + "log_step": 70, + "text_zh": "观察：视频 11.52–11.76 s，机器人夹爪上抬并脱离红帽；视频 11.88–12.48 s 红帽逐渐回升、黑杆重新伸长，视频 12.80–13.40 s 仍处高位，随后才再次向下压。log step 69–70 的脚本及执行输出也记录了抬起并重新按压；此处区间终点约视频 11.9 s，取自画面而非 agent 时间。" + }, + { + "t": 14.5, + "log_step": null, + "text_zh": "推断：视频 14.28–15.12 s，机器人夹爪再次把红帽压低，黑杆持续缩短，红帽重新靠近黄色盒顶；将恢复按下状态的时刻记为视频约 14.5 s，视觉阈值时刻误差约 0.5 s。" + }, + { + "t": 27.52, + "log_step": null, + "text_zh": "观察：视频 15.50–27.52 s 抽查画面中红帽保持低位；视频 26.56、26.72、26.88、27.04、27.20、27.36、27.52 s 密集末段画面均显示夹爪端部压住红帽，黑杆基本缩入盒顶，末态未再次回升。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward.success、live_success、replay_success、deterministic 均为 1，finalized 为 1，sim_error 与 infra_error 均为 0；最终按压成功与视频末态一致。评分器未报告 obj_to_target 数值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 4.4–11.6 s 及 13.2–27.52 s，Sawyer 单臂的二指夹爪端部从上方接触并向下压红色按钮帽；中间抬起后重新按压，末尾持续抵压。按钮帽未被相向夹住。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“按下按钮”，末态为 1/1，实时与回放评分均成功。视频约 6.0 s 首次按下，视频约 11.9 s 因夹爪抬起而回弹，视频约 14.5 s 再次按下并保持至视频 27.52 s 的最后一帧，无未修复断点。缺少状态日志和评分器 obj_to_target 数值，区间边界为依据红帽下降和黑杆缩短作出的视觉估计，误差约 0.5 s。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点按下按钮：视频帧显示约6 s按下、约12 s夹爪抬起红帽回升、约14.5 s再次压下并保持到末帧；评分器成功，final=true、无失败层，均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:19:33Z", + "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/metaworldplus-button-press-topdown-i00-standard--ajcbfxx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--ajcbfxx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8869d3bccebf6d0f824ae4ff66ff6c266ad2778418a29e1268a6295f7793d97", + "video_sha256": "54f49f633a50e9a9f9486519ab501e29de084575babcbc6cc3e7586aa382039f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--hb83qrq.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--hb83qrq.json new file mode 100644 index 0000000000000000000000000000000000000000..609a788c300157cff86aa6076ad4466655b5e331 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--hb83qrq.json @@ -0,0 +1,159 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--hb83qrq", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.449037978246086, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 480, + "sim_steps": 480, + "calls": 17, + "elapsed_s": 732.1, + "final_reward": 8.449037978246086, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.322, + "peak_processes": 6, + "peak_disk_gb": 0.291, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-standard--hb83qrq/replay.mp4", + "duration_s": 9.64, + "fps": 25.0, + "frames": 241, + "sha256": "6e944e9fbdee6b816a8c2496c826d653b5945cd45838bc4699de4cc39c5ef4ac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 6.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 红色按钮帽高于黄色盒顶，外露黑色杆较长；机器人夹爪尚未接触按钮，初始不满足按下状态。" + }, + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 4.40–6.80 s，Sawyer 单臂夹爪从按钮帽上方向下压，红帽随之下降，外露黑杆明显缩短；视频 6.20–6.40 s 红帽已接近黄色盒顶。推断：结合成功末态及按钮后续继续下降，将首次达标估在视频 6.2 s，阈值跨越时刻约有 0.3 s 的视觉误差；仅接触而未压低的前段不计为完成。" + }, + { + "t": 9.6, + "log_step": null, + "text_zh": "观察：视频 8.60、8.80、9.00、9.20、9.40、9.60 s，夹爪持续压住红帽，黑杆几乎不再外露，按钮帽保持靠近盒顶，未见回升；本次评分器 reward.live_success=1、graded_by_live=1、finalized=1，支持最终按下状态成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 4.40–9.60 s，Sawyer 单臂二指夹爪的指端从上方接触并向下压住红色按钮帽，推动黑色按钮杆回缩；未见夹爪从按钮两侧夹住按钮帽的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人将夹爪移到按钮上方并向下按压，约在视频 6.2 s 达到按下状态，至视频末帧 9.60 s 仍维持，唯一目标节点最终完成（1/1），与实时成功评分一致。实际接触为单臂夹爪从上方压住按钮帽。没有状态日志，精确阈值跨越时刻只能从视频估计；评分器未报告 obj_to_target 数值，因此该原生指标保留 null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "按钮按下节点 button_pressed 在视频约 6.2 s 达成，且维持到末帧。接触标注（手指/夹爪，压/擦）与帧一致，评分器结果也支持成功。我没有发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:21:47Z", + "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/metaworldplus-button-press-topdown-i00-standard--hb83qrq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--hb83qrq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8c545764ab1930370645de863982313219a7d45368704c436c33f5b8f0d33b47", + "video_sha256": "6e944e9fbdee6b816a8c2496c826d653b5945cd45838bc4699de4cc39c5ef4ac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--mug486e.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--mug486e.json new file mode 100644 index 0000000000000000000000000000000000000000..3a452368a05fefc1f6bfb2bef5e738d9b178c8ba --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--mug486e.json @@ -0,0 +1,149 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--mug486e", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 3.4606957644056138, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "control_steps": 960, + "sim_steps": 960, + "calls": 14, + "elapsed_s": 402.1, + "final_reward": 3.4606957644056138, + "video_rendered": 1, + "sim_error": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-standard--mug486e/replay.mp4", + "duration_s": 19.24, + "fps": 25.0, + "frames": 481, + "sha256": "9d8452dbb5daa1419a664cdd8124f269720837f49dfff530ee4b445253ddccfb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 12.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红色按钮帽高于黄色盒顶，外露黑色杆清楚可见，机器人夹爪尚在按钮侧前方，初态未按下。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 11.8–13.4 s 的连续抽帧中，Sawyer 夹爪从上方接触红色按钮帽并继续下降，红帽随之下降、外露黑杆逐渐缩短；视频 12.8 s 红帽已靠近黄色盒顶。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "推断：依据视频 12.4–13.2 s 红帽与盒顶的相对高度变化，并参照成功参考视频的压低外观，将达标时刻估为视频 12.8 s，误差约 ±0.4 s；无逐帧高度数据，不能精确定位 0.024 m 阈值的跨越帧。" + }, + { + "t": 19.2, + "log_step": null, + "text_zh": "观察：视频 13.4–19.2 s 红帽保持在盒顶附近，黑杆基本缩入，夹爪一直从上方压住红帽；视频 18.2、18.4、18.6、18.8、19.0、19.2 s 均未见按钮回升。inputs/run.json 的评分器字段 success、live_success、replay_success 均为 1，deterministic=1，与可见末态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 11.8–19.2 s，Sawyer 单臂二指夹爪的下端从上方抵住红色按钮帽，随下降将按钮压低，随后持续按住。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“按下按钮”：夹爪从上方按压红帽，约视频 12.8 s 达标，并持续压住至视频 19.2 s，最终进度为 1/1，与评分器实时及回放成功一致。没有状态日志，达标时刻为视觉估计，评分器未报告 obj_to_target 数值，无法独立量化最终高度误差。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点按下按钮，视频 11.8 s 起夹爪从上方压下红帽，约 12.8 s 达标并保持到 19.2 s；与评分器成功一致，接触标签（手指/夹爪，压/擦）合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:13:58Z", + "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/metaworldplus-button-press-topdown-i00-standard--mug486e/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--mug486e/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90ebff49c3c703b308c4af0188418c40fdd613c60e6e3d44af0500c67e856c4d", + "video_sha256": "9d8452dbb5daa1419a664cdd8124f269720837f49dfff530ee4b445253ddccfb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--sl4hfhn.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--sl4hfhn.json new file mode 100644 index 0000000000000000000000000000000000000000..2828d852592aa99376cffdb35b26617671473c87 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--sl4hfhn.json @@ -0,0 +1,173 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--sl4hfhn", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.419847306974974, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 903, + "sim_steps": 903, + "calls": 30, + "elapsed_s": 218.3, + "final_reward": 8.419847306974974, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.15, + "peak_processes": 8, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-standard--sl4hfhn/replay.mp4", + "duration_s": 18.12, + "fps": 25.0, + "frames": 453, + "sha256": "69e7ab5349ecdbed5fda3e2b5273ff8586e1ce63e1cf8fd055fc98060e82b52d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 10.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红色按钮帽高高伸出黄色盒体，外露黑色杆较长；机器人夹爪尚未压住红帽，初态未达到按下状态。" + }, + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频 4.4–4.8 s，Sawyer 单臂的青色指端从按钮正上方下降并贴住红帽；视频 6.2–9.6 s 红帽随夹爪逐渐下降，黑色杆缩短。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "推断：视频 9.6–11.4 s 的密集帧显示夹爪继续下压，红帽靠近黄色盒顶，黑色杆不再明显外露；结合成功参考视频中相同的压低外观及本次评分器的成功末态，将高度容差首次满足估在视频 10.6 s，约有 ±0.5 s 的视觉不确定性。无逐帧状态日志，无法直接量出 0.024 m 的跨阈值瞬间。" + }, + { + "t": 18.08, + "log_step": null, + "text_zh": "观察：视频 11.4–18.08 s 红帽保持在盒顶附近，夹爪指端一直向下抵住红帽；视频 17.0、17.2、17.4、17.6、17.8、18.0、18.08 s 均未见回弹。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 字段给出 live_success=1、replay_success=1、success=1、deterministic=1、finalized=1、sim_error=0，确认本次实时执行与回放的最后控制步均通过按钮高度验收。" + }, + { + "t": null, + "log_step": 19, + "text_zh": "观察：agent 在 log step 19 自述已停止发送命令并保持按压；本次节点终值依据视频末帧和评分器结果判定，未将 agent 的深度测量当作原生状态读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 4.6 s 起，Sawyer 单臂二指夹爪的青色指端从上方抵住红色按钮帽并向下压；视频 18.08 s 仍保持按压。接触作用于红帽上表面，未见相向夹持按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人从上方以夹爪指端持续压住红色按钮帽，约视频 10.6 s 达到按下状态并保持至视频 18.08 s，最终完成 1/1 个节点。评分器确认实时执行与回放均成功，无失败断点；缺少逐帧状态日志且评分字段未报告 obj_to_target 数值，跨越高度容差的时刻为视觉估计，约有半秒不确定性。", + "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 button_pressed 在约视频 10 s 起红帽压到盒顶并保持到末帧，评分器成功，无断点；时间、接触（手指/夹爪 压/擦）和 failure=null 均与帧一致。", + "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": "2026-10-30T02:14:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--sl4hfhn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--sl4hfhn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ab1cb222e7b1234556b4d76ce9c19b647fca297b8619e85588849bf0f25a2cbc", + "video_sha256": "69e7ab5349ecdbed5fda3e2b5273ff8586e1ce63e1cf8fd055fc98060e82b52d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ugm4yxv.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ugm4yxv.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9eabaadcbd1f230402bc19df0d1b95d0075dfd --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--ugm4yxv.json @@ -0,0 +1,174 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--ugm4yxv", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.416724082292156, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "no_verdict": 0, + "missing_log": 0, + "control_steps": 1927, + "sim_steps": 1927, + "calls": 90, + "elapsed_s": 1699.4, + "final_reward": 8.416724082292156, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.338, + "peak_processes": 9, + "peak_disk_gb": 0.245, + "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-button-press-topdown-i00-standard--ugm4yxv/replay.mp4", + "duration_s": 25.76, + "fps": 25.0, + "frames": 644, + "sha256": "3ab4df16ff5bf17045cf864fcca1c8bde5e58326ca5a6b0a3fe87d49fcf066a7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 21.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色盒体上的红帽高高伸出，外露黑色杆清楚可见，按压状态尚未成立。" + }, + { + "t": 16.4, + "log_step": 29, + "text_zh": "推断：视频 15.0–17.4 s，Sawyer 夹爪从上方压低红帽，但最低处仍高于视频末态，帽下还可见短段黑色杆；log step 29 记录末端 z=0.235 m，且脚本的红帽高度估计混入机械臂红色像素。结合后续更深的按压及末态比较，首次下压按未达验收范围处理；该处接近阈值，缺少逐帧距离以精确复核。" + }, + { + "t": 17.8, + "log_step": null, + "text_zh": "观察：视频 17.5–18.0 s，机器人抬起夹爪，红帽随之回升，黑色杆重新明显伸出；视频 18.0–20.6 s 再次接近并逐渐下压，尚未出现末态的贴近盒顶状态。" + }, + { + "t": 21.8, + "log_step": null, + "text_zh": "推断：视频 20.8–22.2 s 的连续帧显示机器人夹爪继续竖直下压，黑色杆缩短，红帽逐渐贴近黄色盒顶；与成功参考视频的低位红帽及本视频成功末态比较，约视频 21.8 s 进入验收状态，时间为视觉估计，约有 0.5 s 不确定性。" + }, + { + "t": 25.72, + "log_step": null, + "text_zh": "观察：视频 22.2–25.72 s，夹爪保持压住红帽，红帽低位贴近盒顶，没有再次抬起或回升；已检查视频末秒及最后一帧。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、finalized=1，sim_error=0；本次验收使用实时轨迹最后状态，支持按下按钮节点 final=true。评分器未报告 obj_to_target 数值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 15.0–17.4 s 及视频 19.0–25.72 s，Sawyer 单臂合拢的二指夹爪以末端从上方向下压红色按钮帽；视频 17.5 s 后抬起再接近，最后持续压住红帽。未见以相对两侧夹住按钮的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人两次从上方向下压按钮；首次下压仍略浅，抬起后红帽回升，第二次约视频 21.8 s 达到低位并持续压住至视频 25.72 s，最终完成 1/1 节点，与实时成功评分一致。实际接触为单夹爪向下按压红帽，没有抓握或松手要求。无状态日志，评分器也未报告 obj_to_target，首次下压与阈值的关系及达标起点依靠视频比较推断，时间约有 0.5 s 不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "单节点 button_pressed 在视频中成立：约 21.8 s 起夹爪压住红帽直到 25.72 s，与实时评分 success=1 一致；首次下压（视频约 15–17.4 s）log step 29 末端 z=0.235 m，按压面约 0.245 m，高于 0.239 m 上限，未达标的判断有 log 支持；17.5–21 s 帽回升可见。接触（单夹爪下压）与无失败层均合理。达标起点只能靠视觉估计，已在文中说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:02:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--ugm4yxv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--ugm4yxv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3ff3550f1253b4818c03fca51d3d20b51f0472456fcc278fe0f1e833d3a25601", + "video_sha256": "3ab4df16ff5bf17045cf864fcca1c8bde5e58326ca5a6b0a3fe87d49fcf066a7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--vuwefv2.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--vuwefv2.json new file mode 100644 index 0000000000000000000000000000000000000000..0ccf17f384b07ed99eeb926898347854cf6cd720 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--vuwefv2.json @@ -0,0 +1,149 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--vuwefv2", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 8.214836396806946, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "control_steps": 1139, + "sim_steps": 1139, + "calls": 11, + "elapsed_s": 477.9, + "final_reward": 8.214836396806946, + "video_rendered": 1, + "sim_error": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-standard--vuwefv2/replay.mp4", + "duration_s": 22.84, + "fps": 25.0, + "frames": 571, + "sha256": "c773121d24223208c33e977fd20a21a55f1204d15dc9cc584e12aeea60a0d93c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 12.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面视角中，红色按钮帽高于黄色盒顶，外露黑色杆较长；Sawyer 夹爪尚未接触按钮，初态未按下。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "观察：视频 7.0–13.75 s 的密集帧显示 Sawyer 夹爪从按钮正上方下降，指端压住红色按钮帽，随后红帽向下移动；视频 12.25–12.75 s 外露黑色杆缩短至接近不可见，红帽靠近黄色盒顶。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "推断：依据视频 12.25–12.75 s 的红帽下降及黑杆缩短，将按下状态的首次达标锚定为视频约 12.5 s，误差约 0.5 s；无逐帧按钮高度或原生成功信号，无法定位 0.024 m 阈值的精确跨越帧。" + }, + { + "t": 22.8, + "log_step": 31, + "text_zh": "观察：视频 13.0–22.8 s 及最后一秒的抽帧均显示 Sawyer 夹爪持续向下抵住红帽，红帽保持靠近黄色盒顶，没有回升；视频 22.8 s 的末帧仍成立。log step 31 的服务记录为 control_steps=1139；inputs/run.json 的评分器字段 live_success=1、replay_success=1、success=1、deterministic=1，确认实时末态和回放末态均通过。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 8.0–22.8 s，Sawyer 单臂夹爪的指端从上方抵住并向下压红色按钮帽，随后维持压力；可见的是对帽顶的按压接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "Sawyer 夹爪从上方压低红色按钮帽，约在视频 12.5 s 达成唯一节点“按下按钮”，并维持至视频 22.8 s 的末帧，最终完成 1/1。评分器报告实时末态与回放末态均成功，无失败断点。没有状态日志且评分字段未报告 obj_to_target 数值，阈值跨越时刻由视频估计，约有 0.5 s 不确定性。", + "conf": 9, + "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“按下按钮”在视频约12.5 s达成并维持至末帧，与抽帧一致；评分字段success=1，无失败断点，接触标注（手指/夹爪 压/擦）符合所见。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:17:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--vuwefv2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--vuwefv2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7a4995f25252ec3e187352f407b26b84d16b307736b4078b6ca2f660cb6a59ee", + "video_sha256": "c773121d24223208c33e977fd20a21a55f1204d15dc9cc584e12aeea60a0d93c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--x3yez5d.json b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--x3yez5d.json new file mode 100644 index 0000000000000000000000000000000000000000..e06ff554bc3f340dcb380fe0c64c3f8ccbbade95 --- /dev/null +++ b/phase2/metaworldplus/button_press_topdown/trajectories/metaworldplus-button-press-topdown-i00-standard--x3yez5d.json @@ -0,0 +1,149 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "metaworldplus-button-press-topdown-i00-standard--x3yez5d", + "taskKey": "metaworldplus/button_press_topdown", + "dag_sha256": "1bd44a46bcd6623a54b79a49a67f339ad635750dc0ee450e46828750027fe92d", + "outcome": { + "success": 1, + "reward": 3.4501962660397916, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "live_success": 1, + "finalized": 1, + "control_steps": 1549, + "sim_steps": 1549, + "calls": 131, + "elapsed_s": 509.3, + "final_reward": 3.4501962660397916, + "video_rendered": 1, + "sim_error": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/metaworldplus-button-press-topdown-i00-standard--x3yez5d/replay.mp4", + "duration_s": 31.04, + "fps": 25.0, + "frames": 776, + "sha256": "0164ca2599b38bfc6fc822163cd9dc89f76c4344a28436763b66f9eeb8ad7657" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "button_pressed": { + "method": "visual", + "intervals": [ + [ + 21.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红色按钮帽高于黄色盒顶，帽下黑色杆清楚外露；机器人夹爪尚在按钮旁上方，按下状态不成立。" + }, + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 16.8–21.0 s，Sawyer 单臂夹爪端部从上方持续压住红色按钮帽，红帽随之下降，黑色外露杆逐渐缩短；视频 21.0 s 红帽已靠近黄色盒顶。" + }, + { + "t": 21.0, + "log_step": null, + "text_zh": "推断：结合视频 19.2–22.0 s 每约 0.2 s 的局部帧及末态成功判定，将按钮进入验收高度范围的时刻估为视频约 21.0 s，视觉估计误差约 0.5 s；无逐帧按钮高度读数，不能精确定位 0.024 m 阈值。" + }, + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 22.0–31.0 s 红帽保持在盒顶附近；视频 30.0、30.2、30.4、30.6、30.8、31.0 s 夹爪均仍压住红帽，未见按钮回升。inputs/run.json 的评分器字段 live_success=1、replay_success=1、deterministic=1，支持末态节点为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 16.8–22.0 s，Sawyer 单臂二指夹爪的下端从上方压住红色按钮帽并使其下降，随后保持下压至视频 31.0 s；未见夹爪从两侧夹持按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "obj_to_target", + "value": null, + "unit": "m", + "threshold": 0.024, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人从上方用夹爪端部压低红色按钮帽，约视频 21.0 s 达成“按下按钮”，此后持续按住至视频 31.0 s，最终完成 1/1 节点；评分器实时与回放成功字段均为 1。无状态日志且评分器未报告 obj_to_target 数值，达成时间按红帽靠近盒顶、黑杆缩短的可见变化估计，误差约 0.5 s；末态成功有视频与评分结果共同支持。", + "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 button_pressed 成功，视频 20.3–21 s 红帽压到盒顶附近，与标注的约 21.0 s（误差 0.5 s）一致；末态至 31 s 仍压住，评分器字段为 1；接触 手指/夹爪×压/擦 符合所见；failure 为 null 合理。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": "2026-10-30T02:17:20Z", + "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/metaworldplus-button-press-topdown-i00-standard--x3yez5d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/metaworldplus-button-press-topdown-i00-standard--x3yez5d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "40e356f5c2713087906b0581f07cb519a7d71a95ae60f2176ee42b8754fabdaa", + "video_sha256": "0164ca2599b38bfc6fc822163cd9dc89f76c4344a28436763b66f9eeb8ad7657", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v.json new file mode 100644 index 0000000000000000000000000000000000000000..72acf550f31d8c2b83da5a52c2f09b37e4ba4ed8 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 231, + "sim_steps": 462, + "video_rendered": 1, + "final_reward": 1.0, + "verifier_wall_s": 113.76, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 4.724, + "peak_processes": 9, + "peak_disk_gb": 0.259, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v/replay.mp4", + "duration_s": 11.7, + "fps": 10.0, + "frames": 117, + "sha256": "5172e5789db1e4209751fcd768406f353bd5c6e257b46e6121e49add4df87142" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 5.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门向左外摆，内腔可见；视频 3.5–4.5 s 右手从炉前低处抬起，随后可见浅褐色土豆夹在弯曲手指间，随右手向炉口后方移动。" + }, + { + "t": 5.5, + "log_step": null, + "text_zh": "推断：视频 4.5–6.0 s 右手携土豆向内腔深入，视频 6.5–8.5 s 右手张开并撤离后，浅褐色土豆留在内腔底面；据连续搬运画面将中心入腔近似记为视频 5.5 s，误差约 0.5 s，手和头部遮挡了精确越界位置。该节点允许仍持物时成立。" + }, + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 8.4–9.2 s 土豆位于灰色内腔底面，右手已在炉外；之后门板逐渐遮住土豆，未见土豆被带出。" + }, + { + "t": 11.6, + "log_step": 100, + "text_zh": "推断：视频 11.6 s 门已合上，土豆不可见；结合关门前土豆留在腔内的连续画面，以及评分器 reward.success=1、replay_success=1、deterministic=1，判定终态入腔成立。log step 100 记录交付文件的两次回放均 success=True、control_steps=231 且终态哈希相同，支持这是已验证的交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右侧 Fourier 灵巧手以弯曲手指与拇指夹住土豆，抬起并送入炉腔后张手撤回；视频 4.5–5.5 s 可见土豆露出于合拢手指之间，视频 8.4 s 可见撤手后土豆留在腔内。左手未见接触土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 11.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门在炉体左侧外摆，内腔敞开；视频 8.0–9.0 s 内腔仍可见，关门状态起初不成立。" + }, + { + "t": 9.5, + "log_step": 86, + "text_zh": "观察：视频 8.0–9.3 s 左臂向门板所在一侧横移，随后视频 9.3–11.3 s 右手在门外侧接触门缘，门板逐渐旋回炉体前框并遮住内腔；可见部分为手部推门，未见手指包握把手。log step 86 的交付脚本也依次安排左手初推与右手续推。" + }, + { + "t": 11.3, + "log_step": 89, + "text_zh": "推断：视频 11.3–11.6 s 门板贴近前框、内腔被遮住，直到末帧没有明显重新打开，约在视频 11.3 s 达成关闭。微小门缝无法由该分辨率量化，终态开度不大于 0.005 由评分器 success=1、replay_success=1 支持；log step 89 的交付生成输出另记最后 inside=True、success=True，随后保存了 231 条动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人左、右 Fourier 手先后作用于微波炉门板及门缘：左手初推的接触区部分被头部遮挡，右手随后从炉外推合门板；视频 9.3–11.3 s 可见右手贴着门缘随门转动。结合视频和 log step 86 的交付脚本判为先后接替的推门，未能确认两手同时接触，未按抓握把手计。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人右手抓握土豆并送入微波炉，约在视频 5.5 s 达成入腔，撤手后土豆仍留在腔内；随后手部推合炉门，约在视频 11.3 s 完成关闭，最终两项目标均成立。视频末帧与评分器 success=1、replay_success=1、deterministic=1 一致，无失败断点。没有状态日志，头部及手部遮挡使土豆中心越界时间仅能近似判断，门开度阈值依成功判定确认；评分器未单独报告 microwave_open_fraction 数值，原生指标保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，两节点终态成立与评分器 success=1 一致；时间与接触标注在分辨率限度内合理，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": "2026-10-30T02:24:17Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--ft58g4v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c54b571df00e5c62532c4895fff0f0d7003f8393b05b15a4a403a79a7bef9db4", + "video_sha256": "5172e5789db1e4209751fcd768406f353bd5c6e257b46e6121e49add4df87142", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg.json new file mode 100644 index 0000000000000000000000000000000000000000..d8cbb96b7473a2d464634245f0706e5fb3b3ba63 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 455, + "sim_steps": 910, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 139.86, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 4.57, + "peak_processes": 11, + "peak_disk_gb": 0.266, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg/replay.mp4", + "duration_s": 22.9, + "fps": 10.0, + "frames": 229, + "sha256": "d5a7159581ff68004bf8b1a3aa217ba8120bb8f8a69863fb52ae24e8dabeb54c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 3.6–6.8 s，机器人右手沿台面向炉口扫推，棕黄色椭圆土豆仍贴着炉口前沿的台面，未出现土豆中心移到灰色内腔底面上的画面。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 7.8–10.5 s，右手已抬起，土豆仍露在炉口前沿下方；成功参考视频 8.0–8.5 s 则能清楚看见土豆位于内腔底面，两者位置不同。" + }, + { + "t": 22.8, + "log_step": 364, + "text_zh": "推断：结合视频 3.6–10.5 s 的炉外土豆及视频 11.0–22.8 s 后续仅推动炉门、没有再次搬送土豆的连续画面，入炉状态未达成。log step 364 的交付脚本也在扫推后撤回右手，转入关门；该代码只说明动作安排，不单独证明土豆位移。末段土豆被头部、门板和手臂遮挡，终值由前后动作连续性推断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 3.6–6.8 s，机器人右手以未包围土豆的手指在台面上接触并扫推土豆，未见形成对向夹持或将土豆举起。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门已向左外摆，灰色内腔敞开，关闭条件初始不成立。" + }, + { + "t": 13.0, + "log_step": null, + "text_zh": "观察：视频 10.5–14.5 s，机器人左手推动门板向炉体转动，但门板仍斜置在炉口前方，右侧内腔保持可见；随后视频 15.0–16.5 s 门又向外摆开。" + }, + { + "t": 22.8, + "log_step": null, + "text_zh": "观察：视频 17.0–20.5 s 机器人改用右手推动门；视频 21.8–22.8 s 每帧均显示门板仍明显斜向外摆，炉口右侧留有大开口，未贴合前框。成功参考视频 11.2–11.6 s 的门板则合回前框并遮住内腔，因此本次不满足关闭条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 10.5–14.5 s 机器人左手推门板，视频 17.0–22.8 s 改由右手推门；两手先后接替，未见抓住门把手或门缘形成包围夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 6.8, + "log_step": 364, + "where": "操作中", + "evidence_zh": "观察：视频 6.4–7.8 s，机器人结束右手扫推并抬手撤回时，土豆仍在炉口前沿台面；视频 8.5–10.5 s 仍可见其炉外位置，之后机器人转去推炉门而没有重新完成入炉。这是最早未修复的步骤；后续炉门未合拢见视频 21.8–22.8 s。log step 364 是交付脚本的扫推、撤手、关门顺序，视频时间直接取自画面。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.8, + "log_step": null, + "evidence_zh": "观察：视频 3.6–6.8 s 右手向微波炉扫推土豆，但土豆停在炉口前沿外侧，视频 7.8–10.5 s 右手撤离后也未见土豆进入内腔；其位置不同于成功参考视频 8.0–8.5 s 中明确位于内腔底面的土豆。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.8, + "log_step": 364, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 364 的交付脚本用右手旋转后沿台面逐段前推，随后直接撤手；视频 3.6–7.8 s 显示这套扫推没有把土豆送过炉口，物体仍停在外侧。目标与先放入后关门的顺序符合任务，但实际接触运动未产生足够的入炉位移，支持控制失败；无接触力、关节限位或跟踪误差记录，不能可靠细分控制子类。" + } + ], + "gap_zh": "无状态日志，无法数值核验土豆中心与内腔边界、门的归一化开度；评分器也未单独报告这两项。土豆在末段被机器人头部、门板及手臂遮挡，入炉终值依据扫推后仍在炉外及后续没有再次搬送的连续画面推断。log step 369 发起交付文件回放，但记录未收录回放完成的检查输出；不能把会话测试当作本次节点证据，控制失败的具体子类亦无法判定。" + }, + "summary_zh": "机器人用右手扫推土豆，但视频 6.8–10.5 s 土豆仍停在炉口外前沿，随后左右手先后推门也未将门合拢，最终两节点均未达成。最早未修复的断点是土豆入微波炉，现象为位姿不准，日志与视频支持扫推控制未产生所需位移。无状态日志，末段土豆受遮挡，入炉终值由动作连续性推断，控制子类及门开度数值无法核验。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点终值为假、断点为土豆入炉(扫推后土豆停在炉口前沿，低于成功参考中内腔底面的位置)、门末段仍外摆，均与帧一致；现象位姿不准与根因控制(停在大类)有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:29:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--h8u7jcg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "733e6f5a1b5481fcbd413c84d2d29d5dc721dde768199594147d9b7356c34eb6", + "video_sha256": "d5a7159581ff68004bf8b1a3aa217ba8120bb8f8a69863fb52ae24e8dabeb54c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--reycqw7.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--reycqw7.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0f1d5e3b4246dc91ad244053dc6842a094cd6a --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--reycqw7.json @@ -0,0 +1,190 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--reycqw7", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 2671, + "sim_steps": 5342, + "video_rendered": 1, + "final_reward": 1.0, + "verifier_wall_s": 305.23, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 7.333, + "peak_processes": 11, + "peak_disk_gb": 0.844, + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--reycqw7/replay.mp4", + "duration_s": 33.5, + "fps": 10.0, + "frames": 335, + "sha256": "cee22693ba3341fa10402114e57341ad18bf9f8d7ab3b8691d519fdfa1d151fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 13.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 5.0–7.6 s，机器人右手在炉前合拢手指，随后将夹在指间的浅褐色土豆抬离台面；视频 7.6–8.4 s，土豆随右手向炉口上移。" + }, + { + "t": 13.3, + "log_step": null, + "text_zh": "推断：视频 12.6–14.4 s，机器人右手夹着土豆继续越过炉口向内推进，约视频 13.3 s 土豆中心进入内腔（头部、右手遮挡，时间约有0.5 s不确定性）；视频 15.2–17.4 s 右手张开并退出，未见土豆随手带出。结合后续炉门关闭及评分器 replay_success=1、deterministic=1，判断入炉状态此后保持到结束。" + }, + { + "t": 33.4, + "log_step": 81, + "text_zh": "观察：视频 32.4–33.4 s 炉门保持关闭，机器人右掌仍贴着门；inputs/run.json 的 reward 报告 success=1、replay_success=1、final_reward=1.0。log step 81 的独立回放输出报告2671个控制动作执行后 success=true；log step 82 确认最终交付动作与该回放动作相同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手以拇指和其余弯曲手指包夹土豆，抬起并送入微波炉；视频 7.6–8.4 s 可见土豆随合拢的右手移动，视频 15.2–17.4 s 右手张开撤出。左手没有共同搬运土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 27.5, + 28.2 + ], + [ + 31.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉内腔敞开，门板外摆，关闭条件初始不成立；视频 19.0–27.2 s 机器人左手推动门板绕铰链逐渐合回，视频 27.2 s 门板仍外摆。" + }, + { + "t": 27.5, + "log_step": null, + "text_zh": "观察：视频 27.3–27.5 s 门板合回前框，视频 27.5–28.1 s 门面贴近炉体并遮住内腔；视频 28.2–28.6 s 门板再次外摆，之后至视频 31.6 s 仍可见未合紧的门面。首段关闭区间约为视频 27.5–28.2 s，微小开度阈值无法由画面直接数值核验，边界为视觉估计。" + }, + { + "t": 31.8, + "log_step": null, + "text_zh": "推断：视频 30.6–31.8 s 机器人右掌再次推门，约视频 31.8 s 门面贴回前框；视频 32.0–33.4 s 右掌持续顶住门面，门未再次外摆。结合评分器 success=1、replay_success=1，终态满足归一化开度≤0.005；最后一次达成时刻估计为视频 31.8 s，约有0.5 s不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 19.0–27.5 s 机器人左手以弯曲的手指/掌部推门板，右手随后收指让开；视频 28.2 s 后左手撤离，视频 30.6–33.4 s 右掌接替推门并保持关闭。两手先后作用于门板，未见手指包夹门把手的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人右手抓取土豆，约视频 13.3 s 将其送入微波炉，随后撤手；炉门约视频 27.5 s 首次合上、视频 28.2 s 回开，最后由右掌在约视频 31.8 s 再次推合并保持到视频 33.4 s，两个目标节点最终均成立，与评分器的确定性成功回放一致。无状态日志，头部和右手遮挡部分土豆运动，中心越界与0.005门缝阈值的精确时刻不能逐帧数值核验；原生门开度指标未在评分器字段中报告，因此其值保留null。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行；两个节点终态成立，与评分器 success=1 一致；时间与接触标签与抽查帧大致相符（画面低分辨率，头部遮挡，细节无法证伪）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": 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replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg.json new file mode 100644 index 0000000000000000000000000000000000000000..a37da2e5c25663d2143081b7d65807ba2731c572 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 576, + "sim_steps": 1152, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 92.8, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 12.745, + "peak_processes": 18, + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg/replay.mp4", + "duration_s": 28.9, + "fps": 10.0, + "frames": 289, + "sha256": "66f19d5ecf8330070ac54b11195ab2cab1ab09441036d10d6f910073855c6136" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 土豆位于微波炉前的台面，炉门外摆，内腔敞开。" + }, + { + "t": 19.6, + "log_step": null, + "text_zh": "观察：视频 11.0–19.6 s 机器人右手以伸出的手指从土豆右后侧拨推；土豆在炉口前小幅移动，其可见部分仍在前框下方的台面上，未随右手进入内腔。视频 19.8–21.4 s 右手向后撤，土豆仍留在炉外；头部遮住土豆左侧部分。" + }, + { + "t": 28.8, + "log_step": 115, + "text_zh": "推断：视频 21.4–28.8 s 没有再次送土豆入炉，炉前仍可见土豆露出的部分，结合此前连续拨推与撤手画面，判定入炉节点未达到。log step 115 是最终保存的 576 动作运行，其脚本输出 potato final [2.834,-1.775,0.947]、inside False；log step 117 对该文件回放也为 success False，与视频过程一致；早先多次测试不计入本次进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 11.0–20.4 s 右手伸出的手指接触土豆侧后方并拨推，未见拇指与其余手指围合夹住土豆；左手虽同步运动，未见其接触土豆或形成两侧夹持。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门已向机器人左侧外摆，炉口敞开，关闭节点初始不成立。" + }, + { + "t": 26.5, + "log_step": 115, + "text_zh": "观察：视频 23.0–27.5 s 机器人左手伸向头部左侧的门板，随后向外下方移动；炉门仅小幅转动，未合回前框。视频 27.8–28.8 s 逐帧检查，内腔仍明显敞开；log step 115 最终保存运行的脚本输出 door frac final 0.8583，与门未合拢的画面一致。" + }, + { + "t": 28.8, + "log_step": null, + "text_zh": "观察：成功参考视频 10.0–11.6 s 可见灰色门板转到炉体正面并遮住内腔；本次视频 28.8 s 仍可见敞开的内腔及头部左侧外摆的门缘，不具备这一关闭外观。参考只用于辨认关闭状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 23.0–27.5 s 左手张开伸向外摆门板，伴随门板小幅转动，结合 log step 108、110、113 所保留的左手指端推门控制，判为左手推门；头部遮挡部分接触点，未见抓住把手。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 20.0, + "log_step": 115, + "where": "操作中", + "evidence_zh": "观察：视频 19.6–21.4 s 右手结束向炉口的拨推动作并撤回，土豆仍停在炉前台面，之后机器人转去操作炉门，未再补做入炉。log step 115 最终保存运行也输出 inside False；这是本次最早未修复的步骤。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 20.0, + "log_step": 115, + "evidence_zh": "观察：视频 11.0–19.6 s 右手拨动土豆，但土豆没有进入炉口后方内腔；视频 19.8–21.4 s 右手撤走时土豆仍留在炉外，视频 28.8 s 也未见后续入炉。log step 115 最终运行的脚本检查为 inside False，符合拨推终点未到目标的画面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 19.6, + "log_step": 110, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 110 的 push_potato 脚本把两手布置在土豆两侧，保持同一手姿后同步向前扫推；log step 113 仅把扫推加长并改成一次。视频 11.0–19.6 s 实际由右手从侧后方拨推，左手位于头部左侧，未形成预期的两侧围挡，右手也未闭合夹住土豆，因而未稳定约束土豆随手送入炉内。成功参考视频 4.5–6.5 s 显示右手将土豆提送到内腔，说明存在可行的搬运接触方案；参考不作为本次达成证据。" + } + ], + "gap_zh": "本次没有状态日志；单一背后俯视画面中，机器人头部遮挡土豆的一部分及左手推门接触点，无法逐帧核验土豆中心坐标、全部接触对或精确门开度。两个节点按连续画面及最终交付运行日志辅助判断；评分器 reward 未报告 microwave_open_fraction 数值，native_metrics.value 留 null，不能把脚本打印值当作评分器指标。接触设计归因可解释可见拨推失败，但不能进一步确定关节限位、接触力或逆解误差。" + }, + "summary_zh": "评分轨迹尝试了拨推土豆及左手推门，但土豆未入微波炉、门仍明显敞开，两个节点始终未达到，最终为 0/2。最早未修复的断点在视频约 20.0 s 的土豆入炉操作：右手单侧拨推未将土豆送入内腔，随后撤手；接触布局未形成预期的两侧约束。头部遮挡部分接触和土豆轮廓，且无状态日志，精确几何与控制误差无法核验。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达到与帧、评分器 reward 0 及 log step 115/117（potato inside False、door 0.8583、replay success False）一致；断点、现象与根因有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:19:53Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--tu6reyg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5ad633496a65dd2654e27963b02dddd64a0e1b6db0e03a27b70cc9f8a5912689", + "video_sha256": "66f19d5ecf8330070ac54b11195ab2cab1ab09441036d10d6f910073855c6136", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw.json new file mode 100644 index 0000000000000000000000000000000000000000..72a4239fc206e46b1bc9a25731602bcf8eea95ae --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw.json @@ -0,0 +1,218 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 1031, + "sim_steps": 2062, + "video_rendered": 1, + "final_reward": 1.0, + "verifier_wall_s": 108.46, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.484, + "peak_processes": 10, + "peak_disk_gb": 0.833, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw/replay.mp4", + "duration_s": 34.5, + "fps": 10.0, + "frames": 345, + "sha256": "9872f1cb1680ef7b079451ab41aabebc95437a0361f98df66a80ccbd4eaf4864" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "观察：视频 9.5–10.0 s，机器人右手弯曲手指围夹棕色椭圆土豆，土豆随右手从炉前台面上方升起并向炉口移动；左手未参与搬运。" + }, + { + "t": 11.5, + "log_step": null, + "text_zh": "推断：视频 10.0–12.0 s，右手夹持土豆越过炉口向内送入，随后在视频 12.0–14.0 s 向内腔底部下降；结合视频 14.4–18.0 s 右腕旁显露的炉内土豆，估计中心在视频约 11.5 s 已进入内腔，边界时刻受手部遮挡，误差约 0.5 s。" + }, + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 20.5–22.0 s 右手张开并撤出，视频 25.0–27.0 s 可见土豆留在炉腔右侧，未随右手撤出；随后炉门合拢遮住内腔。" + }, + { + "t": 34.4, + "log_step": null, + "text_zh": "推断：视频 33.5–34.4 s 炉门保持闭合，未见再取出土豆；run.json 的评分器字段 success=1、replay_success=1、deterministic=1 支持交付末态的土豆中心在炉内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.5–12.0 s，机器人右手以弯曲手指与拇指围夹土豆，将其抬离台面并送入微波炉；随后张手释放并撤出。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 31.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门外摆，灰色内腔敞开；视频 23.0–27.0 s 内腔仍可见，关门节点尚不成立。" + }, + { + "t": 29.0, + "log_step": null, + "text_zh": "观察：视频 27.0–31.0 s，机器人左手横过身前贴住门缘，随门板绕铰链摆动将门推回前框；右手已撤离内腔并张开停在右侧。" + }, + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 30.5–31.0 s 门板逐渐贴回前框，视频约 31.0 s 已遮住内腔并呈闭合外观，左手尚贴在门上，随后在视频 31.6–32.4 s 撤回；视频 33.5–34.4 s 逐帧检查未见门再打开。" + }, + { + "t": 34.4, + "log_step": null, + "text_zh": "推断：视频末段的闭门外观与参考成功视频末段一致，结合 run.json 评分器 success=1、replay_success=1，判定末态满足归一化开度不大于 0.005；缺少状态日志，视频约 31.0 s 的阈值通过时刻仅为视觉估计，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 27.0–31.0 s，机器人左手手掌及弯曲手指贴住微波炉门缘，将门板绕铰链推合，随后撤回。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人右手抓住土豆送入微波炉，中心入腔估计在视频约 11.5 s；释放并撤手后，左手将炉门推合，视频约 31.0 s 起保持闭合，最终达到两个节点。评分器 success=1、replay_success=1、deterministic=1，与视频末态一致，无失败断点。未提供状态日志，手部遮挡使中心越过内腔边界的时刻约有 0.5 s 误差，门开度 0.005 的精确通过时刻无法从低分辨率画面量测，原生开度数值也未由评分器报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "potato_in_microwave 的时间和接触描述与视频不符：土豆（桌面上植物右侧的小粉红色物体，oracle 中同一物体被拿走并送入炉腔，旁边的橙红长椭圆物体全程留在桌面）在视频 0–22.6 s 一直躺在桌面原位，视频约 22.8 s 才消失，视频约 24 s 起出现在炉腔内；标签的 11.5 s 入腔和『右手 9.5 s 抓起土豆』是把右手手指/手臂当成土豆。microwave_closed 约 31 s 基本可信。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点（土豆入炉约 11.5 s、关门约 31 s）与视频一致。第 1 轮审查把植物旁的小粉红物体当作土豆是误认：视频 0 s 土豆是炉口前台面上的粉红小物体，视频 8 s 已离开该处，16 s 在炉内右腕旁，24–25 s 留在炉腔，与 oracle 4–8 s 同一物体被右手送入炉腔一致。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": "2026-10-30T03:05:24Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--wlxmxsw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "19f88df06fb5b1a72a193595b4f9be4d23855eb75610e1076e81bf2d74561306", + "video_sha256": "9872f1cb1680ef7b079451ab41aabebc95437a0361f98df66a80ccbd4eaf4864", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg.json new file mode 100644 index 0000000000000000000000000000000000000000..d8d01b453598be289ef0a2006a35e309580b4bf1 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg.json @@ -0,0 +1,194 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 300, + "sim_steps": 600, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 123.44, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 6.587, + "peak_processes": 21, + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg/replay.mp4", + "duration_s": 15.1, + "fps": 10.0, + "frames": 151, + "sha256": "ffa3ec8fa2c6eee18285369260921bd038d8d20cd00337c2583ae31653e44483" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：本次视频 0.0–3.5 s，机器人右手从炉前向下接近土豆所在区域，随后向前上方运动；视频 4.0–15.0 s 右手停在炉口附近，未见土豆随手进入可见内腔。头部遮挡炉前土豆及手指接触点。" + }, + { + "t": 15.0, + "log_step": 75, + "text_zh": "推断：土豆入炉未达成。log step 67 的失败保存分支只保存 acts[:300]，经 log step 68、72、74 修改成为最终推送脚本；log step 75 确认交付文件为 300×24，评分器也报告 n_actions=300、deterministic=1。本次视频的右手下降、前上移而左手不动，与该动作前缀相符；log step 74 对这段推送的物体位置读数始终在炉外（后续约为世界坐标 [2.896,-1.770,0.947]），而 log step 7 的内腔前界为 y=-1.682216。该读数用于解释交付前缀，未将测试末尾推门状态计入本次进度。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：成功参考视频 7.0–8.5 s 可见棕色土豆进入内腔并在右手撤离后留在炉内；本次视频 4.0–15.0 s 相同可见区域未出现该土豆。参考视频仅用于核对入炉的可见线索。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人右手实际进行了炉前接近及向炉口推送的运动，但视频 2.0–5.0 s 的土豆和接触点被头部、手臂遮挡，无状态接触对，无法确认具体是指尖推动、掌面按压还是未接触；不据脚本的推送意图填写抓握。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉门已向机器人左侧外摆，内腔敞开；视频 0.0–15.0 s 门板没有合回前框。机器人左手保持在门外侧原位置，没有执行推门。" + }, + { + "t": 15.0, + "log_step": 75, + "text_zh": "观察：视频 14.0–15.0 s 每隔 0.1 s 检查，内腔仍完全敞开，门未关闭。log step 75 确认只交付 300 个动作；log step 67、68、72、74 所示最终脚本把左手关门排在全部右手阶段之后，超出这段交付前缀，故不采用 log step 75 的测试末态门角或 log step 76 的门开度自述作为本次视频终态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 5.0, + "log_step": 74, + "where": "操作中", + "evidence_zh": "推断：最早未修复的失败是土豆入炉。视频约 3.5–5.0 s 机器人右手向炉口升起，随后停住，到视频 15.0 s 未出现成功参考视频中可见的土豆入腔结果；log step 74 的对应推送报告也显示土豆仍在内腔前界外。关门动作未包含在交付的 300 个动作内，不把会话中的后续推门测试当作本次尝试。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.0, + "log_step": 74, + "evidence_zh": "推断：机器人右手前上移到炉口附近，但没有把土豆送到内腔；视频 4.0–15.0 s 缺少参考视频 7.0–8.5 s 的土豆入腔线索。log step 74 的推送输出显示手的高度上升，而土豆仍约在 y=-1.770，尚未越过 log step 7 记录的内腔前界 y=-1.682216。这里只标送入位置未达标，不将遮挡下的卡边或滑脱当作已观察事件。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 67、68、72、74 的脚本沿用张开的右手接近并向前推送；log step 74 输出中右手从约 [2.863,-1.928,0.959] 上移到 [2.854,-1.747,1.050]，土豆却仅到约 [2.896,-1.770,0.947]，其后仍未进入内腔。视频约 3.5–5.0 s 的右手上移及随后停滞与该执行问题一致，说明未能控制手与土豆的相对运动完成送入；缺少接触及关节记录，保留在控制大类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "本次无状态日志，唯一视角中机器人头部遮挡土豆原位置和关键接触点，无法直接确认接触方式、是否顶住炉口边缘或手指从土豆上方越过，因此 contact_actual 为未知，控制根因不细分。土豆未入炉结合可见内腔、成功参考线索以及已核对的交付动作前缀日志作判断，不声称逐帧核验中心边界；门明显敞开可直接判假，但评分器未报告数值开度，原生指标为 null。会话测试执行了超出交付前缀的动作，其门角及 agent 最终自述均不能代替本次视频状态。" + }, + "summary_zh": "本次交付轨迹仅含 300 个动作：机器人右手在炉前下降后向炉口前上移，土豆未进入内腔，最终两个目标节点均未达成。最早未修复的断点为土豆入微波炉，表现为送入位置未达标；日志与视频支持控制未能完成物体转移，左手关门阶段则被失败保存分支截在交付前缀之外。头部遮挡关键接触点且无状态日志，具体接触方式及控制子类不能确认。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达成、断点为土豆入微波炉、位姿不准+控制(未细分)与视频（4–15 s 内腔空、门全程敞开）及 log step 74/75（交付 300×24、最终推送土豆 y≈-1.77 未过前界）一致；接触未知的处理合理，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": "2026-10-30T02:24:25Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--xagh3pg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7be20a658d40b15580e4b4582e9f3f6837f84942cd0608b47115292293d4319f", + "video_sha256": "ffa3ec8fa2c6eee18285369260921bd038d8d20cd00337c2583ae31653e44483", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy.json new file mode 100644 index 0000000000000000000000000000000000000000..61464e11d8214ebe4504b00a153416fdb6819c8f --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "replay_success": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 710, + "sim_steps": 1420, + "video_rendered": 1, + "final_reward": 1.0, + "verifier_wall_s": 138.96, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 9.631, + "peak_processes": 16, + "peak_disk_gb": 0.344, + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy/replay.mp4", + "duration_s": 35.6, + "fps": 10.0, + "frames": 356, + "sha256": "43edf9b1eee1608a2c7722a4feb4a2c99a20c33ac79ff38394d332ddb71aeda6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 12.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 4.0–6.5 s，机器人右手下降并合指；视频 7.5–9.0 s，椭圆土豆随合拢的右手离开炉前台面并升高，随后向炉口移动。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "推断：视频 11.5–13.5 s，机器人右手持土豆向炉口后方推进，约视频 12.5 s 土豆中心进入内腔；头部和右手遮住中心越界瞬间，起点为近似时间，误差约 1 s。视频 19.0–24.0 s，右手张开撤回后可见土豆留在炉腔底部，未随手退出。" + }, + { + "t": 35.5, + "log_step": 33, + "text_zh": "观察：视频 24.0–27.0 s 土豆仍在炉内，随后门合上；视频 34.6–35.5 s 门始终关闭。评分器 reward.success=1、replay_success=1、deterministic=1；log step 33 记录 agent 保存后从初态重新回放交付的 710 条动作，工具返回 success=True，支持最终土豆中心仍在内腔。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.5–9.0 s，机器人右手合指夹持土豆并将其举离台面；随后保持夹持送入炉口，视频 19.0–22.0 s 张开手指并撤回。左手未同时操作土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 29.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉门外摆，内腔敞开；视频 24.0–27.0 s 右手撤开后炉门仍开着。" + }, + { + "t": 29.3, + "log_step": null, + "text_zh": "观察：视频 27.0–29.3 s，机器人左手从门外侧推门，门板绕铰链合向前框；视频 29.3 s 门板贴合炉体并遮住内腔，视频 29.4–30.0 s 及视频 34.6–35.5 s 未见再次打开。" + }, + { + "t": 35.5, + "log_step": 33, + "text_zh": "推断：视频约 29.3 s 起的闭合外观与参考成功视频约 11.0 s 的闭合外观一致；本次评分器 success=1、replay_success=1 证明末态满足开度不大于 0.005。log step 33 的交付文件重新回放结果为 success=True，并报告 door=-0.001608390078410761，作为末态佐证；低分辨率视频无法单独量出该阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 27.0–29.3 s，机器人左手作用于敞开的微波炉门外侧，将门推向炉体前框；右手停在炉体右前方，没有与左手共同抓握门板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人右手抓起土豆，约视频 12.5 s 将其中心送入微波炉，松手撤回后土豆留在内腔；左手随后推门，约视频 29.3 s 合拢并保持至视频 35.5 s，最终两个节点均成立，与评分器成功结果一致。没有失败断点。无状态日志，头部与右手遮挡了土豆中心越界的瞬间，入炉时间约有 1 s 不确定性；门开度的精确阈值由成功判定支持，评分器未单独报告该原生指标数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个节点（土豆入炉约 12.5 s、关门约 29.3 s）与视频帧一致，时间在约 1 s 内；contact_actual 与画面相符；无失败断点，final 与评分器 success=1 一致。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": "2026-10-30T02:23:21Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-privileged--zovhvcy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "911f7e62e4b615e8e0705a534bc1e30d16dbbbf1da336cb37f48fbbbb5556c73", + "video_sha256": "43edf9b1eee1608a2c7722a4feb4a2c99a20c33ac79ff38394d332ddb71aeda6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd8e034a2c2841694ae0c738724abec3dfd6355 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 3632, + "sim_steps": 3632, + "calls": 117, + "elapsed_s": 3685.2, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.31, + "peak_processes": 9, + "peak_disk_gb": 2.537, + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm/replay.mp4", + "duration_s": 30.4, + "fps": 10.0, + "frames": 304, + "sha256": "2efce56c049341583395be6888df261f435b0303b589b63b3678b1e98b6867ac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 6.0, + 7.5 + ], + [ + 9.6, + 11.7 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，微波炉门已向左打开，土豆位于炉前台面，初始未在内腔。" + }, + { + "t": 6.2, + "log_step": null, + "text_zh": "推断：视频 5.4–6.2 s，机器人右手闭合夹持土豆并从炉前抬起、前送；视频 6.2–7.3 s，持物手进入炉口，土豆的可见部分位于前框后方。结合前后连续帧及成功参考中相同炉口的外观，判为持物时中心短暂入腔，首次开始约视频 6.0 s，边界约有 0.5 s 误差；此节点不要求松手。" + }, + { + "t": 7.5, + "log_step": 90, + "text_zh": "推断：视频 7.0–7.5 s，机器人右手张开并撤回；视频 7.8–8.6 s，可见内腔未见土豆，炉前沿被手和头部部分遮挡，土豆不可见。视频 9.0–9.4 s，土豆重新在炉口前沿外侧可见，并被右手夹起。依据释放前后及再次抓起的连续画面，判第一段入腔约在视频 7.5 s 结束，边界约有 0.5 s 误差，退出瞬间并非直接观察。log step 90 中 agent 自述“土豆在松手时回到台面”，仅用于说明其恢复抓取动作的意图，不作为位置或退出时刻的独立证据，也不以 agent 时间换算视频时间。" + }, + { + "t": 10.5, + "log_step": null, + "text_zh": "推断：视频 9.0–9.6 s，机器人右手重新夹起土豆并向炉口前送；视频 9.6–11.6 s，土豆随手抬至内腔上部、前框后方，按中心入腔且允许持物的判据记第二段成立。视频 11.7–11.9 s，右手改变姿态后土豆落回前沿外侧，故该段结束约视频 11.7 s；越界时刻约有 0.5 s 误差。" + }, + { + "t": 25.8, + "log_step": null, + "text_zh": "推断：视频 12.0–16.5 s，机器人改用右手掌指推送土豆，撤手后土豆仍横在炉前口沿；视频 20.6–21.2 s 及视频 25.6–25.8 s 再次露出炉口时，仍见土豆在前沿外侧，未见恢复入腔。随后炉门与机器人头部遮住该位置，结合后续只有关门动作，最终按未入腔判断；最终中心位置不是直接数值观测。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手拇指与其余手指夹住土豆，两次抬起并送向炉口；松手后又用右手掌指从后方推送土豆（视频 12.0–16.5 s）。左手在搬运时抬起或改变姿态，未见同时夹持土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，炉门向左外摆，内腔完全敞开，关闭条件初始不成立。" + }, + { + "t": 18.4, + "log_step": null, + "text_zh": "观察：视频 17.8–19.0 s，机器人左手把门板推向炉体，但门仍斜向外摆；视频 19.6–20.4 s，机器人换右手接近门缘时，门又明显打开。其后机器人反复用右手推动门板，未见门板贴合前框的时刻。" + }, + { + "t": 30.3, + "log_step": 236, + "text_zh": "观察：视频 26.2–30.3 s，门板仍斜向机器人一侧，顶部与炉体前框留有可见开口，视频 29.3–30.3 s 的逐帧检查未见贴合。成功参考视频 11.6 s 的门板已合回前框，本次末态与之不同；log step 236 中 agent 也自述仍有缝隙，但节点值依据本次视频判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人先用左手推动敞开的微波炉门，再由右手掌指多次推动门缘或门面；两手先后接替，未见抓住把手后持续夹持带门。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 11.7, + "log_step": 112, + "where": "操作中", + "evidence_zh": "推断：视频 9.6–11.6 s 的第二次持物送入修复了第一次松手后的退回，但视频 11.7–11.9 s，机器人松指并变换右手姿态后，土豆再次落到炉前口沿外侧；视频 12.0–16.5 s 的后续推送未把它留在内腔，随后机器人转去关门。因此最早未再修复的是土豆入微波炉这一步，锚点取第二次退出约视频 11.7 s。log step 112 为第二次松指命令，未用其 agent 时间定位视频。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 11.7, + "log_step": 112, + "evidence_zh": "观察：视频 11.4–11.6 s，土豆还在右手前端的炉口内侧；视频 11.7–11.9 s，机器人张开的右手变换姿态，土豆向外落到炉前台面，没有留在炉内。log step 112 下达逐渐张开手指的命令；log step 118 中 agent 自述土豆又落在前唇外，与视频结果一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机器人正确地尝试先送土豆再关门，但放置动作缺少可实现的前伸、下放余量：log step 105 给右手的基座系目标为前向 0.85 m、高度 0.05 m，log step 107 的实际末端世界位置为 (2.8490, -1.6535, 1.1594) m，按任务提供的基座变换对应前向约 0.5215 m、高度约 0.1894 m，明显没有达到所要求的深入和降低。视频 10.0–11.6 s 也见手持土豆停在炉口上部，松指后土豆回到炉前。证据支持放置与释放动作的控制不足，尚不足以区分逆解、跟踪及具体接触几何的贡献，故停在控制大类。" + } + ], + "gap_zh": "本次与成功参考均无状态日志；仅有机器人背后俯视回放，头部和手遮挡土豆的部分运动，中心跨越内腔边界的两段时间为约 0.5 s 精度的视觉推断。视频 26.2 s 以后门板进一步遮住土豆，最终未入腔依赖其最后可见位置及连续动作推断，不能直接核验中心坐标；微波炉开度数值也未报告，但末尾可见外摆足以判断门未关严。现有证据不能把控制根因细分。" + }, + "summary_zh": "机器人右手两次夹起土豆并短暂送入内腔，随后松指时土豆又落回炉前，后续推送未恢复入腔；最终按两个目标均未保持成立标注。断点为土豆入微波炉步骤，表现为释放后未留在炉内，日志中的前伸、下放目标与实际末端位置明显不符，支持控制不足；机器人后来反复推动炉门，末尾仍有明显开口。缺少状态日志，土豆入腔边界与最后遮挡下的位置为视觉推断，门的精确开度未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（两节点终值、两段入腔区间、断点 potato_in_microwave、控制根因停在大类）与帧和日志基本一致，我未能推翻。唯一需改：第一段退出的证据写成“视频 7.8–8.5 s 土豆重新出现在前沿外侧”，但这些帧里看不到土豆，该句应降为推断（依据 agent 日志 step 90 对释放后位置的自述与 9.0 s 后重新可见）。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮：两节点终值、两段入腔区间、断点 potato_in_microwave 与控制根因与帧、日志一致，未发现需改内容；第一轮的证据措辞已改为推断。画面分辨率低，土豆入腔边界为视觉推断，已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:03:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--3mgzpdm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "25a6527223e156fc2120501dd9930062c6138b4a5ce2b8293563131300d230ed", + "video_sha256": "2efce56c049341583395be6888df261f435b0303b589b63b3678b1e98b6867ac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn.json new file mode 100644 index 0000000000000000000000000000000000000000..930bf0d47407f0d2725a4beb28dfe4e785abf8c7 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn.json @@ -0,0 +1,225 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 13209, + "sim_steps": 13209, + "calls": 288, + "elapsed_s": 3595.5, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.313, + "peak_processes": 10, + "peak_disk_gb": 1.053, + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn/replay.mp4", + "duration_s": 30.2, + "fps": 10.0, + "frames": 302, + "sha256": "df76a9656984ddc71764256fb3009344c92b0fddc0e6508ce1aa9902c71b0ffc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉内腔敞开，椭圆土豆在炉前台面，尚未入炉。" + }, + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 4.0–4.6 s 机器人右臂在炉外台面扫动，棕色椭圆土豆出现在右前臂下方、靠机器人一侧的台面；没有随手抬起并送入内腔。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频 8.8–10.4 s、13.4–20.6 s 机器人反复摆动右手和前臂时，土豆仍在机器人右前侧的炉外台面；视频 26.5–30.1 s 仍能在躯干右侧或下缘看见同一土豆，没有恢复入炉。" + }, + { + "t": 30.1, + "log_step": null, + "text_zh": "推断：逐帧检查视频 0.0–30.1 s，未见土豆中心越过炉口进入内腔的过程，末段其本体明确仍在炉外，故本节点始终未达成；不是由评分器 success=0 单独推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 4.0–4.6 s 及后续右臂扫动过程中，机器人以右手/右前臂在台面拨动土豆，土豆留在机器人右前侧；未见手指对向夹持或持物抬起。接触点部分被前臂和躯干遮住，无法细分到具体手指。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 7.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门外摆，内腔可见；视频 1.0–5.3 s 门板被机器人手臂带动至半合位置，视频 5.4–6.6 s 内腔又明显敞开，均未贴合前框。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 6.7–7.9 s 机器人左手在门板内侧附近横向作用，门板由斜伸在炉前的位置逐渐合回；约视频 7.8 s 起深色门面遮住内腔，右侧门缘贴近控制面板旁的前框。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "推断：视频 7.8–30.1 s 门板维持合回前口的外观；视频 17.5 s 手臂让开时的门面和门缘，与成功参考视频 11.6 s 的合门外观一致，因此视觉判为已关门，起点约有 0.3 s 不确定性；没有开度数值可独立验证 0.005 阈值。" + }, + { + "t": 30.1, + "log_step": 173, + "text_zh": "观察：视频 29.1–30.1 s 未见门板重新外摆。agent 在 log step 173 自述关门扫动未完成，但未提供炉门开度读数；本节点按已检查的连续画面和成功参考外观判断，不用该自述否定视频所见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 5.4–7.9 s 机器人左手在门内侧及门缘附近扫推，门板随之转动并合回前框；没有看见包住把手的对向抓握。右手主要在炉外移动，未见双手同时夹持门板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 4.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 4.0–4.6 s 机器人右臂在土豆附近扫动，土豆却留在炉外、机器人右前侧台面；视频 8.8–20.6 s 的反复调整及视频 29.1–30.1 s 的末态都没有将它送入炉内。该放入步骤从未修复，后续合门不修复土豆入炉。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.4, + "log_step": null, + "evidence_zh": "观察：视频 4.0–4.6 s、8.8–10.4 s 机器人右手和前臂在炉外摆动，土豆停留在右前侧台面而非沿炉口进入内腔；视频 17.5–20.6 s 手臂让开后仍可见土豆在原炉外区域。推断：操作未将土豆带到所需入炉位置；未观察到成功持物后滑落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：agent 在 log step 135 执行向炉内推送的脚本，回读接近后的末端位置为 [0.423,-0.103,0.268]，目标为 [0.20,-0.17,0.045]，推送后末端仍为 [0.432,-0.209,0.266]，未降到所需台面高度；log step 148 的连续下降命令中，目标高度降到 0.00，实际末端高度仍约 0.363，肩关节读数反复接近 -3.00。log step 142 的 goto 实现还把工作臂的 start 位姿写给非工作臂，而不是保留非工作臂自己的目标。推断：该脚本的双臂目标构造及实际位姿跟踪未能实现台面推送，是土豆未入炉的控制层原因；现有证据不足以把所有偏差进一步唯一归为逆解器、接触设计或某一个参数。" + } + ], + "gap_zh": "无状态日志，唯一视频为 320×240 的背后俯视画面，部分手与土豆的接触点被头部、前臂和躯干遮挡；可见炉门合回的语义外观，但无法数值核验归一化开度是否恰好不大于 0.005。评分器未报告 microwave_open_fraction，日志中的控制步计数对应的仿真总时长与视频时长不一致，未将日志或 agent 时间换算为视频时间。" + }, + "summary_zh": "机器人尝试用手臂沿台面推送土豆，但土豆始终未进入微波炉，末段仍在机器人右前侧的炉外台面；炉门约在视频 7.8 s 合回前框并保持到末尾，视觉终态为 1/2。断点为土豆入微波炉，现象是位姿不准，日志中的末端跟踪偏差和脚本双臂目标构造问题支持控制层归因。无状态日志，具体手指接触及炉门 0.005 的微小开度阈值无法数值核验；agent 的关门失败自述与所见合门外观不同，节点按视频判断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "逐帧核对后，土豆全程在炉外台面（视频 26–30 s 仍在躯干右下方台面），炉门约 7.8 s 合回并保持到末尾，节点值、时间、接触（推/扫）与断点均有视频支持；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:32:24Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--9piggdn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9db31551aec2a3d814040d115f5b94242e90da20b32729bed0788efcca5e5044", + "video_sha256": "df76a9656984ddc71764256fb3009344c92b0fddc0e6508ce1aa9902c71b0ffc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup.json new file mode 100644 index 0000000000000000000000000000000000000000..39cb437745d5c6da4ec134690855b7c53fee4be9 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "initial_success": 0, + "finalized": 1, + "control_steps": 2939, + "n_actions": 2939, + "sim_steps": 2939, + "calls": 128, + "elapsed_s": 3314.6, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 6.262, + "peak_processes": 8, + "peak_disk_gb": 1.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup/replay.mp4", + "duration_s": 32.8, + "fps": 10.0, + "frames": 328, + "sha256": "61cf5dcd0863a9b2034443cbd57e62d36695b948cab47acc6fd474557df27ea4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 10.6–12.1 s，机器人右手在炉口前方屈指、抬起再张开撤回；视频 11.7–11.8 s 可见棕色土豆仍在炉口前方，未见其中心进入灰色内腔。右前臂遮挡了部分抓取过程，不能仅据此确认曾稳定持有。" + }, + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频 15.5–18.5 s，机器人右手反复下探、屈指及拨动，土豆逐渐移至微波炉右侧台面；视频 18.5–26.0 s 后续扫动和抓取尝试也未将它送入炉腔。" + }, + { + "t": 32.7, + "log_step": null, + "text_zh": "观察：视频 31.8–32.7 s 逐帧检查，土豆一直躺在微波炉右侧台面，和内腔明显分离。" + }, + { + "t": null, + "log_step": 204, + "text_zh": "观察：log step 204 中 agent 最终承认土豆未进入炉腔并停止提交；run.json 的评分器字段 graded_by_live=1、live_success=0、sim_error=0，评分对象是这次现场执行的最后状态，而非记录脚本的另一次回放。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 16.3–18.5 s 及其后的尝试中，机器人右手指掌拨动土豆，使其向微波炉右侧移动。早期屈指抓取的对向夹持区域被右前臂遮挡，未据 agent 自述另记抓握。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉门已向外打开；视频 0.0–28.0 s 炉口持续敞开。" + }, + { + "t": 30.5, + "log_step": null, + "text_zh": "观察：视频 29.0–30.5 s，机器人左手从炉门左侧作用于门板，门向炉口旋转，但仍斜伸在机器人前方，炉腔上部仍外露。" + }, + { + "t": 32.7, + "log_step": null, + "text_zh": "观察：视频 31.8–32.7 s 门板仍明显外摆，未贴合前框；相比 inputs/oracle/replay.mp4 的参考视频 11.0 s 门板覆盖炉口的状态，本次终态仍有明显开口。" + }, + { + "t": null, + "log_step": 204, + "text_zh": "观察：log step 204 中 agent 自述左手只把门推至约 20–30 度，并选择以继续压门的状态停止；此角度是 agent 的估计，评分器未报告归一化开度数值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 29.0–32.7 s，机器人左手指掌推微波炉门板，使门向炉口合拢；没有可确认的门把手抓握。此前右手也曾朝门区域移动，但未见它有效带动门板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 16.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 16.3–16.7 s，机器人右手操作后土豆出现在炉口右侧台面，视频 18.5–26.0 s 的后续抓取、拨动仍未把它送入内腔，视频 32.7 s 仍在炉外。土豆放入这一步始终没有完成；之后左手关门也未完全合上。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 16.5, + "log_step": null, + "evidence_zh": "观察：视频 15.5–18.5 s，机器人右手多次在土豆附近下探并拨动，物体沿台面偏向微波炉右侧，没有沿炉口进入内腔；视频 20.0–26.0 s 右手继续尝试后，土豆仍在右侧炉外。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 15.5–18.5 s 及视频 20.0–26.0 s 显示机器人右手反复接近并拨动同一土豆，接触和搬运执行未使物体向炉腔内运动，反而将其拨向右侧台面。log step 110、131、138 的脚本与叙述持续以抓起并送入炉腔或居中后推入为目标；结合画面，支持操作控制失败。现有证据不足以进一步区分接触几何、逆解跟踪或反馈控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，视频只有背后俯视视角；头部和右前臂遮挡早期部分抓取接触。agent 在 log step 116、204 声称曾抓住并在搬运中滑落，但画面不足以独立确认完整持有及脱手过程，故不据此标注抓握或没保持住；土豆中心是否曾在遮挡瞬间越界也无法数值核验，按可见的连续炉外位置与后续运动判定未达。评分器未提供 microwave_open_fraction 数值，原生指标保留 null；末帧明显外摆足以判定关门未达。视频锚点直接来自抽帧，未把 agent 工作时间或控制步数换算为视频时间。" + }, + "summary_zh": "机器人反复用右手尝试抓取和推送土豆，但土豆最终被拨到微波炉右侧台面，土豆入微波炉节点未达；随后左手只把炉门部分推回，关门节点也未达，最终为 0/2。断点为土豆放入过程中的位姿不准，证据支持控制失败；早期抓取被前臂遮挡，未将 agent 自述的抓住及滑落当作已核实事实，门开度亦无数值记录。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达、0/2、断点在土豆放入、位姿不准加控制根因，均与抽帧所见一致；画面分辨率低，未发现可证明的错误。", + "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": "2026-10-30T02:22:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--fgt9pup/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f7eade7f55d09061587f68a39a148484fc333417a19141dfd4968aa6c80c7f4b", + "video_sha256": "61cf5dcd0863a9b2034443cbd57e62d36695b948cab47acc6fd474557df27ea4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx.json new file mode 100644 index 0000000000000000000000000000000000000000..c2eea09c523457b59023a0a709a240855f33ae88 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 744, + "sim_steps": 744, + "calls": 39, + "elapsed_s": 3594.2, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.432, + "peak_processes": 9, + "peak_disk_gb": 0.42, + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx/replay.mp4", + "duration_s": 37.3, + "fps": 10.0, + "frames": 373, + "sha256": "0d8558399845bd24353b027f9fe804392ee505f4a8e54283068dda253e879163" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [ + [ + 15.8, + 18.3 + ], + [ + 19.7, + 21.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门已打开，土豆在炉前台面；视频 13.5–15.4 s 右手夹着土豆上抬并前送，土豆随手离开原位置。" + }, + { + "t": 16.4, + "log_step": null, + "text_zh": "推断：视频 15.8–18.2 s 右手下方可见的土豆本体进入炉前框后方，视频 17.4–18.0 s 尤其清楚，按允许持物、只需中心入腔的判据暂记成立；视频 18.4–19.2 s 右手带土豆向外退到门槛前，关系失去。越界锚点约有 0.5 s 误差。" + }, + { + "t": 20.2, + "log_step": null, + "text_zh": "推断：视频 19.8–21.4 s 右手再次把土豆前送入炉口后方；视频 21.6–22.8 s 持物手向外、向下退，土豆回到门槛前，第二段入腔关系失去。已检查视频 18.2–19.8 s 的回撤再前伸过程，两段之间土豆确实随手退出，并非仅松手遮挡变化。" + }, + { + "t": 24.5, + "log_step": 99, + "text_zh": "观察：视频 23.0–24.5 s 右手张开并撤回，土豆留在门槛外的台面；视频 26.0–30.6 s、视频 33.6–35.0 s 后续推送撤手后，土豆仍在炉口前，未出现参考成功视频 8.5 s 所见的土豆落在炉内底板上的状态。" + }, + { + "t": 37.2, + "log_step": null, + "text_zh": "推断：视频 35.0 s 仍可见土豆在门槛前，视频 36.2–37.2 s 机器人手臂和部分转动的门遮住它，未见再次将土豆带入内腔的动作，故终态为假；该结论来自连续画面，不由总分为零单独推出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 13.5–23.0 s 机器人右手的拇指与其余手指合拢包夹土豆，抬起并反复向炉口搬送，随后张手释放。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 27.0–30.0 s、视频 31.6–33.8 s 机器人右手张开的手指从土豆后侧前推，土豆只在门槛附近移动；没有双手同时夹持土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门向机器人左侧敞开；视频 0.0–35.0 s 炉前口始终敞露，门没有贴合前框。" + }, + { + "t": 36.6, + "log_step": 130, + "text_zh": "观察：视频 35.2–36.8 s 机器人左手向门板方向扫推，门板转向炉体但只到斜置位置；视频 37.0–37.2 s 门仍明显外摆、炉腔右侧仍敞露，未达到门板贴框的关门状态。参考成功视频 11.0 s 门板横向覆盖整个炉口，与本次末态明显不同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 35.2–36.8 s 机器人左手在敞开的门板一侧向右前方扫推，门板随之向炉体转动；没有看见抓住把手或门缘的包夹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 21.5, + "log_step": 99, + "where": "操作中", + "evidence_zh": "观察：视频 21.4–24.5 s 机器人右手把土豆从炉口向外、向下带回，随后张手撤回，土豆最终留在门槛外台面；视频 27.0–35.0 s 继续前推后仍可见土豆在炉前。推断：暂时入腔后最后一次退出未被后续推送修复，故首个最终未修复的步骤是土豆入微波炉；末尾门未合上是其后的另一项未完成状态。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 23.5, + "log_step": 99, + "evidence_zh": "观察：视频 22.8–24.5 s 右手张开放下土豆并撤回时，土豆仍在炉口门槛前，未放到炉内底板；视频 30.6 s 和视频 34.0 s 推送撤手后仍可见相同的炉外位置。推断：这是释放及推送位置没有到内腔，不能归为目标内松手后的放后不稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 95 中 agent 脚本汇总的实际末端位置显示，前送目标 x=0.550 时实际 x=0.454，另一次目标 x=0.540 时实际 x=0.440；log step 116 中脚本读取的前推轨迹在前伸后又向外回撤。视频 16.0–24.5 s 也显示机器人反复前伸、回退，最后在炉外释放。推断：末端运动未充分实现前送要求且撤回释放位置过靠外，导致土豆不能留在内腔；现有证据不足以细分逆解、接触受阻或反馈跟踪问题，保留控制总类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志；低分辨率的背后俯视画面中，手和头遮住部分土豆，持物时中心越过内腔边界的两段区间为连续画面推断，边界约有 0.5 s 误差，无法数值核验。评分器未报告 microwave_open_fraction 的具体值，但末帧门明显未闭合；无法从现有证据确定末端前伸不足的具体控制子原因。日志中 agent 自算的像素/深度统计仅作辅助，未将其位置均值直接当成物体中心或节点真值。", + "unmet": { + "potato_in_microwave": false, + "microwave_closed": false + } + }, + "summary_zh": "机器人用右手夹起土豆并反复向微波炉前送，按连续画面判断持物期间曾两次短暂入腔，但随后带回炉外并释放，后续推送未能修复，最终两个节点均为假。断点为土豆入微波炉，现象是放入位置不准，日志中的末端前伸偏差支持控制层面的归因；最后左手只把门推到斜置位置。无状态日志，土豆中心越界的短暂区间和精确时间存在视觉推断误差，门的数值开度未报告。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "逐帧复核未发现能推翻标签的证据：两个节点终态为假，门末帧明显未合，断点在土豆入微波炉，位姿不准与控制总类均有视频与日志支撑。两段入腔区间来自低分辨率背后俯视画面中被手和头遮挡的推断，我也无法证实或否定，label 已如实标为推断并在 gap_zh 说明误差。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:27:33Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--fpawwzx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "428c03d8d713758b44ac22563f266fe9a375e348d114bbcc9a20115fd8bdec9e", + "video_sha256": "0d8558399845bd24353b027f9fe804392ee505f4a8e54283068dda253e879163", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx.json new file mode 100644 index 0000000000000000000000000000000000000000..8e82ce646556b63ae648a1a448f4b51e5ad7bec4 --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "initial_success": 0, + "finalized": 1, + "control_steps": 1622, + "n_actions": 1622, + "sim_steps": 1622, + "calls": 59, + "elapsed_s": 1535.3, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.527, + "peak_processes": 9, + "peak_disk_gb": 0.266, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx/replay.mp4", + "duration_s": 32.6, + "fps": 10.0, + "frames": 326, + "sha256": "56d1fbf1a032bcd095cd9d0199b6ecfee92e8d1e94bb50326c9efbf32e92f261" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "potato_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s，椭圆土豆位于机器人右手下方的炉前台面；视频 2.2–3.3 s，右手收指后向上抬起，土豆仍留在台面上，没有随手升起。" + }, + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 4.2–6.2 s，右手再次张合、下探和回抬，土豆仍在手下方，并向机器人近身侧移动；视频 6.5–8.9 s，土豆逐渐被右臂和躯干遮挡，右手抬向炉口时未见携带土豆。" + }, + { + "t": 23.0, + "log_step": null, + "text_zh": "观察：视频 9.0–13.5 s 及视频 20.5–23.0 s，机器人右手先后伸向炉口再撤回，露出的内腔未出现可辨认的土豆；未观察到土豆从炉外随手移入内腔的连续过程。" + }, + { + "t": 32.5, + "log_step": null, + "text_zh": "推断：结合视频中多次空手抬起、送入和撤回的过程，以及视频 30.0–32.5 s 炉门合拢后评分器现场结果 live_success=0（sim_error=0、infra_error=0），土豆入炉终态不成立；遮挡期间的物体精确位置无法恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.7–6.2 s，机器人右手手指在土豆周围开合，指面碰拨台面上的土豆，使其向机器人侧移动；没有看见对向夹持后提起，实际可确认的是推拨接触。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 30.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门向外打开，内腔可见；视频 0.0–29.5 s 的抽查及视频 28.8–29.5 s 逐帧检查中，炉口仍敞开。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 29.6–30.0 s，门板绕铰链合回前框，深色门面遮住原先可见的内腔；视频 30.0–32.5 s 持续保持合拢，最后一秒逐帧检查未再打开。" + }, + { + "t": 32.5, + "log_step": null, + "text_zh": "推断：本次视频 32.5 s 门板贴近前框的外观，与成功参考视频 11.6 s 的闭门外观一致，按视觉判为关门成立，起点约为视频 30.0 s；没有门开度数值，无法直接测量 0.005 的阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 29.0–30.0 s，机器人右手在炉门把手侧推抵门缘，门板随后合回炉体；手部没有可确认的对向夹持。左手的接触点被头部遮挡，不能确认两手同时接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "potato_in_microwave", + "t": 2.5, + "log_step": 75, + "where": "操作中", + "evidence_zh": "观察：视频 2.2–3.3 s，机器人执行抓取后的抬手动作，但土豆仍在炉前台面，没有被提起；后续视频 4.2–8.9 s 的重试也未见建立可携物的抓取。log step 75 的脚本提交抓取、收指、抬升动作；后续机器人虽尝试送入并关门，土豆入炉这一步始终没有完成。" + }, + "unmet": { + "potato_in_microwave": false, + "microwave_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.5, + "log_step": 75, + "evidence_zh": "观察：视频 2.2–3.3 s，机器人右手收拢并抬起时，土豆仍留在下方台面；视频 4.2–6.2 s 再次开合手指后仍未将土豆带起。这里缺少的是可提起、搬运土豆的有效抓取接触，已有的指面碰拨没有形成这一抓取。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.5, + "log_step": 83, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 2.2–6.2 s，机器人右手反复在土豆上方收指、抬手，未形成携物抓取，表明抓取执行没有把手指置于有效夹持位置。log step 83 的 agent 自行点云测量也显示手部标记高于其估计的土豆位置，log step 86、92 随后继续下探重试；这些估计只作辅助。没有足够证据区分接触几何设计与末端轨迹执行问题，根因保留控制大类。" + }, + { + "cat": "认知", + "item": "误以为完成", + "t": null, + "log_step": 185, + "source_zh": "agent 自述 / 日志 / 视频", + "evidence_zh": "推断：agent 在 log step 185 自述视觉和点云已确认土豆中心位于炉内，并称停止控制以保留成功终态；log step 184 的预算记录仍有约 2000 s。该完成信念与视频 2.2–8.9 s 的空抓及后续未见携物入炉的过程、评分器 live_success=0 不符，促使 agent 停止继续修复土豆入炉步骤。" + } + ], + "gap_zh": "视频中土豆在视频 6.5 s 后多次被机器人右臂和躯干遮挡，无法精确跟踪其后全部位置及细小接触。输入没有状态日志，也没有评分器的土豆中心或门开度分项数值；闭门按本次视频 30.0–32.5 s 与成功参考视频 11.6 s 的外观判断，不能数值核验 0.005 门缝阈值，节点起点有约 0.5 s 的视觉误差。控制根因不能进一步区分接触设计与轨迹执行。" + }, + "summary_zh": "机器人多次尝试抓取土豆，但视频中抬手后土豆仍留在炉外，土豆入微波炉未达成；炉门约在视频 30.0 s 合拢，最终为 1/2 个节点成立。断点是土豆入炉时未建立有效抓取，抓取控制失败后，agent 又因误以为完成而停止修复。土豆后期被身体遮挡且无状态日志，闭门阈值只能依据本次视频末态与成功参考的外观推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与可见证据基本一致：视频 2–6 s 右手空抓、土豆留在台面，炉门约视频 30 s 合拢，评分器 live_success=0，故土豆入炉记 false、闭门记 true 是合理推断；断点、现象（没建立接触）和根因（控制 + 误以为完成）均有日志与画面支撑。遗留不确定性已在 gap_zh 中如实说明（视频 8 s 后土豆被遮挡，无法逐帧排除“土豆已入炉而门开度略大于 0.005”），不要求修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:24:33Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--jwmledx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b626bf3b10d7ea1aa4b6ae3f4623a464f909d56ab6900806f75c21f98a554fc0", + "video_sha256": "56d1fbf1a032bcd095cd9d0199b6ecfee92e8d1e94bb50326c9efbf32e92f261", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm.json b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm.json new file mode 100644 index 0000000000000000000000000000000000000000..d41c64453462b90ee741c0feb43e17da6f2c6b1b --- /dev/null +++ b/phase2/robocasa-gr1/potato_to_microwave_close/trajectories/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm", + "taskKey": "robocasa-gr1/potato_to_microwave_close", + "dag_sha256": "8f4510f6103904f5b2a5d98bcd40aa183defdad91caf7105c7e79117467a1212", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "initial_success": 0, + "finalized": 1, + "control_steps": 1217, + "n_actions": 1217, + "sim_steps": 1217, + "calls": 58, + "elapsed_s": 3112.4, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.39, + "peak_processes": 8, + "peak_disk_gb": 0.334, + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm/replay.mp4", + "duration_s": 30.6, + "fps": 10.0, + "frames": 306, + "sha256": "5b94897bdca921d4b166a26b05234cfd2189b4893f702cea6ade699ee37b8c55" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "potato_in_microwave": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0.0 s 土豆在炉前台面；视频 2.4–3.2 s 机器人右手合拢包住土豆并将其抬起。视频 4.4–8.0 s 右手张开撤回后，土豆仍在炉口外侧的台面／前沿，不能据第一次搬运动作记入腔。" + }, + { + "t": 22.5, + "log_step": 56, + "text_zh": "观察：视频 15.0–23.5 s 机器人右手多次向炉口方向推送；目标所在的炉口左部与内腔左部持续受机器人头部及右手遮挡，视频 24.0–30.5 s 也没有可辨认的土豆中心到达内腔的画面。log step 56 中 agent 自编颜色分割与点云脚本输出 cavity brown 簇及 cav_ok True，这是 agent 的视觉处理结果，不是评分器逐节点状态；仅凭它不能确认土豆已入腔。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.4–3.2 s 机器人右手手指包住土豆并抬起，随后张手；不把后段握拳运动当成再次抓牢土豆。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.0–8.0 s 机器人右手在炉口外拨动土豆，后续多次向炉口扫推；后段头部遮挡目标，不能逐次确认每一次扫动是否碰到土豆。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉门已外摆，灰色内腔及前框可见；本节点不从初态成立。" + }, + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 24.0–25.8 s 机器人右手在炉口附近运动，视频 26.0–28.5 s 左手从门的铰链一侧附近向后撤，视频 29.0–30.5 s 右手升到炉口上沿再抬高；这些动作后内腔仍敞露，未见门板合到前框。" + }, + { + "t": 30.5, + "log_step": null, + "text_zh": "观察：已检查视频 29.0–30.5 s 的每一帧，末帧仍能看到灰色内腔与下沿；成功参考视频 11.6 s 则由深灰门板遮住该开口。当前轨迹未呈现关门的可见判据，不能将敞露的内腔当作已关的门板。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 24.0–30.5 s 机器人右手、左手先后尝试关门，未见两手同时夹持门板；左侧门板及手与门的接触点被头部遮挡，右手主要出现在炉口及上沿附近，无法确认实际是否触门、以及触门的方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "microwave_open_fraction", + "value": null, + "unit": "1", + "threshold": 0.005, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "microwave_closed", + "t": 25.0, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频 24.0–25.8 s 机器人已在炉口附近执行关门方向的动作，但门没有合回前框，后续换左手及右手补动作直到视频 30.5 s 也未修复。log step 56、61 的脚本分别记录右手关门与换左手扫门、右手补压的意图。推断：关门是可直接确认、最终仍未完成的步骤；更早的土豆放入是否后来修复，因遮挡不能确定。" + }, + "unmet": { + "potato_in_microwave": null, + "microwave_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 29.5, + "log_step": 61, + "evidence_zh": "观察：视频 26.0–28.5 s 机器人左手在头部左侧运动后撤回；视频 29.2–30.5 s 右手到炉口上方后向上抬起，门板仍未覆盖敞露的炉腔。推断：关门动作的手部落点／运动没有形成所需的门板合拢结果；接触点被遮挡，不能进一步断定是完全未触门还是触门后未有效推动。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "source_zh": "日志", + "evidence_zh": "观察：log step 61 中 agent 的自编脚本以炉腔棕色像素减少（cavity brown 2）辅助判断关门；log step 67 声称灰色平面就是关闭的门，log step 70 明确宣称土豆在内、门已关，并因此停止提交。log step 68 的服务读数 time_left_s 为 658.1，run.json 的 wall_s 为 3093、time_limit_s 为 3600；视频 30.5 s 却仍显示敞露的内腔。推断：错误的完成信念使 agent 在仍有预算时停止修正关门动作。" + } + ], + "gap_zh": "无状态日志，评分器仅报告整体 success=0，未报告土豆中心是否入腔或炉门归一化开度。视频只有背后俯视视角，后段土豆及炉腔左部受头部和手臂遮挡，无法确认推送后的到达位置或最初放入失败是否修复，因此土豆节点保留未知；关门的失败可直接观察，断点据此定位。手与外摆门板的实际接触方式也无法确认，故该节点 contact_actual 为未知；不据此细分控制或感知根因。视频时间均直接取帧，未把 agent 工作时间或 control_steps 换算成视频时间。" + }, + "summary_zh": "机器人右手曾抓起土豆，第一次送入后土豆仍在炉口外，随后反复扫推；后段到达位置被头部及手臂遮挡，土豆入腔保留未知。关门动作始终没有让门板遮住炉腔，视频 30.5 s 仍敞开；agent 却在 log step 67、70 判断任务完成并主动停止，根因为误以为完成。缺少状态日志和可核验的炉门开度，不能确定土豆放入的达成时刻或触门细节。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "微波炉门节点未达成、断点 microwave_closed、土豆节点 unknown 与根因「误以为完成」均有视频或日志支持；视频 30.5 s 内腔仍敞露，与 0 s 相比未见门板合上。未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:02:56Z", + "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/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa-gr1-potato-to-microwave-close-i00-standard--ko2z2nm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ee4af77c656c7eb67422025d09f26b5ab0d77f29f74fdf8409ce9c67013454b1", + "video_sha256": "5b94897bdca921d4b166a26b05234cfd2189b4893f702cea6ade699ee37b8c55", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--hde9pg4.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--hde9pg4.json new file mode 100644 index 0000000000000000000000000000000000000000..8f036f3c51e3335e75f29c3248c795e2438e871d --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--hde9pg4.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-privileged--hde9pg4", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 548, + "sim_steps": 1096, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 7.64, + "peak_processes": 11, + "peak_disk_gb": 0.311, + "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/vlabench-heat-food-i00-privileged--hde9pg4/replay.mp4", + "duration_s": 54.9, + "fps": 10.0, + "frames": 549, + "sha256": "ef503afb89e963fb052ccbbb10b72b7e7980ece48636bcdee6c41b6a558ecc58" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 16.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 10, + "text_zh": "观察：视频 0.0 s 黑色炉门收在微波炉机身后方；log step 10 初始场景读数为门关节角 0。" + }, + { + "t": 16.0, + "log_step": 23, + "text_zh": "观察：视频 13.8–14.6 s 夹爪从上方夹在黑色门板上沿；视频 15.4–18.2 s 门板随夹爪连续向侧方外摆，视频 16.0 s 已形成明显通道，随后继续打开。" + }, + { + "t": 16.0, + "log_step": 37, + "text_zh": "推断：开门事件取视频约 16.0 s（约有 0.5 s 不确定度）；随后视频 35.2–36.8 s 机械臂通过该通道送入熟食。log step 37 的交付生成脚本包含先拉把手、再夹门上沿的同一开门序列，log step 38 核对生成动作与已交付的 548 行动作完全一致；未将会话中其他开门测试记入本视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 13.8–18.2 s，Panda 二指夹爪跨在黑色炉门上沿夹住门板，带动其外摆；此前把手区域的操作被机身遮挡。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [ + [ + 35.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.8, + "log_step": null, + "text_zh": "观察：视频 28.0–28.8 s 夹爪在木托盘上的热狗形熟食两侧闭合；视频 29.2–30.8 s 熟食离开托盘并悬在夹爪下方，原位置空出；视频 31.2–33.2 s 夹爪携熟食转向微波炉。" + }, + { + "t": 35.5, + "log_step": 29, + "text_zh": "推断：视频 34.8–36.8 s 夹爪沿炉口方向前伸，结合 log step 29 的送入动作及送入后熟食位置（y≈0.400 m），估计熟食本体原点于视频约 35.5 s 进入容纳区，时刻约有 0.5–1 s 不确定度；炉体遮挡了原点越界瞬间，不能仅凭托盘空缺确定此时刻。" + }, + { + "t": 39.4, + "log_step": 29, + "text_zh": "观察：log step 29 在释放熟食、退出夹爪后输出原生容纳条件 True，熟食位置约为 [-0.185,0.429,0.915]，动作总数 394。log step 37 的交付脚本重现该放入段，log step 38 核对 548 行动作相同并重放成功；视频 38.0–40.0 s 夹爪退出而熟食未回到托盘。" + }, + { + "t": 54.8, + "log_step": 36, + "text_zh": "推断：评分器 success=1、deterministic=1，且 log step 36 对已保存交付文件独立重放得到 success=True；按本任务成功合取，熟食在视频 54.8 s 末帧仍满足炉内容纳关系。视频没有显示熟食掉出；炉内终态被机身遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 28.0–30.8 s，Panda 二指夹爪从两侧夹住热狗形熟食并将其提离木托盘；随后夹爪携熟食送向炉口。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 15.1 + ], + [ + 48.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 10, + "text_zh": "观察：视频 0.0 s 炉门处于收拢初态；log step 10 初始门角为 0。因此关闭状态从视频 0.0 s 成立，不受装入熟食的 after 边门控。" + }, + { + "t": 15.1, + "log_step": 23, + "text_zh": "推断：视频 14.8–15.4 s 炉门开始进一步外摆，约在视频 15.1 s 超过 18 度关闭容差。log step 23 的同一开门段从动作数 146 后继续沿圆弧拉门，输出门角约 0.307、0.454 rad，支持此处越过 pi/10；视频 16.0–47.8 s 的已检帧中门板持续外摆，未见中途回闭。" + }, + { + "t": 48.3, + "log_step": 34, + "text_zh": "推断：视频 44.0–49.2 s，机器人以闭合夹爪抵住门板外侧，门板被连续推回机身后方；关闭容差约在视频 48.3 s 恢复。log step 34 的交付关门段从控制步 444 开始，按脚本每六步打印门角，控制步 480 为 0.403 rad、486 为 0.223 rad，阈值 pi/10 在二者之间；控制步乘 0.1 s 映射为视频时间，已用视频 48.2–48.4 s 的回拢位置核对。" + }, + { + "t": 54.8, + "log_step": 35, + "text_zh": "观察：视频 50.0–54.8 s 门板保持收拢；log step 35 在末步成功时的门角约 3.42e-7 rad，评分器报告确定性成功。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 44.0–49.2 s，Panda 以闭合夹爪抵住黑色炉门外侧，沿门的转动方向推回；未见对门板重新形成两侧夹持。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": [ + [ + 54.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 54.8, + "log_step": null, + "text_zh": "观察：视频 53.8–54.8 s 机械臂末端在微波炉背后的控制面板区域缓慢前伸；按钮及直接接触点被炉体遮挡，画面本身不能证明按钮已触发。" + }, + { + "t": 54.8, + "log_step": 35, + "text_zh": "观察：log step 35 对交付轨迹最后一段逐步读取原生 is_activate，前十五次推进均为 False，最后一次推进变为 True，同时 success=True、done=True、control_steps=548，并立即保存轨迹。log step 36 独立重放该保存文件，仍在控制步 548 成功且最终状态哈希相同。" + }, + { + "t": 54.8, + "log_step": 38, + "text_zh": "推断：以每控制步 0.1 s、视频含初始帧及 548 个动作帧映射，控制步 548 对应视频 54.8 s；末帧与视频 53.8–54.7 s 的持续前伸已核对，关门段的控制步时钟也与视频 48.2–48.4 s 一致。log step 38 确认最终生成文件动作与已验证文件逐项相同，评分器亦报告 success=1、deterministic=1，因此终局按钮接触成立，未将早先靠近面板视为按下。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频 53.8–54.8 s 末端朝控制面板推进，结合 log step 35 已验证交付段的闭合手指动作及末步原生 is_activate=True，判断为 Panda 夹爪手指抵住启动按钮；直接接触点被炉体遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人完成开门、夹取并送入热狗形熟食、推门闭合及按启动按钮，终局四个节点均达成；评分器 success=1、deterministic=1，保存文件独立重放也在最后一个控制步成功。炉门关闭状态从视频 0.0 s 成立，在视频约 15.1 s 失去、约 48.3 s 恢复，启动按钮在视频 54.8 s 末步接触。无状态日志，炉腔与按钮接触点被机身遮挡，终局关系由已验证交付轨迹的原生检查和评分结果补充，入炉起点视频约 35.5 s 为估计值。", + "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，四个节点终局均达成；开门约16 s、关门状态15.1 s失去/48.3 s恢复、末步按钮的标注与视频帧及log一致，未发现需修改处。", + "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": "2026-10-30T03:14:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/vlabench-heat-food-i00-privileged--hde9pg4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/vlabench-heat-food-i00-privileged--hde9pg4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90f22e61bb7e09f133bec6e326350bd1cef73f8d5d8b5d45f4b3eb05eb208d23", + "video_sha256": "ef503afb89e963fb052ccbbb10b72b7e7980ece48636bcdee6c41b6a558ecc58", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--jy9va26.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--jy9va26.json new file mode 100644 index 0000000000000000000000000000000000000000..5d9b9ba9cf7df02a06beadc14ad3ecc8e047af24 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--jy9va26.json @@ -0,0 +1,194 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-privileged--jy9va26", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 1, + "sim_steps": 2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 6.278, + "peak_processes": 9, + "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/vlabench-heat-food-i00-privileged--jy9va26/replay.mp4", + "duration_s": 0.2, + "fps": 10.0, + "frames": 2, + "sha256": "4ae8ca3071c69334791f7020aa1e14928fe37ffa4d446447639611095fa4343e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.1, + "log_step": 13, + "text_zh": "观察：已检查本次视频全部两帧（视频 0.0、0.1 s），机器人夹爪均悬在机身上方，未见拉门动作或外摆门板；成功参考视频 15、20 s 可见的侧向外摆黑色门板在本次均未出现。log step 13 的脚本只将初始关节目标执行一步后保存占位轨迹。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.1, + "log_step": null, + "text_zh": "观察：本次视频 0.0、0.1 s 中，左侧木托盘上的热狗形熟食仍在原处，机器人夹爪为空且悬于微波炉上方；全片没有抓取、搬运或入炉过程。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：本次视频 0.0、0.1 s 的门板轮廓均与成功参考视频 0 s 的闭门初态一致，机身侧方没有伸出的黑色门板，全片无开门动作。" + }, + { + "t": 0.1, + "log_step": 13, + "text_zh": "推断：本次视频两帧均保持闭门初态，且 log step 13 保存的是维持初始关节目标的一步轨迹，故关门状态从视频 0 s 保持至结束；不受装入食物的 after 边门控。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.1, + "log_step": null, + "text_zh": "观察：本次视频 0.0、0.1 s 中，机器人二指夹爪均在微波炉上方，与机身及面板区域分离，没有向按钮伸出的动作。" + }, + { + "t": 0.1, + "log_step": null, + "text_zh": "推断：按钮本身虽被机身遮挡，但全片可见的夹爪始终远离机身，故没有建立所需的按钮接触，启动按钮状态不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 0.0, + "log_step": 13, + "where": "首步前", + "evidence_zh": "观察：本次视频 0.0、0.1 s 全部两帧中，机器人夹爪悬空、炉门未外摆，开门首步未启动。log step 13 的脚本执行 s.step(s.targets) 后立即保存初始一步占位轨迹并 reset；评分器记录 n_actions=1、sim_steps=2、deterministic=1，与该短视频相符。log step 27 另起的抓取与开门测试没有返回执行结果，不能计作评分轨迹中的开门。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 13, + "evidence_zh": "观察：本次视频 0.0、0.1 s 中机器人未接近或操作炉门，夹爪保持在机身上方；log step 13 保存的脚本仅保持初始目标一步，所交付轨迹未开始打开微波炉。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 没有状态日志；log step 13 的保存调用仅返回后台运行通知，log step 27 的开门测试也未返回结果，log step 28 最后自述仍在等待测试。推断：结合评分器的单动作记录与本次视频，可确认评分轨迹停留在初态，但无法确定为何未形成并保存有效开门动作；没有足够证据区分控制、规划或交付操作错误，根因留空，不从占位轨迹或运行时长反推根因。" + }, + "summary_zh": "评分轨迹仅维持初始关门状态，终局为 1/4；熟食仍在托盘上，开门、入炉及启动按钮接触均未达成。视频全部两帧（视频 0.0、0.1 s）显示机器人未开始操作，断点为打开微波炉的首步前，现象为没尝试。log step 13 保存初始一步占位轨迹，后续开门测试没有返回结果，无法据此确定根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅两帧，与标注一致：机器人未动、门闭合、熟食在托盘上；microwave_closed 自 0 起成立，final=1/4、断点首步前/没尝试、根因留空并给出 gap_zh，均有证据支持。未发现需要修改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:58:28Z", + "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/vlabench-heat-food-i00-privileged--jy9va26/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-privileged--jy9va26/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "13bc00e8c7243df05839f522f61553db55e44de359b0abe4ddc611ef39125c69", + "video_sha256": "4ae8ca3071c69334791f7020aa1e14928fe37ffa4d446447639611095fa4343e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--kixcddz.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--kixcddz.json new file mode 100644 index 0000000000000000000000000000000000000000..52e1ae04d3d443ff3d196d2192334cf2b85ac182 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--kixcddz.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-privileged--kixcddz", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 804, + "sim_steps": 1608, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-privileged--kixcddz/replay.mp4", + "duration_s": 80.5, + "fps": 10.0, + "frames": 805, + "sha256": "9e06725d372d5515a9a3bd909fd9d47fb7b4d8aa9c6d9178f2e80231b437aa37" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 9.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.0, + "log_step": 61, + "text_zh": "观察：视频 6.0–12.5 s，机器人夹爪牵引黑色炉门向画面右侧外摆；视频约 9.0 s 已形成明显装入通道，视频 12.5 s 后门板接近侧向展开。时刻按可见开度估计，约有 0.5 s 误差。" + }, + { + "t": 12.0, + "log_step": 61, + "text_zh": "观察：log step 61 的生成脚本先抓把手再沿开门轨迹移动，输出在 control_steps=121 时门角为 1.39330983 rad；视频 12.0–12.5 s 门板外摆与此一致。成功参考视频 20.0 s 呈现相同的外摆门板形态，仅用于识别开门线索。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 二指夹爪夹住炉门把手并牵引门板外摆；视频 6.0–12.5 s 门板随夹爪运动。把手附近部分被机身遮挡，结合交付脚本的抓把手动作判断夹持方式。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [ + [ + 75.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.5, + "log_step": 64, + "text_zh": "观察：视频 49.5–52.5 s，机器人二指夹爪夹着热狗从木托盘抬离，托盘原位置空出；视频 56.0–72.5 s 熟食随夹爪搬运，视频 73.5 s 后随夹爪下降到机身遮挡的炉口区域。此过程证明取起和搬运，不能单凭托盘空了证明入炉。" + }, + { + "t": 75.8, + "log_step": 66, + "text_zh": "推断：log step 63–64 生成并保存 758 动作前缀，逐步调用原生 contain 检查并在成立时停下；log step 65–66 重放此文件至 control_steps=758，明确输出 contains=True、熟食仍被握住。log step 75 从同一 758 动作前缀继续生成最终 804 动作文件，故该前缀属于交付。任务工具规定每控制步 0.1 s（log step 8 亦给出 control_dt=0.1），758×0.1=视频 75.8 s；已用视频约 50.5 s 开始抬食物和约 75.8 s 炉口停顿核对，804×0.1=80.4 s 也与末帧吻合。入炉时刻采用该控制步映射。" + }, + { + "t": 80.4, + "log_step": 78, + "text_zh": "观察：log step 75–76 的脚本保存 804 动作文件，松爪后输出 contains=True；log step 77–78 随即读取该已保存文件，重放结果为 control_steps=804、success=False，并再次明确打印熟食位置 [-0.24314026,0.25572646,0.91196617] 及 contain=True。评分器同样报告 n_actions=804、deterministic=1，视频 79.4–80.4 s 炉门仍开、夹爪停在炉口处，与该交付终点吻合。" + }, + { + "t": 77.0, + "log_step": 76, + "text_zh": "推断：视频 75.8–80.4 s 炉内熟食被机身遮挡；交付脚本在该段仅持物下降、向炉内推进和松爪，log step 76 的搬运位置连续、松爪前后 contain 均为 True，log step 78 重放确认终态仍在炉内，因而将原生容纳状态从视频 75.8 s 连续保持至终点；未用另几次会话试验的掉落替代交付过程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 二指夹爪夹持热狗靠近一端的位置，抬离木托盘并搬至炉口；视频 50.5–72.5 s 熟食可见随夹爪移动，随后入炉，最终松爪。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 7.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 10, + "text_zh": "观察：视频 0.0 s 炉门贴回机身后方；log step 10 的冻结初态检查给出门角 0、is_closed=True。关门状态从初态成立。" + }, + { + "t": 7.5, + "log_step": 61, + "text_zh": "推断：视频 7.0–8.0 s 门板逐渐侧向展开，约视频 7.5 s 超过闭合容差；门角阈值 18 度的精确越界无法由背面视角直接量出，时间约有 0.5 s 误差。视频 9.0–80.4 s 门板持续明显外摆，从未回拢，故状态失去后未恢复。" + }, + { + "t": 80.4, + "log_step": 79, + "text_zh": "观察：视频 79.4–80.4 s 黑色门板仍在机身右后方大幅伸出，机器人还在炉口处，没有返回把手执行关闭。成功参考视频 45.0–50.0 s 的回拢形态在本视频中未出现；log step 79 记录的关门发生在另一个超过 804 动作的续跑中，不是本次交付。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 10, + "text_zh": "观察：log step 10 的冻结初态检查输出 active=False；视频 0.0–12.5 s 机器人只抓把手开门，之后移向托盘取食物。" + }, + { + "t": 80.4, + "log_step": 75, + "text_zh": "推断：视频 40.0–80.4 s 机器人只取食物、搬到炉口并停下，没有向启动按钮所在控制面板执行按压动作。log step 63、75 可追溯的最终 804 动作脚本也只包含开门、取食物、入炉及松爪，没有 press；log step 82 的按键成功属于未保存的后续试验。按钮本身被炉体遮挡，结合冻结初态未激活、交付动作和可见末端路径判为未触发，而非由总分 0 单独推断。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_closed", + "t": null, + "log_step": 76, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–80.4 s 机器人完成开门、取食物并送入炉口，视频 79.4–80.4 s 门板仍完全外摆，机器人没有开始关门。log step 75–76 保存的 804 动作轨迹止于入炉松爪，log step 78 重放确认该终点；评分器 n_actions=804。因此断点为尚未启动的关门步骤，后续按键也未包含在交付中；没有可定位的关门失败运动时刻，t 留空。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 76, + "evidence_zh": "观察：视频 12.5–80.4 s 门板始终侧向敞开，机器人从开门转去托盘取食物，最后在炉口松爪；交付视频没有返回把手或推动门板关门的动作。log step 75 的保存脚本也在松爪后结束，关门步骤未在受评轨迹中启动。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 82, + "source_zh": "日志 / 评分器字段 / 视频", + "evidence_zh": "推断：agent 在 log step 75–76 保存 804 动作中间结果，log step 77–79 从该文件续跑并完成关门；log step 82 的续跑虽报告 success=True，却在 save_trajectory 时明确抛出 ValueError：允许 1..4000 动作，实际 4015，完整动作未能覆盖已保存文件。log step 83–85 又尝试修改按压调用，但现有输出中无完整成功保存确认；评分器最终仍报告 n_actions=804、deterministic=1，视频也停在入炉后门开状态。因此未将关门和按键动作交付进受评文件，有具体保存失败证据，不将会话中的成功算作本次成功。" + } + ], + "gap_zh": "炉腔、把手部分和启动按钮被机身遮挡，未提供状态日志；入炉时间及持续状态使用可追溯到最终 804 动作文件的原生容纳检查和控制步映射推断。关门容差越界时间约有 0.5 s 视觉误差；log step 85 的输出在输入记录中间已截断，不能确认最后一次续跑具体结果，但评分器的 804 动作数与视频终点足以确认本次交付内容。", + "unmet": { + "food_in_microwave": true, + "microwave_closed": false, + "start_button_pressed": false + } + }, + "summary_zh": "受评轨迹打开微波炉，并将热狗夹起送入炉内，最终完成 2/4 个节点；初态成立的关门状态在开门时失去，交付未包含重新关门和按启动按钮。断点为尚未启动的关门步骤，日志显示后续成功续跑因 4015 个动作超过 4000 上限而保存失败，评分实际使用先前 804 动作文件，支持交付操作出错。炉内与按钮被遮挡，入炉进度结合该交付文件的重放原生检查判断，未计入会话中另外的掉落或关门成功。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频、日志一致：开门、入炉由 758/804 动作交付文件的原生 contain 检查支持，关门与按钮未进入交付；log step 82 的 4015>4000 保存失败和评分器 n_actions=804 支持“交付操作出错”，断点与现象合理。", + "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": "2026-10-30T03:01:59Z", + "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/vlabench-heat-food-i00-privileged--kixcddz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-privileged--kixcddz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e5e6ef6d42554d0720ec6f25ead73a2cf425ec0d66d44b22f391824ee3281787", + "video_sha256": "9e06725d372d5515a9a3bd909fd9d47fb7b4d8aa9c6d9178f2e80231b437aa37", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--tatyba7.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--tatyba7.json new file mode 100644 index 0000000000000000000000000000000000000000..8442c76be3cb7179c4efa167f4ddd61d109cf515 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-privileged--tatyba7.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-privileged--tatyba7", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 1043, + "sim_steps": 2086, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 8.741, + "peak_processes": 14, + "peak_disk_gb": 0.998, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-privileged--tatyba7/replay.mp4", + "duration_s": 104.4, + "fps": 10.0, + "frames": 1044, + "sha256": "f47bc7f8a41ebfd6838370cda9bba619c96e85214d02a8ed3c5130f38209db81" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 16.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 13.5–20.0 s，机器人末端拉动黑色炉门，门板逐渐向机身侧方外摆；视频 16.0 s 已出现明显装入通道，视频 24.0–28.0 s 进一步打开，外观与成功参考视频 15.0–20.0 s 的开门过程一致。达到足够通道的时刻约为视频 16.0 s，存在约 1 s 的视觉估计误差。" + }, + { + "t": 28.0, + "log_step": 106, + "text_zh": "观察：log step 106 的交付生成日志报告 door open=1.304、278 个控制动作，并最终保存 1043 个动作；视频 28.0 s 同样显示炉门大幅外摆。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "推断：视频 13.5–28.0 s 炉门随 Panda 末端沿铰链方向外摆；结合 log step 90 的生成代码和 log step 106 的 hook set 输出，夹爪从把手后侧勾拉开门。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.5, + "log_step": 106, + "text_zh": "观察：视频 42.6–45.0 s 机器人夹爪降到机身遮挡区域；视频 48.5–53.0 s 末端重新露出并转腕时夹爪内无熟食，热狗形熟食仍可见于左侧托盘靠炉体的一侧。log step 106 报告本次 pick 的 stage_success=False，转腕前后熟食位置均为 [0.2961,-0.044,0.7957]。" + }, + { + "t": 55.0, + "log_step": null, + "text_zh": "观察：视频 54.6–55.6 s，托盘连同其上的物体发生明显平移和转动；此后热狗形熟食留在炉外、靠近托盘与炉体边缘，未见随夹爪送入炉腔。" + }, + { + "t": 104.3, + "log_step": 106, + "text_zh": "观察：视频 103.3–104.3 s 熟食仍在炉外边缘；log step 106 中与交付文件对应的生成结果报告 released 后 contained=False，最终保存 1043 个动作，与评分器 n_actions=1043 一致。熟食入炉未完成，判断不依赖总分为零。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 42.6–45.0 s 夹爪执行取食动作的接触点被炉体遮挡；视频 48.5–53.0 s 可见空夹爪及仍在托盘的熟食，无法确认曾否发生指腹与熟食的短暂接触。视频 54.6–55.6 s 托盘被带动，但具体接触点同样被遮挡。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 14.5 + ], + [ + 40.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门位于关闭位置；视频 13.5–16.0 s 开门时逐渐离开关闭位置，视频 14.5 s 左右越过闭门容差。门角阈值 18 度的越界时刻由门板外摆外观估计，约有 1 s 不确定性。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 35.0–41.5 s 机器人末端仍在门板附近，黑色门板持续回拢，视频 40.5 s 左右已接近初态关闭外观；视频 42.0–90.0 s 门板维持较小开缝，没有再次大幅外摆。回到 18 度容差内的时刻约为视频 40.5 s，约有 1 s 不确定性。" + }, + { + "t": 91.5, + "log_step": 106, + "text_zh": "观察：视频 90.5–92.0 s 机器人再次靠近炉门，门板进一步回拢；log step 106 报告该次交付生成的闭门阶段门角从 0.155 rad 降至 0.0412 rad，均小于 pi/10。视频 103.3–104.3 s 门仍接近关闭位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 35.0–41.5 s 机器人末端在门边移动时使门板回拢；视频 90.5–92.0 s 末端再次推向门板自由边，门板进一步关闭。" + } + ] + }, + "start_button_pressed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 104.3, + "log_step": 106, + "text_zh": "观察：视频 94.0–104.3 s 机器人末端伸到微波炉控制面板一侧，但按钮及夹爪触点始终被炉体遮挡；成功参考视频 54.0–54.8 s 也有相同遮挡。log step 106 只报告六次 press 的整任务 success=False，没有单独的 is_activate 或按钮接触结果；熟食未入炉也足以令整任务失败，故不能由该结果判定按钮是否触发。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 94.0–104.3 s 机器人执行按键方向的动作，但炉体遮住夹爪与按钮的接触点，不能确认是否真正按住启动按钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "food_in_microwave", + "t": 44.5, + "log_step": 106, + "where": "操作中", + "evidence_zh": "观察：视频 42.6–45.0 s 机器人尝试取左侧托盘上的熟食，视频 48.5–53.0 s 抬起并转腕的夹爪内没有熟食，熟食仍在托盘一侧；随后直至视频 104.3 s 都未完成入炉。log step 106 的本次交付生成日志也报告 pick=False 和 contained=False；开门已经完成，关门后来恢复，最早未修复的是熟食入炉步骤。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 44.5, + "log_step": 106, + "evidence_zh": "推断：视频 42.6–45.0 s 的取食动作之后，视频 48.5–53.0 s 可见空夹爪和仍在托盘侧的熟食；log step 106 报告该次 pick=False 且转腕过程中熟食位置不变，说明未建立能带走熟食的有效抓握。这里不指完全没有短暂碰触，也不采用最终自述的“转腕时掉落”作为视频事实。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 44.5, + "log_step": 106, + "evidence_zh": "推断：log step 104 的交付生成脚本明确调用 pick(cooked_food)，然后执行抬升与转腕；log step 106 显示该次 pick 返回 False，视频 48.5–53.0 s 也显示机器人空夹转腕、熟食仍在原处，失败集中在取食控制。接触点被遮挡，缺少本次抓握的指腹接触、力和跟踪误差，无法进一步区分接触设计、轨迹或反馈控制；log step 109、112 关于不对称抓握和掉落的自述不足以确定本次子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "取食接触点、炉腔内部和启动按钮被炉体遮挡，且没有状态日志。熟食留在炉外有前后画面及本次交付的 contained=False 支持，但按钮接触始终缺少独立原生检查，故该节点及其接触为未知。闭门阈值跨越时刻仅由门板外观估计，约有 1 s 误差；抓取失败的具体控制子类无法确定。agent 最终自述“转腕时掉落”（log step 112）与本次交付日志的 pick=False、熟食转腕前后位置不变及空夹画面不一致，未将会话中其他测试的掉落套入评分视频。" + }, + "summary_zh": "机器人打开微波炉，随后取食未建立有效抓握，熟食始终未进入炉腔；炉门回拢并在终局保持关闭，最终确定成立 2/4 个节点。断点为熟食入微波炉，现象为没建立接触，根因定位到控制，具体子类证据不足。启动按钮及取食接触点被炉体遮挡且无状态日志，按钮是否按住保留未知；最终汇报的转腕掉落未获本次画面支持。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（开门约16 s、关门丢失约14.5 s、恢复约40.5 s）与视频一致，断点为熟食入微波炉，没建立接触/控制（不分子类）证据受限但合理，按钮保持未知合理。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:37:29Z", + "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/vlabench-heat-food-i00-privileged--tatyba7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-privileged--tatyba7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "779d4b5d89dd77e3830a6a9dc72b52fb977bb029c049608b64fae35848e14a5b", + "video_sha256": "f47bc7f8a41ebfd6838370cda9bba619c96e85214d02a8ed3c5130f38209db81", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--b6fcqy4.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--b6fcqy4.json new file mode 100644 index 0000000000000000000000000000000000000000..38855ecbb83ea0df5aff88bb584a87a825796bc1 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--b6fcqy4.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--b6fcqy4", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 49, + "sim_steps": 49, + "calls": 19, + "rows": 48, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 175.6, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--b6fcqy4/replay.mp4", + "duration_s": 5.0, + "fps": 10.0, + "frames": 50, + "sha256": "f9012482a306e74ef20809911a6f95b5edad36a4a6d442b038924261810df200" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门处于初始关闭位置；逐帧检查视频 0.0–4.9 s，未出现黑色门板向机身侧方外摆形成通道的形态。成功参考视频 15.0–20.0 s 可见该外摆门板，仅用来核对可见形态。" + }, + { + "t": 4.4, + "log_step": 23, + "text_zh": "观察：视频 3.8–4.8 s 机械臂大幅摆动，末段扫动左侧托盘，没有抓住或勾住炉门的开门动作；log step 23 的执行脚本是在随机关节构型间采集运动学校准数据，未包含开门动作。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 0.0–4.3 s 左侧托盘边缘可见热狗形熟食，机械臂没有将其夹起；视频 4.4 s 托盘开始移位，视频 4.5 s 一枚红色食物出现在托盘左侧桌面，视频 4.6–4.9 s 托盘继续滑动，部分食物被机身遮挡。" + }, + { + "t": 4.9, + "log_step": null, + "text_zh": "推断：视频 0.0–4.9 s 炉门始终未打开，且没有携熟食进入炉口的过程；末段托盘受扰并不构成熟食入炉，故容纳关系未达成。该判断依据闭门及搬运过程缺失，不依据零分或 agent 自述。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 炉门回拢于机身后方；逐帧检查视频 0.0–4.9 s，包括视频 4.0–4.9 s 全部末段帧，未见黑色门板外摆或关闭形态改变。成功参考视频 20.0–45.0 s 外摆门板明显可见，本次没有该形态。" + }, + { + "t": 4.9, + "log_step": null, + "text_zh": "推断：本次保留初始关门状态，关闭区间从视频 0.0 s 延续至视频结束；没有执行一次关门操作。无门角状态日志，按参考外观判断关闭，未将食物入炉前置边用于门控此状态。" + } + ] + }, + "start_button_pressed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 4.9, + "log_step": 25, + "text_zh": "观察：视频 0.0–4.3 s 夹爪未进行按键动作；视频 4.4–4.9 s 夹爪及启动按钮所在的正面区域被微波炉机身遮挡。log step 25 的服务状态只有 done=true、reason=error 和 control_steps=49，没有按钮接触或 is_activate 的逐项结果。" + }, + { + "t": 4.9, + "log_step": null, + "text_zh": "推断：没有主动按键尝试，但末段随机摆动扫及托盘附近，不能由后视角排除遮挡处的意外按钮接触；失败总分也不能单独决定该节点，故保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 4.4, + "log_step": 24, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–4.9 s 没有开门动作；视频 4.4–4.8 s 机械臂大幅扫动托盘，托盘移位且食物散出。log step 23 的脚本只执行随机关节构型校准；log step 24 的提交返回 mjWARN_BADQACC 物理错误，log step 25 的服务记录为 done=true、reason=error，log step 26 再提交被拒绝。推断：首个开门步骤尚未启动，校准运动中的物理扰动与随后终止未获修复，断点归到开门步骤的首步前。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": null + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 4.4, + "log_step": 23, + "evidence_zh": "观察：视频 0.0–4.9 s 机械臂未建立开门操作，炉门始终没有形成装入通道；log step 11、23 的已执行动作代码均为运动学校准，开门只存在于后续计划。推断：开门在该次受评轨迹中未启动；并非把后续装入或按键未完成重复标成没尝试。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.4, + "log_step": null, + "evidence_zh": "观察：视频 4.3 s 托盘尚在原位；视频 4.4 s 机械臂向左侧托盘区域下扫，托盘随即移向画面下方，视频 4.5 s 红色食物已散到托盘左边，视频 4.6–4.8 s 托盘继续被带动。推断：机械臂与托盘区域发生碰撞，属于首步前的非预期碰动物体，未把遮挡的碰撞部位虚构成抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 4 的服务规格给出控制周期 0.1 s；log step 23 的校准脚本随机选取远距离关节目标，将 [prev,q,q,q] 直接以 dt=0.1 提交，没有在 prev 与 q 间加入限制步幅的过渡点。视频 3.8–4.8 s 机械臂大幅摆动并扫动托盘；log step 24 随即返回 mjWARN_BADQACC，log step 25、26 确认本局终止且不再接受动作。推断：校准轨迹未限制相邻目标的变化并避让桌面物体，造成不受控的接触与执行失稳，使任务操作未能开始；具体触发数值失稳的关节或接触对未记录。" + } + ], + "gap_zh": "输入没有状态日志，本次仅有单路后视角视频。末段炉体遮挡夹爪、按钮和部分食物，无法确定启动按钮当下接触、熟食受扰后的精确落点及托盘碰撞的具体机器人连杆；按钮节点保留未知。炉门关闭由连续外观推断，不能给出精确门角。日志只有物理错误摘要，没有触发数值失稳的关节、力或接触对，轨迹归因属于代码与视频共同支持的推断；不据此宣称环境缺陷。评分字段 deterministic=0 且无状态重放核对；agent 在 log step 39 声称未碰物体且食物仍在托盘，这与视频 4.4–4.8 s 的托盘移位、食物散出不符，按视频记录。" + }, + "summary_zh": "本次仅保留从初态成立的关门节点，终态确认 1/4 节点成立；开门和熟食入炉未达成，启动按钮接触未知。开门步骤尚未开始，机械臂的随机关节校准在视频约 4.4 s 扫动托盘并使食物散出，随后服务报告物理错误并终止，根因指向缺乏受控过渡的校准轨迹。后视角遮挡按钮及末段食物落点，且没有状态日志，不能补全这些关系或精确定位数值失稳来源。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和日志一致：炉门全程关闭，开门与入炉未达成，按钮未知合理；断点在开门首步前，随机关节校准扫动托盘后触发 BADQACC 并终止，根因归因有日志支持。", + "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": "2026-10-30T02:24:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--b6fcqy4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--b6fcqy4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a27945e02e1988f18014fc6422a852a41a9badd65131309d8a684ef4248fd950", + "video_sha256": "f9012482a306e74ef20809911a6f95b5edad36a4a6d442b038924261810df200", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--cprikkv.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--cprikkv.json new file mode 100644 index 0000000000000000000000000000000000000000..3397a5535c82f16a21e72d4493a6a6801ac3b9a9 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--cprikkv.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--cprikkv", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 1953, + "sim_steps": 1953, + "calls": 385, + "rows": 1913, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1092.9, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.214, + "peak_processes": 8, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--cprikkv/replay.mp4", + "duration_s": 65.2, + "fps": 10.0, + "frames": 652, + "sha256": "9dfa271cc9223b0e2a95494c83c42898b7decbd1937387c7419ec437ab96dd56" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 10.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.0, + "log_step": 39, + "text_zh": "观察：视频 8.5–10.0 s，Panda 夹爪带动黑色炉门向侧方转开；视频 10.0–14.0 s 门板明显外摆，已形成装入熟食的通道。log step 37–39 记录夹紧把手并沿门铰链圆弧拉动，与画面一致；首次充分打开的时间约为视频 10.0 s，精度约半秒。" + }, + { + "t": 40.0, + "log_step": 67, + "text_zh": "观察：视频 15.1–15.3 s 炉门重新回拢；视频 36.0–41.5 s 机器人再次拉门，视频 44.0–45.0 s 又以闭合夹爪拨推门板，扩大开度。开门为 event，后续回拢不撤销首次完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 二指夹爪夹住门把手并拉动，门板随夹爪沿铰链外摆（视频 8.5–14.0 s、36.0–41.5 s）；随后改用闭合夹爪推门板内侧扩大开度（视频 44.0–45.0 s）。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [ + [ + 51.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": 46, + "text_zh": "观察：视频 16.5–18.0 s，Panda 二指夹爪夹住热狗形熟食并将其提离左侧托盘；视频 18.5–19.0 s 搬运中熟食离开夹爪，落到微波炉左侧桌面，尚未入炉。" + }, + { + "t": 33.0, + "log_step": 65, + "text_zh": "观察：视频 24.5–27.0 s 机器人重新夹取桌面上的熟食并提起；视频 31.0–33.5 s 又将熟食放回托盘附近后松开。此前并无已完成的入炉状态。" + }, + { + "t": 51.8, + "log_step": 78, + "text_zh": "推断：视频 48.0–50.0 s 机器人重新夹起熟食，食物清楚地随夹爪离开托盘并移向炉口；视频 51.2–51.8 s 机械臂向炉腔方向伸入，视频 53.2–54.5 s 空夹爪退出，随后关门且没有再次搬取食物。结合 log step 78 的本次插入动作、log step 94 的服务成功返回以及评分字段 replay_success=1，判定熟食在本次送入后留在炉腔；首次成立锚点取视频 51.8 s，约有半秒不确定性。炉腔被机身遮挡，此时间不是逐帧 contain 读数。" + }, + { + "t": 65.1, + "log_step": 94, + "text_zh": "观察：log step 94 中机器人服务在最终按键动作返回 DONE success / True success；inputs/run.json 的 live_success=1、replay_success=1、deterministic=1，按该任务成功合取确认终局熟食在炉内。视频 65.1 s 为已检查的最后一帧，未见食物掉出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 二指夹爪夹持热狗形熟食；视频 17.5–18.0 s、26.0–27.0 s、48.5–50.0 s 可见熟食随夹爪抬起和搬运，最后携食物伸入炉口并释放。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 9.0 + ], + [ + 15.2, + 37.0 + ], + [ + 60.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色炉门收在机身背面，初态闭合；视频 4.0–4.5 s 仅短暂翘出少量，未见大幅打开，随后回拢。视频 8.5–10.0 s 首次持续拉开门板。" + }, + { + "t": 9.0, + "log_step": 38, + "text_zh": "推断：根据视频 8.5–9.5 s 门板外摆幅度，首次超过闭门容差的时间取视频约 9.0 s；视频 10.0–15.0 s 门板持续明显外摆。视频 15.1–15.3 s 机器人移向托盘时门板迅速回拢，取视频约 15.2 s 恢复闭合。无门角日志，18 度阈值的视觉过界时间精度约半秒。" + }, + { + "t": 37.0, + "log_step": 67, + "text_zh": "推断：视频 15.5–35.5 s 门板保持回拢；视频 36.0–37.5 s 再次拉开，约在视频 37.0 s 越过闭门容差。已检查视频 37.0–59.5 s 间画面，门板一直外摆，没有中途闭合。" + }, + { + "t": 60.0, + "log_step": 86, + "text_zh": "观察：视频 57.5–60.5 s，Panda 以闭合夹爪贴住门板外侧沿弧线推回，门板逐步回到机身背面；视频 60.5–65.1 s 保持回拢。" + }, + { + "t": 60.0, + "log_step": 94, + "text_zh": "推断：闭门容差恢复锚点取视频约 60.0 s，精度约半秒；log step 94 服务返回 success，且评分字段 live_success=1、replay_success=1，进一步确认终局门角满足闭合条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "Panda 以闭合二指夹爪接触门板外侧，沿铰链弧线推门回拢（视频 57.5–60.5 s）；没有将这个关门动作标为抓握。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": [ + [ + 65.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 62.5, + "log_step": 90, + "text_zh": "观察：视频 61.5–62.5 s 夹爪向被机身遮挡的控制面板区域下探，视频 63.0–63.5 s 又退出；log step 90 本次按键动作返回 False None，不能把靠近面板当作已触发启动按钮。" + }, + { + "t": 65.1, + "log_step": 94, + "text_zh": "推断：视频 64.0–65.1 s，Panda 将闭合夹爪再次下探至机身背面的控制面板，末帧停在那里；log step 93–94 记录改变按键姿态并执行第二次按压，机器人服务返回 DONE success / True success，log step 95 确认 done=True、reason=success。结合评分字段 live_success=1、replay_success=1，确认终局启动按钮接触成立；按钮及接触面被遮挡，采用视频 65.1 s 的终局确认锚点，无法确定略早的首次接触帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "Panda 闭合二指夹爪向控制面板按压，最终按钮接触由本次动作后的服务成功及重放成功确认（视频 65.1 s；log step 94），接触面本身被炉体遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人最终完成开门、熟食入炉、关门和按启动按钮，4/4 节点终局成立，现场与确定性重放均获成功。视频中熟食曾在搬运时掉到桌面、炉门也曾回拢，机器人重新抓取并再次开门后完成任务，未留下失败断点。无状态日志，且与参考成功视频相同，炉腔及启动按钮被机身遮挡：入炉时刻结合最后一次送入与成功合取推断，按键只在终局确认，门角过界时刻约有半秒误差。", + "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，4/4 节点终局成立；开门、门回拢、再开、关门的视频时间与帧一致，熟食入炉与按钮按压按遮挡限制标为推断并有评分字段支撑，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:35:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--cprikkv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--cprikkv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b869f3054950a0c741e9a0977b9caf1772de2a056db29edf75b2e29f954008ef", + "video_sha256": "9dfa271cc9223b0e2a95494c83c42898b7decbd1937387c7419ec437ab96dd56", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--gkpywvi.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--gkpywvi.json new file mode 100644 index 0000000000000000000000000000000000000000..57de2d8ad720b4cac6625104d378443d86afc7c1 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--gkpywvi.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--gkpywvi", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 6323, + "sim_steps": 6323, + "calls": 967, + "rows": 6323, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3577.2, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--gkpywvi/replay.mp4", + "duration_s": 63.4, + "fps": 10.0, + "frames": 634, + "sha256": "aa0b1179f1d9cbf15e10ddbdbbd32f3695d60570ed7d6bc4584877b9f997cf2a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 3.0–8.5 s，Panda 夹爪降至微波炉远侧后又抬起，黑色炉门没有从机身后侧外摆。" + }, + { + "t": 47.5, + "log_step": null, + "text_zh": "观察：已按约半秒间隔检查视频 0.0–63.0 s，并检查视频 62.4–63.3 s 的逐帧尾段；多次接近、后退和转腕期间始终未见可供装食物的开门通道。成功参考视频 15.0–45.0 s 的外摆门板在同类后视角清楚可见，本次没有该形态。" + }, + { + "t": null, + "log_step": 186, + "text_zh": "观察：log step 70、74、95–101、116、153、164、172、180、183 的脚本命令多次闭爪并拉把手；agent 最后一次文字自述为把手未动，改去取食物（log step 186）。这些命令与视频先在微波炉处反复接近、后转向托盘的顺序一致；命令本身不证明夹住把手。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：Panda 单夹爪多次伸到微波炉远侧尝试开门；把手与指尖的实际接触被机身遮挡，无法确认是否形成对向夹持，故不记为抓握。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙黄色热狗形熟食位于画面左侧木托盘，未在微波炉内。" + }, + { + "t": 54.0, + "log_step": null, + "text_zh": "观察：视频 50.5–63.3 s，Panda 夹爪转向托盘，反复下降、闭合并抬起；每次抬起后熟食仍可在托盘原处辨认，没有随夹爪离开或转运到微波炉。" + }, + { + "t": 63.3, + "log_step": null, + "text_zh": "观察：视频 62.4–63.3 s 逐帧尾段，夹爪抬离托盘且未携带熟食，橙黄色熟食仍留在托盘靠微波炉一侧；没有入炉关系。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 52.0–63.3 s，Panda 夹爪在熟食上方反复尝试取起，熟食靠近机身遮挡边缘；未见可靠对向夹持或随爪提起，具体触碰方式无法确定。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黑色门板收在机身远侧，外轮廓与成功参考视频 0.0 s 的闭门初态相同。" + }, + { + "t": 63.3, + "log_step": null, + "text_zh": "推断：视频 0.0–63.3 s 的已查画面始终未见门板离开初始闭合轮廓，视频 63.3 s 仍与初态相同；据此判断闭门状态从初态保持至结束。没有门铰链角日志，无法直接测量 18 度阈值。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频前段夹爪在微波炉远侧反复操作，但启动按钮和接触面均被机身挡住；日志也没有原生 is_activate 或按钮接触结果。因此不能确认前段是否曾偶然接触按钮，历史成立区间保留为未知。" + }, + { + "t": 63.3, + "log_step": null, + "text_zh": "推断：视频 50.5–63.3 s，机器人已转向左侧托盘取食物，最后夹爪停在托盘上方，明显离开微波炉控制面板；按钮当下接触这一终局条件不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 3.5, + "log_step": 38, + "where": "操作中", + "evidence_zh": "推断：视频约 3.0–8.5 s，Panda 开始在微波炉远侧下降接近，随后抬起，但门板没有外摆；此后直到视频约 50.0 s 的多轮重试也未打开，随后转向托盘。log step 38–40 记录接近把手时 TCP 误差先减后增，log step 186 记录 agent 放弃继续开门、转去取食物的自述；最早未修复的步骤因此是打开微波炉。视频 3.5 s 仅作首次失败接近的粗略导航锚点，未用 agent 时间换算。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 38–40 的机器人 TCP 反馈显示，接近把手目标 [0.025, 0.160, 1.015] m 时，位置误差从 0.029 m 反增至 0.179 m 及更大；log step 68、92、115 又出现位置不收敛或实测运动偏离请求方向，log step 161–162 的位姿接近中旋转误差从 0.009 rad 增至约 0.299 rad。视频 3.0–50.0 s 同样显示反复接近、抬起及转腕而没有开门结果。这支持接近与拉门动作的控制未能实现目标位姿，但不足以确定是接触几何、轨迹求解还是反馈环节的具体问题，故停在控制大类。" + } + ], + "gap_zh": "观察：inputs/ 中有完整运行日志、回放视频和成功参考视频，但没有状态日志；本次回放只有机身后视角，把手、门前接触及按钮被遮挡。开门未达可由成功参考中本应可见的外摆门板缺席判定，然而无法可靠区分未夹中、夹后失效或接触受阻，因此失败现象层留空，实际开门接触记未知；取食物尝试也未能确认具体接触方式。按钮历史接触区间未知，但末帧夹爪远离按钮，终值可判假；炉门精确铰链角及控制问题的更细子类无直接证据。" + }, + "summary_zh": "观察：本次没有打开微波炉，后段多次取食物也未将熟食带离托盘；终态仅初始即成立的关门节点为真，共 1/4。推断：最早未修复的断点是开门操作，日志中的位姿不收敛支持控制问题；机身遮住关键接触，无法细分失败现象，按钮历史接触区间也无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四节点终值（仅初始即成立的关门为真，1/4）、断点 microwave_opened、空现象层加 gap_zh、控制大类根因均与视频和日志一致；门全程未外摆，熟食始终在托盘，夹爪末帧远离按钮。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:31:50Z", + "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/vlabench-heat-food-i00-standard--gkpywvi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--gkpywvi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2b1faee8f1c99cf942a648a0e67eb77d120f70360035a4d05405c08be265a4ce", + "video_sha256": "aa0b1179f1d9cbf15e10ddbdbbd32f3695d60570ed7d6bc4584877b9f997cf2a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--kvcwfq4.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--kvcwfq4.json new file mode 100644 index 0000000000000000000000000000000000000000..5819d8655b21f1f8842e513535460b8478a08c06 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--kvcwfq4.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--kvcwfq4", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 2, + "rows": 0, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1781.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.314, + "peak_processes": 8, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--kvcwfq4/replay.mp4", + "duration_s": 0.1, + "fps": 10.0, + "frames": 1, + "sha256": "71a3ea1b28e533d02fb456b811e355a4a2392c08f3d1cedd18be4a0f6570043c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频仅有视频 0.0 s 一帧，炉门没有向机身侧方外摆；夹爪张开悬在炉体后上方，未接触门或把手。成功参考视频 15.0 s、20.0 s 可见外摆的黑色门板，本次无此形态。" + }, + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：log step 2 的机器人服务状态为 control_steps=0；评分器记录 n_actions=0、sim_steps=0、rows=0，完整日志未提交关节动作，评分局没有开门运动。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的左侧木托盘上仍可见热狗形熟食（已放大核查），夹爪空悬，熟食未进入微波炉。评分器 n_actions=0、sim_steps=0，场景没有经历搬运。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 未见黑色炉门向侧方伸出，其外观与成功参考视频 0.0 s 的关闭初态一致；评分器 sim_steps=0、n_actions=0，炉门没有被操作。" + }, + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：任务 DAG 记载初始门角为 0，结合视频 0.0 s 的关闭形态及评分器零控制步，关闭条件从视频 0.0 s 保持至视频结束；该 state 条件不受前置入炉节点门控。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 夹爪悬在炉体后上方，与微波炉控制面板位置分离；评分器 n_actions=0、sim_steps=0，未执行接近或按压按钮动作。按钮表面被炉体遮挡，但夹爪没有抵住面板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 0.0, + "log_step": 2, + "where": "首步前", + "evidence_zh": "观察：视频 0.0 s 为评分局唯一画面，机器人空爪悬停，炉门仍闭合，托盘熟食仍在原位；log step 2 服务状态 control_steps=0，评分器最终 n_actions=0、sim_steps=0。推断：评分局始终停留在首个必需开门步骤开始前，没有开门操作可供判定接触或运动失败。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 2, + "evidence_zh": "观察：视频 0.0 s 的夹爪未触门、未持食物；log step 2 的服务状态 control_steps=0，评分器最终 n_actions=0、sim_steps=0、rows=0。完整日志只有观测、运动学计算和图像几何分析，未提交机器人运动，评分局的开门步骤未启动。" + } + ], + "root_causes": [], + "gap_zh": "本次视频存在但仅有视频 0.0 s 一帧，无状态日志；零动作和零仿真步足以确定初态与未启动操作，无法观察任何抓取或控制执行失败。log step 7–23 记录了运动学、把手及按键几何分析，最后一条为 log step 23（agent 时间 401.0 s），全部 say 为空，无最终报告；运行 wall_s=1805、time_limit_s=1800，未提供其后为何没有动作的明确记录，也无明确外部错误记录。不能仅凭未尝试、预算结束或分析活动，推定规划、感知、控制或交付根因，故根因层留空。" + }, + "summary_zh": "评分局只有视频 0.0 s 的初始画面，评分器记录零动作、零仿真步；仅炉门初始关闭状态成立，最终节点为 1/4，熟食仍在托盘且启动按钮未被按住。断点为打开微波炉的首步前，现象为没尝试。日志记录了观测和几何分析但没有运动提交或最终报告，无法证实未启动操作的具体根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分局零动作、零仿真步，视频仅 0.0 s 一帧：炉门关闭、熟食仍在托盘；节点 1/4（仅 microwave_closed）、断点首步前/没尝试、根因层留空并附 gap_zh，均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:32:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--kvcwfq4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--kvcwfq4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "af221e754d7fbc2f435fae488673522bab22322e2cd7b87ae2f6c0464b049cc6", + "video_sha256": "71a3ea1b28e533d02fb456b811e355a4a2392c08f3d1cedd18be4a0f6570043c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--tguhylz.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--tguhylz.json new file mode 100644 index 0000000000000000000000000000000000000000..d1aa7ff19fa1f5384d348257fbb1f4436777719c --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--tguhylz.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--tguhylz", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 6260, + "sim_steps": 6260, + "calls": 442, + "rows": 6260, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3583.0, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--tguhylz/replay.mp4", + "duration_s": 62.7, + "fps": 10.0, + "frames": 627, + "sha256": "bd6d47abe327b5cf5429f1a7466107fc1c2d613432f07a8ba29a5963a8a9c98a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 2.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.6, + "log_step": 23, + "text_zh": "观察：视频 2.3–2.6 s，机器人带动黑色门板由关闭位置向侧方转开，视频 2.6 s 已形成明显通道；视频 5.6–6.4 s 再次拉开，视频 14.4 s 门板进一步外摆。与参考视频 15.0 s 的外摆门板形态相符；首次达到时间约为视频 2.6 s。" + }, + { + "t": 2.6, + "log_step": 20, + "text_zh": "推断：视频 2.1–2.7 s 末端与门板联动外移；log step 20 的服务本体读数在闭爪后两指仍分别约为 0.022、0.019 m，结合随后门板被拉动，支持夹爪夹住把手或门缘；确切夹持部位被机身遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 二指夹爪夹住炉门把手或门缘并外拉，依据门板与末端联动及闭爪后的指间开度推断；具体夹持点遮挡。视频 13.3–14.4 s 又用闭合夹爪侧推门板扩大开度。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 13.3–14.4 s，机器人闭合夹爪从门板内侧向侧方推门，门板继续外摆；这是后续扩开动作。" + } + ] + }, + "food_in_microwave": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 7.9, + "log_step": 40, + "text_zh": "观察：视频 0.0 s 熟食位于左侧木托盘上；视频 7.4–7.9 s 二指夹爪合拢并将热狗形熟食提离托盘，视频 7.9–8.0 s 熟食明确悬在夹爪下方，随后机器人将它移到机身遮挡的炉口侧。" + }, + { + "t": 9.2, + "log_step": 42, + "text_zh": "观察：视频 8.2–8.6 s 机器人末端贴在炉口上缘附近翻转，视频 8.5–8.6 s 仍能看见夹爪下的熟食局部，视频 9.1–9.4 s 抬起的夹爪已空；食物落点和炉腔均被机身挡住。" + }, + { + "t": 62.6, + "log_step": 166, + "text_zh": "观察：视频 14.4–56.8 s 机器人多次向炉口下方伸手，并搬动苹果、蒜和托盘；视频 62.6 s 炉内及炉前低处仍完全遮挡。log step 166 的 agent 自述食物仍在微波炉边缘下，但没有原生 contain 检查结果；参考视频 35.0 s 同样遮挡炉腔，不能用托盘上熟食消失或 agent 自述判定容纳关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 7.4–8.0 s，Panda 二指夹爪夹住热狗形熟食并提离木托盘，搬至炉口侧；后续低处恢复动作及苹果、蒜、托盘是否实际碰到熟食均被炉体遮挡，不据此追加工具接触。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 2.5 + ], + [ + 3.8, + 5.5 + ], + [ + 60.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0–2.2 s 黑色炉门收在机身后方；视频 2.4–2.6 s 门板开始明显外摆，视频 2.6–3.6 s 维持较大开度，视频 3.7–4.2 s 随机器人撤手回拢至接近关闭位置。" + }, + { + "t": 5.5, + "log_step": 34, + "text_zh": "观察：视频 4.0–5.3 s 门板保持接近闭合，视频 5.4–5.6 s 再次外摆；检查视频 5.6–59.8 s 的连续粗采样及开门、取物、关门处密集帧，门板一直明显伸出。" + }, + { + "t": 60.5, + "log_step": 164, + "text_zh": "推断：视频 59.8–60.6 s 机器人闭合夹爪推门，门板从大幅外摆回到机身后方，视频 60.6–62.6 s 保持近乎贴合的关闭形态，与参考视频 50.0 s 的闭门形态一致；按小于 18 度判据估计区间边界为视频 2.5、3.8、5.5、60.5 s，视觉误差约 0.3 s，无逐帧铰链角读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 59.8–60.6 s，Panda 闭合夹爪抵推外摆门板，使炉门回拢；前一次视频 57–59 s 的关门尝试未使门板收回。" + } + ] + }, + "start_button_pressed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 61.4, + "log_step": 165, + "text_zh": "观察：视频 61.0–61.5 s 机器人末端在闭门后的控制面板侧下降，随后抬起；视频 62.0–62.6 s 再次伸向该处，手指和启动按钮均藏在机身后方。" + }, + { + "t": 62.6, + "log_step": 167, + "text_zh": "观察：log step 165、166 记录 agent 脚本执行 start_press1、button_press_horizontal，log step 167 服务状态为 done=False、reason=None；未给出 is_activate 或按钮接触读数。参考视频 54.8 s 同样不能直接看见按钮接触，接近面板和整局未成功都不能单独决定本节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人在视频 61.0–62.6 s 两次伸向启动按钮所在侧，但机身遮挡指端及按钮，无法核实实际接触及接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "food_in_microwave", + "t": 8.5, + "log_step": 42, + "where": "操作中", + "evidence_zh": "推断：视频 7.9–8.0 s 机器人明确夹持熟食，视频 8.2–8.9 s 将末端抵到炉口上缘附近并发生明显翻转，视频 9.1–9.4 s 夹爪空手抬起；随后持续在炉口下方尝试恢复，却未见再次携带熟食入炉。故首个未见修复的失败步骤为熟食入微波炉，锚点取视频 8.5 s；食物的具体落点和最终 contain 值仍未知。" + }, + "unmet": { + "food_in_microwave": null, + "microwave_closed": true, + "start_button_pressed": null + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 8.5, + "log_step": 42, + "evidence_zh": "观察：视频 8.2–8.6 s 机器人末端下缘抵在微波炉炉口上缘，未沿炉口正常深入，视频 8.7–8.9 s 手腕大幅翻转；log step 41 脚本要求 food_entry_align 的末端高度为 0.97 m，而同次服务回传高度为 1.123 m，log step 42 的 food_inside 回传仍为 1.140 m。可见上缘接触阻断及实际运动偏离，之后视频 9.2 s 抬起的夹爪已空。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 7.9–8.0 s 的初次夹取已建立，问题出在送入炉口时末端贴住上缘、翻转且失去所持物。log step 41–42 的目标位姿与服务本体回传明显不符，log step 43 的 agent 也自述手腕碰上缘后食物滑落；这支持插入阶段的控制失败，但不足以独立区分接触几何、逆解及跟踪问题，故停在控制大类。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "本次没有状态日志。已对照成功参考视频；该后视相机确实遮住炉腔、炉前低处及启动按钮，无法确定熟食掉落位置、随后是否曾被推入炉腔，亦无法确定按钮接触区间与最终激活值，故两个节点为未知；success=0 只是三条件合取未成立，不能分别推出它们为假。门角只由门板形态估计；根因子类缺少接触力、物体位姿及完整跟踪诊断，未进一步细分。" + }, + "summary_zh": "机器人打开微波炉并夹起熟食，送入时在视频约 8.5 s 末端受到炉口上缘阻挡并翻转，随后空手撤出，之后未见成功恢复装入步骤。末态可确认开门事件已完成且炉门重新闭合，共确认 2/4 个节点；评分成功值为 0。炉腔和按钮始终被机身遮挡，熟食容纳与启动按钮接触的终态保留未知，控制根因无法细分。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（熟食入微波炉，约视频 8.5 s 送入时受炉口上缘阻挡并脱手）和根因（控制，未细分）均有帧与 log step 41–42 的服务回传支持；food_in_microwave 与 start_button_pressed 因炉体/机身遮挡保留 unknown 合理。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": "2026-10-30T02:29:00Z", + "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/vlabench-heat-food-i00-standard--tguhylz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--tguhylz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fe45b8110c587922bc3ce44943c5b98d29593bed8daea06730ea429a4097c2b", + "video_sha256": "bd6d47abe327b5cf5429f1a7466107fc1c2d613432f07a8ba29a5963a8a9c98a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--u8mwryy.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--u8mwryy.json new file mode 100644 index 0000000000000000000000000000000000000000..70e7c88764f9cbfe3cccee50e0c4f2d735a6bc9c --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--u8mwryy.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--u8mwryy", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 263, + "sim_steps": 263, + "calls": 14, + "rows": 263, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1691.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.313, + "peak_processes": 8, + "peak_disk_gb": 0.247, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-heat-food-i00-standard--u8mwryy/replay.mp4", + "duration_s": 26.4, + "fps": 10.0, + "frames": 264, + "sha256": "5bed2e43ccfacd6db80a919c835565dcd61c3eeb0868e074309f33276c151010" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": 38, + "text_zh": "观察：视频 0.8–4.0 s 夹爪在炉体后方下降并横向移动，视频 5–8 s 移到画面右侧；黑色门板未随夹爪外摆。log step 38 的服务状态为 control_steps=80、done=False，log step 40 中 agent 自述“Door didn’t open — the grasp missed the handle”。" + }, + { + "t": 16.8, + "log_step": 45, + "text_zh": "观察：视频 8.7–16.8 s 机器人再次接近炉体后方并向画面右侧做弧形移动，门板仍未伸出机身；视频 26.3 s 终帧也无外摆门板。成功参考视频 15–20 s 的黑色门板明显向机身侧方伸出，本次没有该开门线索，故未达到装入通道判据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.8–4.0 s、8.7–16.8 s，Panda 二指夹爪在微波炉门所在的机身远侧操作；把手及指尖接触区被炉体遮住，无法确认实际擦碰或夹持方式，不能把脚本的合爪命令记为已抓握门把手。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 45, + "text_zh": "观察：视频 19.6–20.6 s 夹爪夹着热狗形熟食将其从木托盘处短暂带起，视频 20.8–21.2 s 熟食脱离上升的夹爪、翻落回托盘。" + }, + { + "t": 26.3, + "log_step": null, + "text_zh": "观察：视频 21.2–26.3 s 熟食始终留在木托盘靠炉体一侧，空夹爪继续移向炉体后方；视频 25.3–26.3 s 的最后一秒仍可见熟食在炉外，未出现携熟食进入炉腔的过程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 19.6–20.6 s，Panda 二指夹爪夹住热狗形熟食的一端并短暂提起；视频 20.8–21.2 s 熟食从夹爪脱落回托盘。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 炉门位于关闭位置，未见黑色门板向机身侧面伸出。" + }, + { + "t": 26.3, + "log_step": null, + "text_zh": "观察：视频全程的粗采样及视频 0–4.0 s、8.1–16.8 s 的开门动作密集帧均未见门板外摆，视频 26.3 s 仍保持初始闭合外形。推断：闭门状态从初态一直保持；该 state 节点不由熟食入炉的 after 边门控，故记为从视频 0 s 成立，不表示机器人完成过一次主动关门。" + } + ] + }, + "start_button_pressed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 26.3, + "log_step": 45, + "text_zh": "观察：视频 0–26.3 s 的按钮及指尖与面板接触区被微波炉机身遮挡，末段空夹爪在机身远侧移动，无法从靠近动作判断启动按钮是否接触。log step 44 的脚本写有后续按键循环，但 log step 45 没有返回按键或原生激活检查结果，评分字段也不报告此单项；不能把脚本计划或整局 success=0 当作按钮状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 1.5, + "log_step": 38, + "where": "操作中", + "evidence_zh": "推断：视频 0.8–8 s 第一次开门动作中，夹爪沿弧线移开而炉门未跟随；视频 8.7–16.8 s 的再次开门动作也没有形成可装入熟食的通道，直至视频 26.3 s 均未修复。因此断点为最先失败且始终未完成的打开微波炉，而非稍后视频 20.8–21.2 s 的熟食脱落。log step 38、40 记录第一次执行及 agent 对未开门的确认。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.5, + "log_step": 38, + "evidence_zh": "推断：视频 0.8–8 s 夹爪按开门路径移走，黑色门板却一直停在闭合位置；视频 8.7–16.8 s 重试仍相同，未建立能夹住并牵引门板的有效接触。log step 40 中 agent 自述“grasp missed the handle”，与门板不跟随的画面一致；此处不声称指尖完全没有擦碰炉体。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 42, + "source_zh": "日志", + "evidence_zh": "推断：log step 33 的目标把手点为 [0,0.192,1.00]，log step 42 中 agent 脚本用自身运动学计算的第一次合爪末端位置为 [0.070,0.141,0.971]，明显未到该目标；该计算不是物体真实位姿。log step 32、44 的控制器取得逆解误差 e 后仍直接提交关节目标，且随后无有效夹持确认便执行拉门弧线。结合视频 0.8–8 s、8.7–16.8 s 的门板不跟随，支持末端定位与接触执行未落实这一控制根因；现有证据不足以进一步区分接触几何、逆解或跟踪误差。" + } + ], + "gap_zh": "未提供状态日志。炉体遮挡了门把手与夹爪的接触细节，开门的有效接触失败为结合动作、门板静止及日志作出的推断，实际接触类型记未知；没有门角读数，闭门按可见外形判断。启动按钮在视频中被遮挡，运行记录没有原生激活或接触结果，故此节点保留未知；不能由整局失败反推按钮未接触。日志在 log step 45 的组合脚本调用后结束且无返回文本，不能判定脚本具体停在何条语句。" + }, + "summary_zh": "本次现场回合始终未打开微波炉，熟食短暂被夹起后于视频 20.8–21.2 s 落回托盘，终局唯一确认成立的节点是从初态保持的炉门关闭。最早未修复断点是开门时未建立有效牵引接触，日志支持末端定位与接触执行方面的控制问题。门把手及按钮接触被炉体遮挡，启动按钮状态未知，缺少状态日志及原生单项检查。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、闭门从 0 s 成立、按钮 unknown、断点开门（没建立接触 + 控制）均与视频一致：全程炉门未外摆，熟食在 19.6–21.2 s 被夹起后落回托盘，终帧仍在炉外。控制根因证据已标明为推断，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:07:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--u8mwryy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--u8mwryy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0f082c264149778dfe106b141e2bfa3e3587d22b47c1704aafd08b67eedbcbe0", + "video_sha256": "5bed2e43ccfacd6db80a919c835565dcd61c3eeb0868e074309f33276c151010", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--wkvfgsr.json b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--wkvfgsr.json new file mode 100644 index 0000000000000000000000000000000000000000..7b7450c52a3e10a088acbdd3ba5ea029d7baaf41 --- /dev/null +++ b/phase2/vlabench/heat_food/trajectories/vlabench-heat-food-i00-standard--wkvfgsr.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-heat-food-i00-standard--wkvfgsr", + "taskKey": "vlabench/heat_food", + "dag_sha256": "15c04d2055efcac6530be69b5bd9a4f30cd65e9e7ca857cead729614e271ee9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 6345, + "sim_steps": 6345, + "calls": 843, + "rows": 6345, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3290.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.406, + "peak_processes": 10, + "peak_disk_gb": 1.036, + "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/vlabench-heat-food-i00-standard--wkvfgsr/replay.mp4", + "duration_s": 63.6, + "fps": 10.0, + "frames": 636, + "sha256": "c9fec6163c22c88df4d450ba75d1bdeaef0806954722e9988d72a079c911e0d0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频 26.0–45.0 s 中机器人反复将腕部降到微波炉远侧上缘附近，随后撤回或换姿；视频 57.0–63.5 s 的后续伸手、回撤也没有带出黑色门板。成功参考视频约 15–45 s 可见门板从同一后视角明显外摆，本次未出现这种装入通道。" + }, + { + "t": 63.5, + "log_step": 287, + "text_zh": "观察：视频 63.5 s 炉门仍无外摆；log step 279、281、287 的脚本均尝试接近把手、闭爪、后拉，后续没有完成开门的画面。评分字段 resets=0、deterministic=1，本次视频对应单次无重置现场记录。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 29.5–41.5 s、58.0–62.6 s 的夹爪指端、把手及接触面被微波炉机身遮挡；能确认机器人尝试开门，不能确认二指是否夹住把手、仅擦碰门板或完全未碰到。" + } + ] + }, + "food_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 左侧木托盘上的热狗形熟食在原位；视频 0–63.5 s 的全程概览及视频 57.0–63.5 s 的密集帧均未见该熟食离开托盘，视频 63.5 s 仍在相同位置。机器人没有携熟食伸入炉口的过程。" + }, + { + "t": 63.5, + "log_step": null, + "text_zh": "推断：熟食持续留在炉外原托盘，故炉内容纳条件不成立；此判断依据可见物体位置，而非由评分为零反推。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 微波炉门收拢在机身远侧，没有向侧方伸出的门板；视频全程概览、视频 26.0–45.0 s 和 57.0–63.5 s 密集帧中，门的轮廓始终没有可见外摆。" + }, + { + "t": 63.5, + "log_step": null, + "text_zh": "推断：与成功参考视频中打开后伸出的门板及回拢后的外形比较，本次炉门持续保持初始关闭位置，关门状态从视频 0.0 s 保持到视频 63.5 s；这是保留初态，不代表机器人另完成了一次关门动作。" + } + ] + }, + "start_button_pressed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 63.5, + "log_step": 291, + "text_zh": "观察：视频 63.4–63.5 s 机器人已将夹爪抬回机身上方并远离控制面板；log step 289 记录机器人回到 home，log step 291 的现场本体读数 tcp≈[0.0002,-0.1725,1.2061]，与最后画面一致。终态没有保持按钮接触。" + }, + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频中按钮在微波炉远侧，被机身遮挡；视频 29.5–41.5 s 等贴近机身的动作无法显示按钮是否曾被意外触到。日志没有原生 is_activate 或按钮接触读数，因此中途接触区间保留未知，不能把靠近面板直接当作按下。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "microwave_opened", + "t": 29.5, + "log_step": 206, + "where": "操作中", + "evidence_zh": "推断：视频约 29.5 s 起机器人在炉体远侧持续接近、调整开门姿态，门板未外摆；后续视频 58.0–62.6 s 再次接近和后拉仍未打开。log step 202、206 明确执行把手预抓取下降，目标 TCP 为 [0.006,0.161,1.005]，现场读数却停在约 [0.003,0.178,1.161]；开门步骤此后始终未修复。视频锚点取自画面，不由 agent 工作时间换算。" + }, + "unmet": { + "food_in_microwave": false, + "microwave_closed": true, + "start_button_pressed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 29.5, + "log_step": 206, + "evidence_zh": "推断：视频 29.5–41.5 s 机器人腕部反复停留在微波炉远侧上缘附近而没有带开门板；同一次现场记录 log step 202、206 显示下降抓取目标高度为 1.005 m，实际 TCP 高度约 1.161 m。后续 log step 247 的目标 [0.006,0.161,1.020] 与实际 [0.001,0.126,1.050] 仍有偏差，log step 287 最后一次换姿后也报告约 [0.020,-0.021,-0.034] m 的位置误差，视频 61.6–62.6 s 的回撤未带动炉门。故标接近把手的位姿未到位，不据遮挡画面判定抓握已建立或曾滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 202、206 的控制脚本目标是把夹爪降到把手处，但多次下发关节目标后现场本体读数仍偏离目标；log step 245 的十轮重复命令将 TCP 留在约 [-0.001,0.127,1.052]，log step 247 加入积分补偿后仍返回 ok=False，log step 279、281、287 更换高度和朝向后也没有实现视频中可见的开门。证据支持接近及操作把手的控制未奏效；由于接触面不可见，不能进一步确认是接触几何、阻挡还是跟踪控制的具体问题。" + } + ], + "gap_zh": "视频只有微波炉后视角，无状态日志；把手、夹爪指端与按钮接触面被炉体遮挡，开门节点的实际接触方式未知，也不能确定按钮中途有无短暂意外接触。按钮终态可由夹爪远离面板判为 false，但其区间保留 null。关门状态按持续保持初始外形判断，缺少铰链角读数；日志中的碰撞模型、物体坐标与“硬限位”解释是 agent 自建模型或自述，不能据此确证阻挡物或排除其他合法开门方案。" + }, + "summary_zh": "本次无重置评分轨迹始终未打开微波炉，熟食一直留在左侧托盘，终态只有初始即成立的关门状态保持，节点终值为 1/4。断点是打开微波炉：机器人反复接近把手但位姿未到位，现场控制读数与目标存在持续偏差，未能恢复开门进展。后视角遮挡实际抓握及按钮接触，因此开门接触方式和按钮中途区间未知，不能进一步确证控制失效的具体机制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（仅微波炉关闭为初态成立，其余未达）、断点（打开微波炉，操作中）与现象/根因与视频及 log step 202/206/247/287 一致，未发现需改动的错误；接触未知有据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:04:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--wkvfgsr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-heat-food-i00-standard--wkvfgsr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "91c18cb081246dba940672744687631dcb79f83d953ec670334fc32869430fea", + "video_sha256": "c9fec6163c22c88df4d450ba75d1bdeaef0806954722e9988d72a079c911e0d0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--fsubzc8.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--fsubzc8.json new file mode 100644 index 0000000000000000000000000000000000000000..3402677f034594419f4dfcb71c57863741c330ac --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--fsubzc8.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-privileged--fsubzc8", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 742, + "sim_steps": 1484, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 16.486, + "peak_processes": 13, + "peak_disk_gb": 0.999, + "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/vlabench-texas-holdem-i00-privileged--fsubzc8/replay.mp4", + "duration_s": 74.3, + "fps": 10.0, + "frames": 743, + "sha256": "6d4d48993d6fe6dea5fd415ee79db461a0841a0d71477912c3255e9a54a3276f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 74.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 69.5, + "log_step": null, + "text_zh": "观察：视频67.0–70.0 s，Panda二指夹爪下降夹住画面左侧两张红牌中靠右的红桃6并抬起，原灰色架露出；该牌随夹爪移动。" + }, + { + "t": 74.2, + "log_step": null, + "text_zh": "观察：视频72.8–74.2 s逐帧可见机器人持红桃6向餐垫移近并下降；视频74.2 s末帧该牌仍竖直夹在二指之间，位于餐垫近上方，垫内另有四张蓝背牌。" + }, + { + "t": 74.2, + "log_step": 135, + "text_zh": "推断：结合视频74.2 s红桃6已降至餐垫近上方、其他四牌仍在垫内，以及评分器reward.success=1，红桃6最迟在该末帧进入原生contain区域；标为视频74.2 s达成。log step 135对交付轨迹独立重放输出success=True、done=True、control_steps=742，支持这是成功交付的终态；不把agent工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪从两面夹住红桃6并抬离灰色牌架，搬至餐垫近上方下降；视频74.2 s结束时仍夹持该牌，未见松手。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 13.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频4.0–7.0 s，Panda二指夹爪闭合夹住后排方块7并将其抬离灰色牌架，原位置空出，牌随夹爪移动。" + }, + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频12.4–13.8 s，机器人持方块7移至餐垫上方并下降；视频14.2 s该牌翻倒，蓝色牌背落在餐垫内。" + }, + { + "t": 13.4, + "log_step": null, + "text_zh": "推断：视频13.4 s左右，方块7在下降末段进入餐垫近上方的判定区域；按DAG允许持牌达成的规则，从此计入，进入时刻目测误差约0.5 s。" + }, + { + "t": 74.2, + "log_step": 135, + "text_zh": "观察：视频14.2–74.2 s的已检帧中，由方块7连续追踪而来的第一张蓝背牌留在垫内，后来被其他牌局部叠盖。 log step 135对交付文件的独立重放输出success=True，评分器reward.success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪从两面夹住方块7，抬离灰色牌架并搬至餐垫上方，下降后张爪释放；牌随夹爪升起、搬运，随后翻倒在垫内。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 60.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 56.0, + "log_step": null, + "text_zh": "观察：视频53.0–56.0 s，Panda二指夹爪下降闭合夹住中央梅花8，随后抬起该牌，原灰色牌架空出。" + }, + { + "t": 60.1, + "log_step": null, + "text_zh": "观察：视频58.8–60.2 s，机器人持梅花8在餐垫上方下降；视频60.4–60.6 s，牌松开并翻成蓝背朝上，落在已有牌的左侧，垫内共四张牌。" + }, + { + "t": 60.1, + "log_step": null, + "text_zh": "推断：视频60.1 s左右，梅花8在下降末段进入餐垫近上方的判定区域；持牌可达成，进入时刻目测误差约0.5 s。" + }, + { + "t": 74.2, + "log_step": 135, + "text_zh": "观察：视频60.6–74.2 s的已检帧中，连续追踪确认的梅花8保持在餐垫内，红桃6靠近末段使部分牌轻微移动，但未移出餐垫。 log step 135对交付文件的独立重放输出success=True，评分器reward.success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪从两面夹住梅花8，抬离灰色牌架并搬至餐垫上方，下降后张爪释放；牌随夹爪升起、搬运，随后翻倒在垫内。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 46.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频39.0–42.0 s，Panda二指夹爪夹住先前黑桃10左邻的红桃9并抬起，原灰色牌架露出，牌随夹爪离架。" + }, + { + "t": 46.2, + "log_step": null, + "text_zh": "观察：视频44.8–46.4 s，机器人持红桃9移至餐垫上方并下降；视频46.6–46.8 s，牌翻成蓝背朝上落入餐垫，垫内出现第三张牌。" + }, + { + "t": 46.2, + "log_step": null, + "text_zh": "推断：视频46.2 s左右，红桃9在下降末段进入餐垫近上方的判定区域；持牌可达成，进入时刻目测误差约0.5 s。" + }, + { + "t": 74.2, + "log_step": 135, + "text_zh": "观察：视频46.8–74.2 s的已检帧中，连续追踪确认的红桃9留在餐垫内，后续放牌没有把它带出。 log step 135对交付文件的独立重放输出success=True，评分器reward.success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪从两面夹住红桃9，抬离灰色牌架并搬至餐垫上方，下降后张爪释放；牌随夹爪升起、搬运，随后翻倒在垫内。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 30.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.5, + "log_step": null, + "text_zh": "观察：视频23.0–26.0 s，Panda二指夹爪夹住画面最右侧的黑桃10，牌离开灰色架并随夹爪升起，原架显露。" + }, + { + "t": 30.4, + "log_step": null, + "text_zh": "观察：视频29.4–30.6 s，机器人持黑桃10在餐垫上方下降；视频30.8–31.0 s，牌松开翻倒在第一张蓝背牌附近，形成两张重叠蓝背牌。" + }, + { + "t": 30.4, + "log_step": null, + "text_zh": "推断：视频30.4 s左右，黑桃10在下降末段进入餐垫近上方的判定区域；持牌可达成，进入时刻目测误差约0.5 s。" + }, + { + "t": 74.2, + "log_step": 135, + "text_zh": "观察：视频31.0–74.2 s的已检帧中，连续追踪确认的黑桃10一直位于餐垫内，与先放的方块7部分重叠。 log step 135对交付文件的独立重放输出success=True，评分器reward.success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪从两面夹住黑桃10，抬离灰色牌架并搬至餐垫上方，下降后张爪释放；牌随夹爪升起、搬运，随后翻倒在垫内。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：机器人依次夹取方块7、黑桃10、红桃9、梅花8和红桃6，前四张在餐垫内释放翻倒，视频74.2 s末帧红桃6仍被夹持在餐垫近上方；结合评分器success=1，五个目标节点终态均达成。任务设计问题：文字要求把牌放到餐垫上，原生验收却接受仍夹持、未接触垫面的红桃6，故按DAG的区域判定计成功，不追加松手要求。无状态日志且原生几何边界未获完整核实，前四张进入判定区域的时刻由下降画面推断、误差约0.5 s；本次oracle与被标注运行同一，不作为独立参考。", + "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，五个节点均达成，时间（视频13.4/30.4/46.2/60.1/74.2 s）与帧一致，抓握接触正确，无失败层；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": "2026-10-30T02:59:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--fsubzc8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--fsubzc8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f9a35bd86e82e81e03a31e17ae4c544869a650b4e4bfaa437de548290193c2c0", + "video_sha256": "6d4d48993d6fe6dea5fd415ee79db461a0841a0d71477912c3255e9a54a3276f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--hevpx5c.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--hevpx5c.json new file mode 100644 index 0000000000000000000000000000000000000000..c203b42b8fa0c4d92c22f71b88e1d8405878a3ef --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--hevpx5c.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-privileged--hevpx5c", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 698, + "sim_steps": 1396, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 6.372, + "peak_processes": 9, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-privileged--hevpx5c/replay.mp4", + "duration_s": 69.9, + "fps": 10.0, + "frames": 699, + "sha256": "825b855d02742878a3a3e638476d990b958ac9d77f4e362f12f6167fb7ed2733" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 10.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 4.0–5.0 s，Panda 二指夹爪在左侧第二张红牌两面闭合；视频 6.0–7.0 s，该牌随夹爪升起，原灰色牌架变空。视频 9.0–11.5 s，机器人把该牌运到棕色餐垫近上方并下降。" + }, + { + "t": 10.5, + "log_step": null, + "text_zh": "推断：连续追踪原架上的红桃6及其搬运过程，将进入餐垫判定区域的时刻估为视频 10.5 s（约±0.5 s）；这是持牌下降时的区域达成，不等待松手。视频 13.5 s，该牌已翻倒成蓝背朝上的牌，随后各阶段及视频 69.8 s 末帧都留在餐垫内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 单臂平行二指夹爪夹住红桃6的相对两面，提离原灰色牌架并搬运到餐垫区域；下降后张开夹爪松手，牌留在垫上。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 69.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 60.5–63.0 s，Panda 夹爪转为倾斜姿态并下降到最左侧剩余的方块7；视频 63.5–65.0 s，二指闭合夹持该牌；视频 66.0–67.5 s，该牌随夹爪升起，原牌架变空。" + }, + { + "t": 69.8, + "log_step": null, + "text_zh": "观察：视频 68.8–69.8 s 的逐帧检查显示，机器人夹持方块7向餐垫中间近上方下降，视频 69.8 s 末帧该牌仍竖立在二指之间，其余四张牌留在垫上。inputs/run.json 的评分器字段 success=1、deterministic=1；log step 109 记录交付的698步轨迹及独立进程重放均 success=True、done=True。" + }, + { + "t": 69.8, + "log_step": 109, + "text_zh": "推断：结合末帧的持牌位置与评分成功，方块7在视频 69.8 s 达到原生区域验收，final=true；没有把仅在餐垫高处经过算作更早达成。无逐帧状态日志，精确跨界时刻不能独立测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 单臂平行二指夹爪夹住方块7的相对两面，提离原灰色牌架并搬运到餐垫区域；到视频 69.8 s 末帧仍保持夹持。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 25.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 18.5–20.0 s，Panda 二指夹爪在中间前排的梅花8两面闭合；视频 21.5–22.5 s，牌随夹爪抬起，原牌架变空。视频 24.0–26.5 s，机器人将牌持到餐垫右侧近上方并下降。" + }, + { + "t": 25.5, + "log_step": null, + "text_zh": "推断：按牌从原架到餐垫的连续运动，将梅花8进入判定区域估为视频 25.5 s（约±0.5 s），此时仍被夹持；视频 28.0 s 已松手并呈蓝背朝上，与先前的红桃6并排。视频 30.0–68.0 s 的全程抽帧及视频 69.8 s 末帧显示该牌始终留在垫内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 单臂平行二指夹爪夹住梅花8的相对两面，提离原灰色牌架并搬运到餐垫区域；下降后张开夹爪松手，牌留在垫上。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 40.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.5, + "log_step": null, + "text_zh": "观察：视频 33.0–35.0 s，Panda 二指夹爪闭合夹住牌阵右侧的红桃9；视频 36.0–37.5 s，红桃9随夹爪升起且原架变空。视频 39.5–42.5 s，机器人将其持到餐垫近上方并下降。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "推断：由红桃9的搬运与下降，将进入餐垫判定区域估为视频 40.5 s（约±0.5 s），仍夹持时即计入；视频 43.0–44.5 s，机器人松开并抬走夹爪，红桃9正面朝上留在垫上。视频 46.0–68.0 s 的抽帧及视频 69.8 s 末帧显示其未离开餐垫。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 单臂平行二指夹爪夹住红桃9的相对两面，提离原灰色牌架并搬运到餐垫区域；下降后张开夹爪松手，牌留在垫上。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 55.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 51.5, + "log_step": null, + "text_zh": "观察：视频 48.0–50.0 s，Panda 二指夹爪闭合夹住牌阵最右侧的黑桃10；视频 51.0–52.5 s，该牌随夹爪离开灰色牌架。视频 54.0–57.5 s，机器人将牌运至餐垫右侧近上方并下降。" + }, + { + "t": 55.0, + "log_step": null, + "text_zh": "推断：由黑桃10在餐垫上方的下降，将进入判定区域估为视频 55.0 s（约±0.5 s），不以松手为前提；视频 58.0–59.5 s，夹爪抬走，牌正面朝上留在红桃9旁。视频 65.5 s 其朝向略有变化，视频 69.8 s 末帧仍处在餐垫内，未形成节点丢失。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 单臂平行二指夹爪夹住黑桃10的相对两面，提离原灰色牌架并搬运到餐垫区域；下降后张开夹爪松手，牌留在垫上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：机器人依次将红桃6、梅花8、红桃9、黑桃10和方块7搬到餐垫区域，视频 69.8 s 末帧五个目标节点均成立，评分器 success=1、deterministic=1，无失败断点。任务设计问题：文字要求把牌放到餐垫上，实际按区域验收；本次末帧方块7仍竖立在夹爪内也获成功，按 DAG 的持物可达成规则标注。推断：无状态日志，前四张牌进入区域的时刻由可见下降过程估计（约±0.5 s），末张以末帧和成功判定共同确认；翻面牌身份以从原牌架开始的连续追踪确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽帧复核：视频 10.5/25.5/40.5/55 s 各牌在餐垫上或近上方，视频 69.8 s 末帧方块7夹持于垫上方且评分器 success=1；节点、接触和无断点均与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:17:54Z", + "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/vlabench-texas-holdem-i00-privileged--hevpx5c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--hevpx5c/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7867b4c9cd74a8d395f699e26896e9ae7e33cb4a5aba1ac3b8f8a17359aa96ab", + "video_sha256": "825b855d02742878a3a3e638476d990b958ac9d77f4e362f12f6167fb7ed2733", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--nqysrjh.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--nqysrjh.json new file mode 100644 index 0000000000000000000000000000000000000000..9aac4f94b546943400eff912b813eed1a7657fb5 --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--nqysrjh.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-privileged--nqysrjh", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 1061, + "sim_steps": 2122, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.574, + "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/vlabench-texas-holdem-i00-privileged--nqysrjh/replay.mp4", + "duration_s": 106.2, + "fps": 10.0, + "frames": 1062, + "sha256": "929af90b7f870eb98585a176b64995190bf0e24d6442d63b44052cf5fccb9185" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 38.5, + 46.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 26–34 s，Panda二指夹爪在红桃6的原牌架处合拢、抬升，牌随夹爪离开牌架；视频 35–39.5 s，机器人将该牌移至餐垫并下降。" + }, + { + "t": 38.5, + "log_step": null, + "text_zh": "推断：视频 38–39.5 s，红桃6仍被夹持、逐渐降至餐垫近上方；按DAG允许持牌的区域判据，约视频 38.5 s进入目标高度范围，时刻有约0.5 s误差。视频 43.5–46.2 s可见松手后的红桃6仍在垫内。" + }, + { + "t": 46.4, + "log_step": null, + "text_zh": "观察：视频 46.2–46.6 s，夹爪已离开，红桃6翻倒并向画面左上方移出餐垫；视频 47–106.1 s，该牌一直留在垫左上方，机器人未移回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26–43.5 s，Panda单个平行二指夹爪夹住红桃6上沿，提离原灰色牌架、搬运并下降至餐垫区域后张开。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 97.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 93.0, + "log_step": null, + "text_zh": "观察：视频 90–94 s，Panda以倾斜夹爪夹住靠近底座的方块7，牌随夹爪离开原支架并向餐垫移动。" + }, + { + "t": 97.5, + "log_step": null, + "text_zh": "推断：视频 97–98.5 s，机器人将仍夹持的方块7降至餐垫近上方，约视频 97.5 s进入DAG的目标高度范围；无逐帧坐标，时刻有约0.5 s误差。" + }, + { + "t": 106.1, + "log_step": null, + "text_zh": "观察：视频 102–106.1 s，方块7松手后翻平并与红桃9部分重叠，两张牌均留在餐垫内；最后一秒未再移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 90–102 s，Panda单个二指夹爪倾斜夹住方块7的上部角边，提起搬到餐垫、下降后张开；没有双臂操作。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 16.5, + 24.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 0 s，梅花8仍在原灰色牌架，餐垫为空；视频 4–12 s，Panda夹住该牌上沿并抬离，原支架变空，牌随夹爪向餐垫移动。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "推断：视频 15.8–17 s，机器人将仍夹持的梅花8从餐垫上方降至近垫面，约视频 16.5 s进入DAG的目标高度范围，时刻有约0.5 s误差。" + }, + { + "t": 23.6, + "log_step": null, + "text_zh": "观察：视频 21–22.5 s，夹爪张开并向后方牌架撤离；视频 22.5–23.6 s，梅花8独立竖立在餐垫区域内。" + }, + { + "t": 24.2, + "log_step": null, + "text_zh": "观察：视频 23.8–24.2 s，梅花8翻倒，转为蓝色背面朝上并向画面下方滑出餐垫边缘；视频 24.4–106.1 s，该牌留在垫下方，未被抓回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4–21.5 s，Panda单个平行二指夹爪夹住梅花8上沿，提离牌架、搬运、下降并张开放开；视频 23.8–24.2 s翻倒时夹爪已远离该牌。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 58.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 48–55 s，Panda在红桃9原牌架处夹住该牌，牌随夹爪抬起并移向餐垫，原牌架留空。" + }, + { + "t": 58.5, + "log_step": null, + "text_zh": "推断：视频 57.5–59 s，机器人将仍夹持的红桃9降至餐垫近上方，约视频 58.5 s进入目标高度范围，时刻有约0.5 s误差；视频 63–64.5 s，夹爪撤离后红桃9清楚可见于垫内。" + }, + { + "t": 106.1, + "log_step": null, + "text_zh": "观察：视频 65–106.1 s，红桃9保持在餐垫区域，末段与方块7部分重叠；检查视频 105.2–106.1 s，未见其移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 48–63 s，Panda单个二指夹爪夹住红桃9上沿，提起搬运、下降到餐垫区域并张开放开。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 81.5, + 95.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 75.0, + "log_step": null, + "text_zh": "观察：视频 69–78 s，Panda夹住黑桃10上沿并将牌从原灰色牌架提离，搬至餐垫上方。" + }, + { + "t": 81.5, + "log_step": null, + "text_zh": "推断：视频 80.5–82 s，机器人将仍夹持的黑桃10降至餐垫近上方，约视频 81.5 s进入目标高度范围，时刻有约0.5 s误差；视频 86–95.2 s，夹爪离开后该牌仍竖立于红桃9旁的垫内。" + }, + { + "t": 95.5, + "log_step": null, + "text_zh": "观察：视频 95.3–95.7 s，黑桃10向画面右方翻转、飞出餐垫区域；当时机器人在垫的另一侧持方块7，未见其与黑桃10直接碰撞。视频 96–106.1 s，蓝色背面朝上的黑桃10停留在垫右侧，未被移回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 69–86 s，Panda单个二指夹爪夹住黑桃10上沿，提离原支架、搬至餐垫区域并张开放开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_8_of_clubs_on_placemat", + "t": 24.0, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频 22.5–23.6 s，梅花8已在餐垫区域松手竖立，Panda空夹爪撤往红桃6的牌架；视频 23.8–24.2 s，梅花8翻倒滑出餐垫，随后一直留在垫下方直到视频 106.1 s。推断：这是五张牌中最早达成后失去且未恢复的节点，断点属于梅花8上餐垫，发生于空爪转向下一张牌时。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": true, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": true, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 24.0, + "log_step": null, + "evidence_zh": "观察：视频 21–23.6 s，机器人已在餐垫区域放开梅花8并撤走夹爪，该牌独立竖立；视频 23.8–24.2 s，牌翻倒、露出蓝色背面并滑至餐垫下缘外。松手时已在目标区域，失去发生在松手之后。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 24.0, + "log_step": 41, + "evidence_zh": "推断：机器人采用竖直持牌下降后直接张爪、向上撤离的放置接触方案，没有先将梅花8铺平或在翻平时持续支承，留下不稳定的竖直牌。视频 22.5–23.6 s的独立竖立及视频 23.8–24.2 s的翻倒滑出支持这一归因；log step 27的控制脚本片段及log step 41保存时的方案记录也描述下降、张爪、上撤。可行替代由参考成功视频支持：oracle 视频 20–60 s已有牌平放留在垫内，oracle 视频 74.2 s结合其success=1显示所有目标可同时保留在区域内；参考视频仅用于确认可行替代。", + "source_zh": "视频" + } + ], + "gap_zh": "没有逐帧物体位置或接触状态日志；持牌下降穿越高度阈值的时刻由视频估计，约有0.5 s误差。梅花8松手后翻倒滑出可以直接看到，但具体摩擦、受力及翻倒触发未被记录，不将agent在log step 42提出的“后放的牌碰撞或撤手拖动”猜测当作事实。黑桃10的末段翻转也未见直接碰撞。" + }, + "summary_zh": "五张指定牌都被Panda夹爪提离牌架并曾进入餐垫区域，但同时达成的峰值和终态均为2/5，最终仅红桃9与方块7保留。最早未修复的失败是梅花8在松手竖立后于视频约24 s翻倒滑出，符合放后不稳，支持放置接触设计不稳定这一根因；红桃6与黑桃10后来也移出。无逐帧状态日志，进入目标高度范围的时刻约有0.5 s误差，具体力学触发仍不明确。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "梅花8在视频约23.6 s仍竖立于垫内、24.2 s已翻倒滑出垫外，断点、放后不稳及抓取和接触设计根因与帧和log（step 40 最终状态仅9h、7d为True，step 41笔记）一致；峰值与终态2/5成立。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:26:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--nqysrjh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--nqysrjh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "68b68124b2edb128c8222403602076271d0ea468eb6a0ff55f2bbb3aeb112dbe", + "video_sha256": "929af90b7f870eb98585a176b64995190bf0e24d6442d63b44052cf5fccb9185", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--r5qqxpq.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--r5qqxpq.json new file mode 100644 index 0000000000000000000000000000000000000000..e3790ac4e14a539df93ffa839f9d28debf7302f7 --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-privileged--r5qqxpq.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-privileged--r5qqxpq", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "deterministic": 1, + "missing_trajectory": 0, + "invalid_trajectory": 0, + "grader_error": 0, + "n_actions": 1033, + "sim_steps": 2066, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-privileged--r5qqxpq/replay.mp4", + "duration_s": 103.4, + "fps": 10.0, + "frames": 1034, + "sha256": "ba96be32db7bf22602d800d7b9816d76f1ad13e1b056b56509822209eac51dda" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 103.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 96.0, + "log_step": null, + "text_zh": "观察：视频 92.0–96.0 s，Panda二指夹爪夹住左侧的红桃6并提离灰色牌架，原架为空；视频 100.0–103.3 s，机器人把该牌向餐垫中央下降，视频 102.3–103.3 s逐帧可见牌继续降低，末帧仍竖立在夹爪下方、牌堆上方，尚未落平。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "推断：视频 103.3 s末帧红桃6已降低至垫中央牌堆近上方；评分器reward.success=1、deterministic=1，且log step 88、93对交付文件的两次独立重放均返回success=True，并报告五张牌各自的原生contain=True，因此按本次原生验收，红桃6在视频末帧达标，无需落平或松手。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "观察：log step 82保存1,033步交付文件，log step 88记录重放成功及生成器动作完全相同，log step 93第二次重放再次返回success=True和红桃6的原生contain=True；评分器reward.success=1、deterministic=1。视频 103.3 s显示餐垫中央牌堆仍在，未见该牌落到垫外；这些重放结果与所见转移过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda平行二指夹爪夹住红桃6上部，提离灰色牌架后搬到餐垫上方并降低；末帧牌仍紧邻指尖竖立，未见完整放平过程。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 82.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 78.0, + "log_step": null, + "text_zh": "观察：视频 71.0–78.0 s，Panda夹爪横向接近后排靠近底座的方块7，合爪后该牌随夹爪升起，后排原架为空；视频 79.0–83.5 s，该牌随腕部转向并下降至垫中央牌堆，视频 84.0–86.0 s，夹爪离开而方块牌面留在垫内。" + }, + { + "t": 82.0, + "log_step": null, + "text_zh": "推断：依据视频中持牌下降的连续画面，方块7约在视频 82.0 s进入餐垫近上方的验收区域，首次时间估计误差约0.5 s；按DAG允许持物达标，不等到松爪才计入。随后该牌落在垫中央，后续抽查至视频 103.3 s未见其移出餐垫；叠放后下层牌被遮挡。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "观察：log step 82保存1,033步交付文件，log step 88记录重放成功及生成器动作完全相同，log step 93第二次重放再次返回success=True和方块7的原生contain=True；评分器reward.success=1、deterministic=1。视频 103.3 s显示餐垫中央牌堆仍在，未见该牌落到垫外；这些重放结果与所见转移过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂把二指夹爪转为横向，从方块7的侧边相向夹紧，提起后转腕搬到餐垫中央，张爪释放。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 58.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 49.0–52.0 s，Panda二指夹爪夹住梅花8，从中间前排灰色牌架提起，原架为空；视频 57.0–61.5 s，机器人把该牌下降至餐垫中央的牌堆并松爪，梅花牌面留在垫内。" + }, + { + "t": 58.5, + "log_step": null, + "text_zh": "推断：依据视频中持牌下降的连续画面，梅花8约在视频 58.5 s进入餐垫近上方的验收区域，首次时间估计误差约0.5 s；按DAG允许持物达标，不等到松爪才计入。随后该牌落在垫中央，后续抽查至视频 103.3 s未见其移出餐垫；叠放后下层牌被遮挡。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "观察：log step 82保存1,033步交付文件，log step 88记录重放成功及生成器动作完全相同，log step 93第二次重放再次返回success=True和梅花8的原生contain=True；评分器reward.success=1、deterministic=1。视频 103.3 s显示餐垫中央牌堆仍在，未见该牌落到垫外；这些重放结果与所见转移过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda平行二指夹爪夹住梅花8上部，提离牌架并搬到餐垫中央牌堆，随后张爪释放。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 15.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 5.0–8.0 s，Panda二指夹爪合拢夹住红桃9上部，牌从右侧灰色牌架升起，原架随后为空；视频 14.0–18.5 s，机器人把该牌下降到餐垫中央并松爪，牌倒平留在垫内。" + }, + { + "t": 15.5, + "log_step": null, + "text_zh": "推断：依据视频中持牌下降的连续画面，红桃9约在视频 15.5 s进入餐垫近上方的验收区域，首次时间估计误差约0.5 s；按DAG允许持物达标，不等到松爪才计入。随后该牌落在垫中央，后续抽查至视频 103.3 s未见其移出餐垫；叠放后下层牌被遮挡。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "观察：log step 82保存1,033步交付文件，log step 88记录重放成功及生成器动作完全相同，log step 93第二次重放再次返回success=True和红桃9的原生contain=True；评分器reward.success=1、deterministic=1。视频 103.3 s显示餐垫中央牌堆仍在，未见该牌落到垫外；这些重放结果与所见转移过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda单臂的平行二指夹爪夹住红桃9上部，提离灰色牌架并搬到餐垫中央，随后张爪释放。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 37.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 27.0–30.0 s，Panda二指夹爪夹住黑桃10提离最右侧灰色牌架，原架为空；视频 35.5–40.0 s，机器人把该牌下降至餐垫中央的红桃9上方并释放，黑色牌面留在垫内。" + }, + { + "t": 37.0, + "log_step": null, + "text_zh": "推断：依据视频中持牌下降的连续画面，黑桃10约在视频 37.0 s进入餐垫近上方的验收区域，首次时间估计误差约0.5 s；按DAG允许持物达标，不等到松爪才计入。随后该牌落在垫中央，后续抽查至视频 103.3 s未见其移出餐垫；叠放后下层牌被遮挡。" + }, + { + "t": 103.3, + "log_step": 93, + "text_zh": "观察：log step 82保存1,033步交付文件，log step 88记录重放成功及生成器动作完全相同，log step 93第二次重放再次返回success=True和黑桃10的原生contain=True；评分器reward.success=1、deterministic=1。视频 103.3 s显示餐垫中央牌堆仍在，未见该牌落到垫外；这些重放结果与所见转移过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda平行二指夹爪夹住黑桃10上部，提离牌架、搬运并在餐垫中央张爪释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分视频中，Panda依次抓取红桃9、黑桃10、梅花8、方块7和红桃6；前四张叠放在餐垫中央，红桃6在视频 103.3 s末帧下降到餐垫近上方，评分器成功且确定性重放通过，五个目标终值均为真。任务设计问题：指令要求把牌放到餐垫上，原生验收却允许末张牌仍在夹爪下方竖立悬于垫面上方便成功，本次末帧及log step 88、93的contain结果支持这一差异（DAG的N1、D17口径）。推断：无状态日志且原生几何边界源码未提供，前四张首次进入区域的时刻按视频估计、误差约0.5 s；叠放遮住下层牌的终态由连续搬运画面和交付重放的逐牌结果共同支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点均在持牌进入餐垫上方时达标，时间与帧相符，contact 为抓握，无失败层，任务设计说明（末张牌夹持悬空即成功）有据。未发现需改动处。", + "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": "2026-10-30T02:35:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--r5qqxpq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-privileged--r5qqxpq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d414cc56e2f211ecdf2f0726d20001ffd3c0ef445df706ab1dbf156f002c2810", + "video_sha256": "ba96be32db7bf22602d800d7b9816d76f1ad13e1b056b56509822209eac51dda", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--5zjktry.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--5zjktry.json new file mode 100644 index 0000000000000000000000000000000000000000..5f38b099016c04509cb6de1cb94352105ef95c59 --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--5zjktry.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--5zjktry", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 4424, + "sim_steps": 4424, + "calls": 789, + "rows": 4424, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1695.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.215, + "peak_processes": 9, + "peak_disk_gb": 0.314, + "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/vlabench-texas-holdem-i00-standard--5zjktry/replay.mp4", + "duration_s": 63.3, + "fps": 10.0, + "frames": 633, + "sha256": "b765062c9b0a657c015ba644bdf87d00965b7d6508549af00d1138b68f817f7a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 1, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": 35, + "text_zh": "观察：视频 7.8–8.2 s，机器人二指夹爪夹住左侧第二张红桃6并向上提，牌离开灰色牌架。" + }, + { + "t": 8.4, + "log_step": 37, + "text_zh": "观察：视频 8.3–8.5 s，夹爪与红桃6分离，牌翻倒露出蓝背，落回原牌架前方；视频 9.0–10.0 s 机器人空夹爪移到餐垫上方，蓝背牌仍留在原处。" + }, + { + "t": 63.2, + "log_step": null, + "text_zh": "观察：视频 10.5–63.2 s 可连续追踪这张蓝背牌留在餐垫后方桌面，未进入棕色圆垫；视频 63.2 s 它仍在垫外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.8–8.2 s，Panda二指夹住红桃6上部并提离牌架；视频约 8.3 s 松脱，未保持到餐垫。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，方块7位于靠机器人底座的后排牌架，餐垫为空。" + }, + { + "t": 21.1, + "log_step": 49, + "text_zh": "观察：视频 20.5–21.2 s，机器人在底座附近向方块7下探，牌随后倒到后排牌架右侧桌面，夹爪抬起时没有携带该牌。" + }, + { + "t": 63.2, + "log_step": null, + "text_zh": "观察：视频 22.5–63.2 s，方块7留在后排牌架旁的垫外桌面，机器人后续在前方红桃9及梅花8附近操作，没有将方块7搬到餐垫。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 21.1 s，Panda夹爪下探时碰倒底座旁的方块7，使其离开牌架；未见夹住该牌并带走。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 54.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.2, + "log_step": 25, + "text_zh": "观察：视频 3.8–4.1 s，机器人夹住中央梅花8并上提；视频 4.2–4.6 s 夹爪张开后牌落回中央灰色牌架旁，餐垫仍为空。" + }, + { + "t": 54.4, + "log_step": 76, + "text_zh": "推断：视频 52.4–54.6 s，机器人夹起中央灰色牌架，原先斜靠其上的梅花8随其移动；视频 54.4 s 牌架下降到餐垫近上方，随后视频 54.7 s 梅花8从其旁翻落并显露黑色梅花正面。结合连续搬运及翻落前后位置，约视频 54.4 s 进入目标区域，时间误差约 0.5 s。" + }, + { + "t": 55.3, + "log_step": null, + "text_zh": "观察：视频 54.7–55.3 s，梅花8落在餐垫右缘并停止移动；牌有部分伸出垫外，但牌面中心在棕色垫的轮廓内，不能按整张牌必须在垫上而判未达。" + }, + { + "t": 63.2, + "log_step": null, + "text_zh": "观察：视频 55.3–63.2 s，梅花8保持在餐垫右缘，牌面中心仍在垫内，灰色牌架另落在垫中央；未再被移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.8–4.1 s，Panda二指夹住梅花8并向上提，随后张开而失去该牌。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频 52.4–54.7 s，机器人误夹起灰色牌架，牌架承托斜靠的梅花8一起搬到餐垫近上方，随后牌翻落到垫右缘；此处作用链为夹爪持牌架、牌架承托梅花8。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 14.0, + 22.1 + ] + ], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": 44, + "text_zh": "观察：视频 12.5–13.5 s，机器人二指夹住右侧红桃9并提离牌架，向餐垫搬运。" + }, + { + "t": 14.0, + "log_step": 44, + "text_zh": "观察：视频 14.0–14.3 s，红桃9下降到餐垫内的近上方，随后松开；视频 14.5–21.9 s 它竖立在餐垫后缘内侧。持牌或竖立不排除本节点成立。" + }, + { + "t": 22.1, + "log_step": null, + "text_zh": "观察：视频 22.0 s 红桃9仍在垫后缘内侧；视频 22.1–22.2 s 它倾倒到后缘外的桌面。视频 22.5–49.0 s 及视频 56.5–63.2 s，机器人多次对该平躺牌下探或推拨，但牌没有被带入垫内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 12.5–14.3 s，Panda二指夹住红桃9上部，提起并运到餐垫后缘后释放。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 22.5–49.0 s 及视频 56.5–63.2 s，Panda指端反复触及、推拨平躺的红桃9，牌在垫后缘外小幅平移或转动，未随夹爪抬起。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 18.0, + 21.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 17.5, + "log_step": 45, + "text_zh": "观察：视频 15.5–17.5 s，机器人夹起原右侧最外的黑桃10，原牌架变空，并把牌搬向餐垫。" + }, + { + "t": 18.0, + "log_step": 45, + "text_zh": "观察：视频约 18.0 s，机器人将黑桃10降入餐垫近上方并释放；视频 18.9–21.4 s，连续追踪的蓝背黑桃10躺在垫前缘，中心位于垫内。" + }, + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 21.5–21.6 s，蓝背黑桃10翻转滑移到餐垫前方偏右，牌中心越过棕色边界；视频 22.0–63.2 s 保持在该垫外位置，未被机器人取回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 15.5–18.9 s，Panda二指夹住黑桃10，提离牌架、搬运到餐垫近上方后松开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_6_of_hearts_on_placemat", + "t": 8.3, + "log_step": 37, + "where": "操作中", + "evidence_zh": "观察：视频 8.1–8.2 s，红桃6仍随夹爪上提；视频 8.3–8.5 s 它脱离夹爪翻落到原牌架前方，之后直到视频 63.2 s 仍在垫外。更早掉回牌架的梅花8后来在视频约 54.4 s 被带进目标区域并留在垫边，因此其早期失误已修复；红桃6上餐垫是最早始终未修复的失败步骤。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": true, + "card_9_of_hearts_on_placemat": false, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 8.3, + "log_step": 37, + "evidence_zh": "观察：视频 7.8–8.2 s，红桃6被机器人二指夹住并离架上提；视频 8.3–8.5 s 夹爪张开、牌掉回桌面并露出蓝背。视频 9.0–10.0 s 空夹爪继续向餐垫运动，红桃6未随行。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 8.3, + "log_step": 37, + "note_zh": "控制脚本的夹爪状态在新进程中被重新初始化为张开。", + "evidence_zh": "推断：log step 12 的控制脚本在导入时设 state={grip:0.04}，move_q 将该值写入两指目标。log step 35 在一个进程内闭合两指并提起红桃6；log step 37 新启进程导入控制脚本，未指定闭合值就执行搬运，随后服务本体读数两指均约0.04米，与视频 8.3–8.5 s 的掉牌吻合。log step 38 随后把初始化改为读取服务记录的上一夹爪指令，log step 87 agent 也自述这个错误；据此归为控制实现错误。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志及逐牌原生contain结果，边缘验收依DAG和画面判断。梅花8随牌架搬运时部分被夹爪遮挡，进入区域的起点由视频 54.4–54.7 s 的下降及翻落前后连续性推断，误差约0.5 s；末态可见其牌面中心在垫右缘内。HF视频时钟与日志控制步不等长，未用agent时间或控制步换算视频时间。" + }, + "summary_zh": "机器人尝试了五张牌：红桃9、黑桃10曾进入餐垫后又移出，梅花8后段随误抓的牌架移到垫右缘并保留，最终完成1/5，历史最多同时完成2/5。最早未修复的断点是红桃6上餐垫：视频约8.3 s 搬运前掉牌，日志支持新进程重置夹爪张开指令的控制错误；agent在log step 87自述“没有牌在垫上”，但视频末帧的梅花8中心仍在垫内。无逐牌状态判定，梅花8的进入时刻及边缘位置按视频推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与区间（红桃9 14.0–22.1 s、黑桃10 18.0–21.5 s、梅花8 54.4 s 起保留、红桃6/方块7未达）、断点（红桃6，约8.3 s 掉牌）、现象（没保持住）和根因（log step 37 新进程夹爪状态复位为张开，服务读数两指0.04）均与视频和日志一致，未发现需改动之处。梅花8在垫右缘属边缘判断，已标为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:02:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--5zjktry/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--5zjktry/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7124ac22365808ec77e448c0bd670bbd88c52276be11e63c3484c68f34fd722f", + "video_sha256": "b765062c9b0a657c015ba644bdf87d00965b7d6508549af00d1138b68f817f7a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--aoyjdgr.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--aoyjdgr.json new file mode 100644 index 0000000000000000000000000000000000000000..4b282aba6d0f033c906647aefd96de34b1bd0e4b --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--aoyjdgr.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--aoyjdgr", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 364, + "sim_steps": 364, + "calls": 24, + "rows": 364, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1730.0, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.339, + "peak_processes": 9, + "peak_disk_gb": 1.106, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-standard--aoyjdgr/replay.mp4", + "duration_s": 36.5, + "fps": 10.0, + "frames": 365, + "sha256": "d711e2611666d4c552c4cbd7f9f8c515bf76dbbee8c52f7c1684aa5d7239742b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的红桃6在从左数第二个灰色牌架。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频约 4.4–4.7 s，机器人操作左邻方块7时，红桃6也被带倒，正面朝上落在原牌架右侧；视频 5.5–36.4 s 该牌停留于此，餐垫外的位置始终未恢复或搬走。" + }, + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 36.4 s，红桃6仍正面朝上躺在中央空牌架左侧，棕色餐垫为空。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "Panda夹爪尝试抓取方块7时，指端在相邻牌顶附近运动并将红桃6拨倒到架旁；这是同次操作的附带移牌，未见对红桃6的独立抓握搬运。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的方块7位于最左侧灰色牌架，棕色餐垫为空。" + }, + { + "t": 4.5, + "log_step": 34, + "text_zh": "观察：视频约 4.4–5.5 s，Panda夹爪下探后方块7翻倒至原牌架左前侧，露出蓝色牌背；视频 6.0–26.0 s 的多次下探和空爪抬升没有把它取走。" + }, + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 35.4–36.4 s，方块7仍在原牌架左前侧、餐垫外，未被搬到餐垫区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "Panda二指夹爪下探、闭合过程中拨动并碰倒方块7；随后在原抓取位置反复开合，未见夹住牌体并带离的稳定抓握。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，梅花8直立在最右侧的前排灰色牌架。" + }, + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 0.0–36.4 s 的连续抽帧中，梅花8保持在原灰色牌架，未被取走；视频 35.4–36.4 s 仍直立于该处，未进入餐垫区域。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红桃9直立在中央牌架右侧的前排灰色牌架。" + }, + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 0.0–36.4 s 的连续抽帧中，红桃9保持在原灰色牌架，未被取走；视频 35.4–36.4 s 仍直立于该处，未进入餐垫区域。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的黑桃10直立在中央前排灰色牌架。" + }, + { + "t": 28.9, + "log_step": 39, + "text_zh": "观察：视频约 28.7–29.2 s，Panda夹爪在中央牌架处下探并使黑桃10翻倒，蓝色牌背落在牌架右前方；视频 30.0–34.5 s 机器人空爪抬升、转向并移到餐垫上方，黑桃10留在桌面原落点。" + }, + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 35.4–36.4 s，黑桃10仍在餐垫右后方外侧，牌与餐垫之间有可见间隙；未曾随夹爪进入餐垫区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "Panda夹爪指端下探时拨倒黑桃10，使其翻面并滑到牌架前侧；未见二指夹住并搬运该牌。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_7_of_diamonds_on_placemat", + "t": 4.4, + "log_step": 34, + "where": "操作中", + "evidence_zh": "观察：视频约 4.4–5.5 s，Panda夹爪首次在最左侧方块7处下探，方块7与相邻红桃6翻倒在原牌架附近，未被夹起搬运；视频 6.0–26.0 s 反复重试后方块7仍留在垫外，视频 36.4 s 也未修复。log step 34 的脚本先后重试同一张牌，log step 39 转向中央牌架的另一张牌；故最早未修复的是方块7上餐垫。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": false, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.4, + "log_step": 34, + "evidence_zh": "观察：视频约 4.4–4.7 s，Panda夹爪在方块7与红桃6顶缘附近下探时，两张牌被碰动并相继翻倒；视频约 5.0–5.5 s 方块7蓝色牌背落至架旁，红桃6正面朝上落至邻架右侧。机器人随后抬爪，两牌未随爪搬运，始终未进入餐垫。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 25–26 的控制脚本目标是从牌顶夹住两面、提离牌架再搬至餐垫；但视频约 4.4–6.5 s 实际执行将目标牌及邻牌碰倒并空爪抬升，视频 8.0–26.0 s 后续重试仍未建立可搬运的抓握。log step 34 的三轮抓取检查均返回蓝色像素计数0，随后搬运函数发生数组维度错误，log step 39 才改用另一脚本转取其他牌，方块7未恢复。证据支持抓取执行与控制脚本存在问题，无法可靠区分接触几何、模型误差或跟踪控制等更细子类。" + } + ], + "gap_zh": "没有模拟器状态日志、接触力或逐牌contain读数；提供的视频只有正面视角，指端短暂遮挡牌顶，因此不细分控制子因，也不认定曾建立稳定抓握。原生区域的严格边界仍有DAG所述源码缺口，但已检查的倒牌落点明显在垫外，不影响五节点未达的判断。log step 39 虽写有处理另外两张立牌与推倒牌的后续代码，本次视频在仅执行中央牌架操作后结束，未把未执行代码记为尝试。" + }, + "summary_zh": "本次五张指定牌均未进入餐垫区域，最终及最高进度均为0/5。Panda在视频约 4.4 s 尝试抓取方块7时将其和相邻红桃6碰倒，反复空抓未修复；之后黑桃10也被碰倒，机器人空爪移向餐垫，断点为方块7上餐垫，根因保守归为控制。无状态日志或接触力记录，无法进一步确定抓取失败的控制子因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点均未达、断点（方块7上餐垫）、碰倒现象与保守的控制根因都与视频一致；视频 3.0–5.0 s 夹爪在最左牌架下探后方块7、红桃6倒下，36 s 时餐垫仍空。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:29:35Z", + "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/vlabench-texas-holdem-i00-standard--aoyjdgr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--aoyjdgr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8c3ac54914f305c7986a1d0660a7d000ee42437b484e5a0da09d2580e04080a6", + "video_sha256": "d711e2611666d4c552c4cbd7f9f8c515bf76dbbee8c52f7c1684aa5d7239742b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--cxrprzk.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--cxrprzk.json new file mode 100644 index 0000000000000000000000000000000000000000..59c7f676114996ec8e7d63d03fc344134e88bac5 --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--cxrprzk.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--cxrprzk", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 3312, + "sim_steps": 3312, + "calls": 175, + "rows": 3312, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3580.3, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-standard--cxrprzk/replay.mp4", + "duration_s": 66.4, + "fps": 10.0, + "frames": 664, + "sha256": "03600e4682af9b358d87004ee6e9e102777a86a0e941dc510fd9f63a780e565e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 1, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 7.0, + 16.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": 37, + "text_zh": "观察：视频 0.0 s 红桃6在前排左数第二个灰架；视频 2.0–7.5 s 机器人二指夹爪夹住该牌、移离空出的牌架，转平后降至餐垫上；视频 8.0–14.0 s 可见该红桃牌平放在垫内。首次进入低位目标区约为视频 7.0 s，精度约半秒。" + }, + { + "t": 16.6, + "log_step": 50, + "text_zh": "观察：视频 16.4 s 红桃6仍在垫内；视频 16.6–16.8 s 机器人在放置梅花8时，夹爪侧面碰到已放的红桃6，该牌迅速向画面右侧弹出餐垫。视频 18.0 s 可见红桃6躺在垫外桌面。" + }, + { + "t": 66.3, + "log_step": 62, + "text_zh": "观察：视频 18.0–66.3 s 红桃6始终在餐垫右侧桌面，后续没有回到垫内；log step 62 中 agent 也承认第二次放置挤走了红桃6，并称稍后会返回处理，但片尾仍未恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.0–7.5 s Panda二指夹爪夹住红桃6的两面并搬到餐垫；视频 16.6 s 后续放梅花8时，夹爪侧面又碰推红桃6出垫。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.8, + "log_step": 109, + "text_zh": "观察：视频 47.8–48.6 s 方块7仍竖立在后排右侧灰架；视频 48.8–49.2 s 机器人夹爪接近后牌面倒下/被遮住，原位仅余灰架及其上方薄片。视频 52.6–57.5 s 夹爪离开该处、转腕并移向餐垫时，未见方块7随夹爪带到垫上。" + }, + { + "t": 66.3, + "log_step": 115, + "text_zh": "观察：视频 57.5–59.5 s 机器人在垫上张爪、退开后，垫上仍只有先前的梅花8蓝背牌和红桃9；视频 66.3 s 也未出现新增的方块7。log step 115 虽输出“7d recover lower”等脚本阶段名，视频没有显示该牌完成转移。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 48.8–49.2 s Panda夹爪触及后排方块7，使原来竖立的牌倒下；未见二指成功夹持该牌随手搬运。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 16.8, + 59.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 16.8, + "log_step": 50, + "text_zh": "观察：视频 10.0–16.4 s 机器人二指夹爪夹持前排中央的梅花8离架并转平；视频 16.8–17.0 s 该牌落在餐垫左上部，翻成蓝色牌背。之后连续追踪此蓝背牌，视频 18.0–58.8 s 其位置一直在垫内。" + }, + { + "t": 59.5, + "log_step": 115, + "text_zh": "观察：视频 59.2–59.6 s 机器人从餐垫退开时碰拨蓝背梅花8，该牌突然滑向画面左上边缘；视频 59.6–66.3 s 牌身跨在垫边、牌面中心位于棕色垫面之外，未再回移。" + }, + { + "t": 66.3, + "log_step": 56, + "text_zh": "推断：依据 log step 56 所用正面相机标定，将所检查的视频 0.0 s 垫面轮廓和视频 66.3 s 蓝背牌中心投影到约同一桌面平面，估得末态牌中心距垫中心约0.174米，略大于DAG记载的约0.17米判定半径，因此将视频约 59.5 s 后标为失去。此处没有原生contain读数，边界判断受像素和参考点精度限制。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.0–16.4 s Panda二指夹爪夹住梅花8并搬运；放开后它翻成蓝背落垫。视频 59.5 s 机器人退爪时又碰拨这张牌至垫边外。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 26.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.8, + "log_step": 63, + "text_zh": "观察：视频 21.4–26.5 s 机器人二指夹爪夹持红桃9离开右侧灰架，搬向餐垫并转平；视频 26.8–27.5 s 牌落到垫内、位于蓝背梅花8的右下方，首次满足目标区条件约为视频 26.8 s。" + }, + { + "t": 66.3, + "log_step": 120, + "text_zh": "观察：视频 28.0–65.4 s 红桃9一直在垫上；视频 65.5–65.9 s 它受退爪碰动而在垫内滑移，视频 66.0–66.3 s 仍平放于垫面上部，没有移出目标区。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 21.4–26.8 s Panda二指夹爪夹住红桃9两面，将其从牌架搬至餐垫并放开；视频 65.5 s 退爪还碰动该牌，但仍留在垫内。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.2, + "log_step": 63, + "text_zh": "观察：视频 20.8–21.2 s 机器人抓取相邻红桃9时碰倒黑桃10；黑桃10从最右侧灰架倒到右侧桌面，没有进入餐垫。" + }, + { + "t": 47.5, + "log_step": 95, + "text_zh": "观察：视频 28.0–35.5 s 机器人在原黑桃10牌架附近合爪后空手移向餐垫；视频 36.0–47.5 s 两次到右侧平放牌处下探、合爪再移向垫上，黑桃10始终留在原桌面位置，未随夹爪抬起。" + }, + { + "t": 66.3, + "log_step": 119, + "text_zh": "观察：视频 60.0–63.0 s 机器人再次接近平放的黑桃10并向餐垫移动，牌仍留在垫右上方桌面；视频 65.4–66.3 s 清楚可见其黑色牌面在灰架右侧，餐垫上没有黑桃10。log step 119 的“flat lift/carry/place”只是脚本阶段输出，未由画面实现。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 21.2 s Panda夹爪抓邻牌时碰倒黑桃10；视频 28.0–35.5 s 及视频 36.0–47.5 s、视频 60.0–63.0 s 后续夹取未见两指夹住目标搬运，实际可确认的牌接触是碰拨。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_6_of_hearts_on_placemat", + "t": 16.6, + "log_step": 50, + "where": "操作中", + "evidence_zh": "观察：视频 16.4 s 红桃6已平放在餐垫内；视频 16.6–16.8 s 机器人放置梅花8时用夹爪侧面将红桃6碰出垫面。视频 18.0–66.3 s 红桃6仍在垫右侧，始终未修复；这比后续黑桃10、方块7的失败以及梅花8移出边缘更早。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 16.6, + "log_step": 50, + "evidence_zh": "观察：视频 16.4–16.8 s 机器人夹爪在梅花8的下降/放开动作中扫到已放好的红桃6，红桃6由垫内猛然弹到垫右侧桌面；视频 18.0 s 两牌已分处垫内和垫外。该接触破坏了先前完成的红桃6位置关系。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 16.4–16.8 s 中，机器人放置梅花8时的夹爪占位与已放红桃6重叠，夹爪侧面把红桃6扫走，说明本次落点及末端接触布局未给已有牌留出空间。log step 62 中 agent 明确承认第二次放置挤走红桃6，并将后续落点拉开以防牌相撞，支持这一接触布局问题；该步未在本运行中重新布置并修复，具体可行替代布局记为未知。" + } + ], + "gap_zh": "无状态日志或逐牌原生contain结果；DAG所述严格几何阈值仍待完整源码核实。梅花8在视频 59.5–66.3 s 接近判区边缘，末态false由标定投影约0.174米与DAG约0.17米阈值比较推断，存在毫米级边界不确定性；方块7在视频 49.0 s 后局部受夹爪和本体遮挡，无法精确确认倒牌落点，但餐垫可见且没有出现该牌的转移结果。各节点时间均取检查过的帧，没有将agent工作时间或control_steps换算为视频时间。", + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": true, + "card_10_of_spades_on_placemat": false + } + }, + "summary_zh": "观察：该评分轨迹先将红桃6、梅花8、红桃9分别送入餐垫区域，历史同时满足最多2/5；红桃6在视频约 16.6 s 被后续夹爪碰出且未修复，方块7和黑桃10未见成功转移。推断：首次未修复断点为红桃6上餐垫，原因是后续放牌的末端接触布局干涉已放牌；梅花8在视频约 59.5 s 被拨到判区外，最终仅红桃9满足，即1/5，与评分器success=0一致。末态梅花8的边界由视频投影推断，缺少原生contain状态。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查关键帧：红桃6于约7 s入垫、16.4–17.2 s被放梅花8的夹爪扫出垫外并始终未恢复；梅花8至59–60 s被拨到垫边、中心约在边缘（边界判断为推断且已如实标注）；红桃9在垫内到片尾；方块7、黑桃10始终未上垫。断点、现象、根因与1/5一致，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:33:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--cxrprzk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--cxrprzk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e96ba62f0c3a31fcbf2fb0a0fbee253f650f9c9fe2a1037456ab46c2b6191f06", + "video_sha256": "03600e4682af9b358d87004ee6e9e102777a86a0e941dc510fd9f63a780e565e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--jj66grq.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--jj66grq.json new file mode 100644 index 0000000000000000000000000000000000000000..a158fa67ed6c846f94f3a43d3313ad270b69741a --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--jj66grq.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--jj66grq", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 2391, + "sim_steps": 2391, + "calls": 173, + "rows": 2391, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2668.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.375, + "peak_processes": 6, + "peak_disk_gb": 0.531, + "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/vlabench-texas-holdem-i00-standard--jj66grq/replay.mp4", + "duration_s": 79.8, + "fps": 10.0, + "frames": 798, + "sha256": "cc46bd59e5ca44b0cddaca46fb8883d6d323a02c535867522c8b6c9b166f6bd3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 0, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 9.0, + 9.6 + ], + [ + 12.0, + 12.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 9.2, + "log_step": null, + "text_zh": "观察：视频 7.5–8.8 s，机器人夹取初态左数第二张红桃6；视频 9.0–9.5 s 牌在夹爪下方翻出蓝背，处于餐垫内部近上方。视频 9.6–10.0 s 它随夹爪升起离开近垫高度，餐垫重新显空。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "推断：连续追踪视频 9.6–12.3 s，红桃6仍贴随夹爪，机器人随后抓取黑桃10；两牌在视频约12.0–12.2 s 一同降到餐垫右部近上方，随后飞落垫外。视频 12.3 s 可见蓝背红桃6与正面黑桃10并排躺在垫右前方；短暂区间边界约有0.2 s误差。" + }, + { + "t": 79.7, + "log_step": null, + "text_zh": "观察：视频 20.0–20.5 s 及后续推扫使蓝背红桃6沿桌面移动；视频 68.0–77.6 s 它与另一张蓝背牌仍在餐垫前侧桌面，未登上垫面；视频 79.7 s 餐垫已移出左侧视野，两张蓝背牌仍在桌上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.5–9.6 s，Panda二指夹爪夹取红桃6并搬到垫上方，牌随后仍贴随夹爪。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 20.0–20.5 s 及后续多次操作，Panda夹爪侧面和手指扫动已翻成蓝背的红桃6，使它沿桌面向餐垫方向滑动。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 2.5, + 2.9 + ] + ], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的最左侧竖牌为方块7；视频 1.5 s 已离开灰色牌架，随Panda二指夹爪移动。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "推断：视频 2.5–2.8 s，机器人将夹持的方块7降到餐垫内部近上方，按允许持牌的区域判据短暂达成；起点约有0.2 s不确定性。" + }, + { + "t": 2.9, + "log_step": 85, + "text_zh": "观察：视频 2.9 s 方块7从夹爪下方向右前方飞出，视频 3.0–3.1 s 落在餐垫外的桌前缘；视频 6.5 s、40.0 s、79.7 s 仍在该处，未被送回。log step 85 的脚本在降到放牌点后安排张爪，随后收回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1.0–2.8 s，Panda二指夹爪夹住方块7，从左侧牌架取出并搬到餐垫上方；视频 2.9 s 张爪阶段牌飞出。后续伸向桌边的扫动未见该牌被实际推移。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.6, + "log_step": 121, + "text_zh": "观察：视频 13.4–13.8 s，机器人操作右前方牌时碰倒最右侧梅花8；视频 18.8 s 它仍正面朝上横躺在原灰架右侧，餐垫上的蓝背牌由红桃9连续追踪而来，不能按log step 121 的脚本名称计作梅花8已放置。" + }, + { + "t": 23.5, + "log_step": null, + "text_zh": "观察：视频 21.6–23.5 s，机器人转向梅花8，将其翻起并带离原位置，视频 23.5 s 它已蓝背朝上落在原牌架右前方桌面，餐垫仍在左侧。" + }, + { + "t": 79.7, + "log_step": null, + "text_zh": "观察：视频 24.0–76.8 s，机器人反复用夹爪扫动梅花8及另一张蓝背牌，它们沿桌面接近餐垫前缘，但仍低于垫面、位于垫外；视频 77.8–79.7 s 餐垫翻出左侧视野，梅花8与红桃6这两张蓝背牌仍留在桌上，没有送入餐垫。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 13.4–13.8 s，Panda夹爪碰倒原架旁的梅花8；视频 24.0 s 后又多次用夹爪侧面、指端扫动其牌背，使其沿桌面滑动。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 21.6–22.2 s，Panda二指夹爪夹住已倒下的梅花8并将其翻起、短暂带离旧位置，随后牌落回垫外桌面。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 15.1, + 15.7 + ], + [ + 18.2, + 77.8 + ] + ], + "final": null, + "evidence": [ + { + "t": 15.2, + "log_step": null, + "text_zh": "推断：视频 13.8–15.6 s，机器人夹持从右前方取出的红桃9，将其降到餐垫内部近上方，约视频 15.1 s 达成。视频 15.8–17.6 s 餐垫显空，红色牌仍随夹爪返回右侧再升起，近垫关系中断；边界约有0.3 s误差。" + }, + { + "t": 18.8, + "log_step": 121, + "text_zh": "观察：视频 17.4–18.8 s 可连续追踪夹爪下方红色牌到垫中，随后它翻成蓝背留在垫上；右侧被碰倒的梅花8此时仍在原架旁，故垫上这张是红桃9，而非log step 121脚本所称的梅花8。" + }, + { + "t": 76.9, + "log_step": null, + "text_zh": "观察：视频 18.8–76.9 s，蓝背红桃9一直随餐垫在桌面向左移动，仍位于垫内，后续抓爪操作没有把它重新夹走。" + }, + { + "t": 78.1, + "log_step": null, + "text_zh": "观察：视频 77.6–78.2 s，机器人末端带起餐垫右缘，餐垫倾成近竖直并向画面左侧翻出，红桃9也进入画外；视频 78.8–79.7 s 看不到它与餐垫的最终相对位置。已确认达成区间只记录到视频约77.8 s（末次仍可追踪红桃9在垫内的时刻），该区间终点表示后段观测中断，不能当作已证实失去；末态记未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 13.8–18.4 s，Panda二指夹爪夹住红桃9，先移到餐垫上方，升起返回右侧后又送至垫内，最终翻成蓝背留下。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 12.0, + 12.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 10.0–11.6 s，机器人从中间前方牌架夹取黑桃10，牌和灰色支架部分一起随夹爪移动；视频 12.0–12.1 s 牌降到餐垫右侧内部近上方，视频 12.2–12.3 s 飞出并正面朝上落在垫外。按持牌也可达成的判据记短暂区间，边界约有0.2 s不确定性。" + }, + { + "t": 79.7, + "log_step": null, + "text_zh": "观察：视频 12.5 s、30.0 s、44.5 s、70.0 s 和79.7 s 均可见正面黑桃10躺在桌前方；机器人后续伸向它的动作未将它搬上已向左移动的餐垫。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.0–12.1 s，Panda二指夹爪夹取黑桃10，连带灰色支架部分搬运；牌随后落到垫外桌面。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 40.0–40.5 s、44.5 s，Panda指端降到正面黑桃10的牌面附近并作沿桌面擦动，未见该牌被夹起。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_7_of_diamonds_on_placemat", + "t": 2.9, + "log_step": 85, + "where": "操作中", + "evidence_zh": "观察：视频 2.5–2.8 s，Panda夹爪把方块7降到餐垫内部近上方；视频 2.9 s 牌在张爪放置阶段向右前方飞出，视频 3.0 s 落在垫外桌前缘。机器人后来伸手扫回失败，该牌直至视频 79.7 s 仍在桌边；这是最早发生且最终未修复的放置失败。log step 85 的实际在线提交包含降下、张爪、回撤；该运行无重置，不能用log step 498末尾另写的控制器替代已录制的动作。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": null, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 2.9, + "log_step": 85, + "evidence_zh": "观察：视频 2.5–2.8 s，方块7已被机器人降至餐垫内部近上方；视频 2.9 s 它在放置张爪阶段飞离垫区，视频 3.0–3.1 s 落在桌前缘。log step 85 明确在降到放牌点后逐渐张爪，而不是在空中运输途中主动丢牌。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.9, + "log_step": 85, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 85 的控制脚本把方块7送到餐垫上方后，以固定关节位姿降至TCP高度0.800米，紧接着张爪再回撤；视频 2.5–3.1 s 对应的是已搬到目标附近的牌在释放阶段突然横向飞离，说明本次放牌接触与释放控制未稳定实现。目标牌与目标区域选择正确；现有证据不足以进一步区分接触几何、张爪作用力或轨迹跟踪问题，因此仅标控制。" + } + ], + "gap_zh": "本运行有完整视频和运行日志，但没有逐帧状态日志或单牌contain反馈；夹爪短时遮挡使各次持牌进入区域的边界约有0.2–0.3 s误差，尤其视频 12.0–12.2 s 两牌同时位于夹爪下方的区间含连续追踪推断。视频约77.8 s 后，红桃9与翻起的餐垫均移出唯一回放视图的左边界，现有日志也没有服务端单牌结果，无法确定它们在画外是否仍满足contain；红桃9末态记null，其最后区间截到末次可确认时刻，后段不作已失去判定。底层contain几何边界亦只有DAG的暂行描述。无力传感或接触对数据，无法进一步细分方块7飞出的控制根因。" + }, + "summary_zh": "五张牌均被尝试；方块7、红桃6、黑桃10曾短暂进入餐垫近上方，红桃9后续翻成蓝背留在垫上，梅花8始终未上垫；末态四张确定未达成，红桃9因随餐垫进入画外而未知，确定完成0/5。最早未修复的断点是视频 2.9 s 方块7在张爪放置阶段飞出餐垫，属于放后不稳，根因为放牌控制未稳住；后续推扫还不断带动餐垫，末段将其翻出左侧视野。没有状态日志，短暂达成区间含视觉推断，红桃9在视频约77.8 s 后的相对位置无法确认；参考成功视频确认本任务允许持牌达标，不附加松手要求。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0–80 s 的接触表与 2.4–3.1 s 逐帧：方块7在视频 2.9 s 张爪时飞出并落在垫外，之后未被送回，与断点、放后不稳及控制根因一致；红桃9末态记未知有依据；未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + 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a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--nstwqu8.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--nstwqu8.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee66e77717bc6fad096b38dacb261b4d82da46b --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--nstwqu8.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--nstwqu8", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 3731, + "sim_steps": 3731, + "calls": 414, + "rows": 3731, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2585.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.688, + "peak_processes": 17, + "peak_disk_gb": 1.08, + "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/vlabench-texas-holdem-i00-standard--nstwqu8/replay.mp4", + "duration_s": 62.3, + "fps": 10.0, + "frames": 623, + "sha256": "c98839c6a01ac7797829fa2e9f8b144d9b551e109657c7bffbeeaff0efba810a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 147, + "text_zh": "观察：视频 0.0 s，红桃6为画面左侧两张竖牌中靠右的一张，仍在灰色牌架，餐垫为空；log step 147 的目标表将其记作 C5。" + }, + { + "t": 5.1, + "log_step": 130, + "text_zh": "观察：视频 5.0–5.1 s，机器人夹爪近距离经过左侧两张牌，红桃6与邻牌被碰倒，夹爪没有将红桃6夹起搬运；对应 log step 130 的近距离读牌动作。" + }, + { + "t": 29, + "log_step": null, + "text_zh": "观察：视频 25.0–35.5 s，机器人以夹爪推移这张红牌及邻近牌架，牌停在餐垫后缘外，随后翻成蓝背；视频 38.0 s 及视频 61.2–62.2 s 可见该处牌仍在垫外桌面。" + }, + { + "t": 62.2, + "log_step": 290, + "text_zh": "推断：连续追踪红桃6从原架到餐垫后缘的移动，未见牌体中心进入随推移而改变位置的餐垫区域，故该节点从未成立；不采用 agent 在 log step 290 按初始垫中心给出的“on the placemat”自述。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人单个 Panda 夹爪在视频 5.1 s 读牌时拨倒红桃6，后续用手指/闭合夹爪推扫平放的牌；未见夹住红桃6两面后将其提离桌面的稳定抓握。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 147, + "text_zh": "观察：视频 0.0 s，方块7位于机械臂基座前方、画面后排偏右的牌架上；log step 147 的目标表记为 C2。" + }, + { + "t": 6.6, + "log_step": 149, + "text_zh": "观察：视频 6.4–6.8 s，机器人下降并闭合夹爪，方块7倒向基座附近；随后夹爪抬起时，牌没有随夹爪离开该处。log step 149 是这次 C2 抓取动作，不能由其中的 lift 命令认定抓取成功。" + }, + { + "t": 54, + "log_step": null, + "text_zh": "观察：视频 40.0–55.0 s，机器人反复在基座前方用夹爪拨推倒牌；视频 54.0–57.0 s 有红牌被推向餐垫后方，但停在垫外，末帧视频 62.2 s 也没有方块7落在垫内。" + }, + { + "t": 62.2, + "log_step": null, + "text_zh": "推断：方块7的取牌尝试及后续推移均未建立餐垫内的位置关系，节点终值为假；没有从评分为零倒推未尝试。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.4–6.8 s，Panda 夹爪下降碰倒方块7，闭合后抬起未带走牌；此后用夹爪拨推基座前的倒牌。实际有推拨接触，未证实双指夹持搬运。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 13.0, + 19.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 199, + "text_zh": "观察：视频 7.2–7.6 s，机器人用闭合夹爪推倒原来位于前排中央的梅花8，牌面朝上滑到餐垫右后缘附近；视频 8.0–12.8 s 仍主要停在边缘，尚未明显进入。log step 199 的 C3 推牌对应这一动作。" + }, + { + "t": 13.0, + "log_step": null, + "text_zh": "观察：视频 12.9–13.2 s，机器人再次推过该处，梅花8向餐垫内侧滑动；视频 13.2–19.3 s，牌体中心明显处于棕色餐垫内。首次成立取约视频 13.0 s，边缘时刻有约 0.3 s 视觉误差。" + }, + { + "t": 19.4, + "log_step": null, + "text_zh": "观察：视频 19.3–19.6 s，机器人夹爪扫过已在垫内的梅花8，并将餐垫向画面左侧推移；梅花8被带到餐垫右后方的桌面。视频 19.6–22.0 s 连续帧显示该牌已在垫外，此后没有恢复。" + }, + { + "t": 62.2, + "log_step": null, + "text_zh": "观察：视频 61.2–62.2 s，梅花8仍在餐垫右侧牌组中，与红牌部分相邻/重叠，牌体中心位于棕色边界之外；节点终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 7.2–7.6 s 机器人以闭合夹爪拨倒并推移梅花8；视频约 13.0 s 推入餐垫，视频约 19.4 s 又被夹爪扫出；未见夹住两面后搬运。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 147, + "text_zh": "观察：视频 0.0 s，红桃9在前排偏右、黑桃10左侧的灰色牌架上；log step 147 目标表记为 C1。" + }, + { + "t": 5.9, + "log_step": null, + "text_zh": "观察：视频 5.8–6.0 s，机器人夹爪横过这组牌后，红桃9与黑桃10倒下，两个灰色架露出；牌未被夹爪提走。" + }, + { + "t": 17.8, + "log_step": null, + "text_zh": "观察：视频 10.0–11.0 s，机器人推散原来的右侧牌组；视频 16.6–18.0 s 可追踪红桃9滑到餐垫右后缘，牌体仍主要在垫外。" + }, + { + "t": 62.2, + "log_step": null, + "text_zh": "观察：视频 22.0–39.0 s 以及视频 61.2–62.2 s，红桃9与黑牌停在餐垫右侧桌面，未呈现成功参照中牌中心落在垫内的状态；未见该指定牌完成入区。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：Panda 单夹爪在视频约 5.9 s 碰倒红桃9，后续直接推扫原右侧牌组并使红桃9移到餐垫右后缘外；没有稳定夹持提起的可见证据。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 147, + "text_zh": "观察：视频 0.0 s，黑桃10为前排最右侧竖牌，仍在原灰色架；log step 147 记作 C0。" + }, + { + "t": 5.9, + "log_step": null, + "text_zh": "观察：视频 5.8–6.0 s，机器人近距离移动夹爪，黑桃10与邻接红桃9一同倒下，未被夹起。" + }, + { + "t": 11, + "log_step": null, + "text_zh": "观察：视频 10.0–11.0 s，机器人推移这组倒牌，黑桃10向画面右方滑出，停在餐垫右后方桌面；与已经向垫边移动的梅花8是两张独立黑牌。" + }, + { + "t": 62.2, + "log_step": null, + "text_zh": "观察：视频 13.0–22.0 s，黑桃10始终在餐垫右侧外部；视频 61.2–62.2 s 的右侧牌组仍在垫外，未见黑桃10进入餐垫判定区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：Panda 单夹爪在视频约 5.9 s 碰倒黑桃10，视频 10.0–11.0 s 等后续动作推扫该倒牌及相邻牌组；没有双指夹持搬运的可见证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_6_of_hearts_on_placemat", + "t": 5.1, + "log_step": 130, + "where": "探索", + "evidence_zh": "观察：视频 5.0–5.1 s，机器人为近距离读牌移动夹爪，碰倒红桃6及邻牌；此时是在用腕部相机探查牌面，尚未开始夹持搬运（log step 130）。红桃6后来虽被反复推移，直到视频 62.2 s 仍在餐垫后缘外，该步没有完成；这是最早出现且未修复的目标牌操作失败。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": false, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.1, + "log_step": 130, + "evidence_zh": "观察：视频 5.0 s 机器人夹爪下降并横过左侧竖牌，视频 5.1 s 红桃6与邻牌倒下，原灰色架露出；这是读牌运动碰倒目标本身。视频 25.0–38.0 s 的后续推牌没有修复红桃6入垫关系。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "t": 5.1, + "log_step": 130, + "evidence_zh": "推断：log step 130 的 read_pose3 把近距离观察的 TCP 置于约 0.878 m、与竖牌顶部相近的高度，张开夹爪执行，路径检查忽略当前所读牌（ignore=k），打印小间隙后仍直接 submit；视频 5.0–5.1 s 显示手指扫过牌面并把红桃6及邻牌碰倒。读牌时没有给实际手指与牌保留足够几何间隙，解释了这次碰倒。log step 290 对“先读牌后校准”的回顾只是 agent 自述；log step 74 已有夹爪轴测量，本标签不据此另判步骤顺序错误。" + } + ], + "gap_zh": "无状态日志，也没有原生逐牌 contain 反馈；输入视频仅提供一个 320×320 正面视角，牌重叠、夹爪遮挡及餐垫被推移使边缘的精确参考点/高度不可直接读出，梅花8的区间边界约有 0.3–0.5 s 误差。视频 12.9–13.2 s、视频 19.4–19.5 s 和视频 21.2–21.3 s 有其他红色牌面贴近夹爪/垫边，不能仅凭局部红色角标把它们当成红桃9达成；结合前后追踪，指定红桃9仍在右侧垫外牌组。agent 在 log step 288、log step 290 按初始垫中心估算若干牌“在垫上”，但视频约 19.4 s 后餐垫已被推偏，节点以视频中实际餐垫为准。" + }, + "summary_zh": "观察：五张指定牌均发生操作，梅花8在视频约 13.0–19.4 s 暂时进入餐垫，随后被夹爪扫出且餐垫被推偏；视频 62.2 s 五个节点均不成立，评分器 success=0。推断：首个未修复断点是视频约 5.1 s 近距离读牌时碰倒红桃6，读牌动作的手指接触几何没有留足间隙；后续平推没有补成该步。无状态日志和逐牌原生反馈，垫边及遮挡处的短暂位置关系只能结合前后帧估计。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0/5/6/13/16/19/20/30/45/62 s 及 12.5–19.5 s 垫区近景：梅花8约 13–19 s 在垫缘内、随后被扫出，其余牌终帧均在垫外；终值、断点（5 s 读牌碰倒红桃6）和碰撞/接触设计归因与帧一致，未发现需改内容的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:23:58Z", + "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/vlabench-texas-holdem-i00-standard--nstwqu8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--nstwqu8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "337ace9d6963cb785e7eb4da4e76e6049ea3977eda33d4044a0002a021705648", + "video_sha256": "c98839c6a01ac7797829fa2e9f8b144d9b551e109657c7bffbeeaff0efba810a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--u4ycfo7.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--u4ycfo7.json new file mode 100644 index 0000000000000000000000000000000000000000..b46f72c6d08a9d10d9232661f7be4a20fcb47065 --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--u4ycfo7.json @@ -0,0 +1,342 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--u4ycfo7", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1016, + "sim_steps": 1016, + "calls": 32, + "rows": 1016, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1793.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.231, + "peak_processes": 9, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-standard--u4ycfo7/replay.mp4", + "duration_s": 101.7, + "fps": 10.0, + "frames": 1017, + "sha256": "bf8c6a7ed653ef4e1169645d78d39b65177db9a31796a118bc59bf8fb543bfb2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 3, + "final": 1, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 16.4, + 33.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 16.4, + "log_step": 46, + "text_zh": "观察：视频 12.0–14.0 s，机器人夹起原画面左侧第二张红桃6；视频 16.0–17.0 s 将它降低至餐垫左半部近上方，视频 18.0 s 该牌松手翻倒后蓝背朝上位于垫内。首次进入低处目标区域估为视频 16.4 s。" + }, + { + "t": 33.6, + "log_step": null, + "text_zh": "观察：视频 18.0–33.2 s 红桃6仍位于餐垫左侧区域；视频 33.3–33.9 s 它继续向左滑移，牌中心到达并越过垫边，视频 36.3 s 已落在左边缘外。区域关系失去取视频约 33.6 s，边界时刻有约半秒不确定性。" + }, + { + "t": 101.6, + "log_step": null, + "text_zh": "观察：视频 53–58 s、78–82 s、95–101.6 s 机器人反复在红桃6附近压扫，牌与餐垫均发生移动；视频 100.6–101.6 s 红桃6仍是画面左下方垫外蓝背牌，没有恢复入垫。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda二指夹爪夹住红桃6两面，将其从牌架搬到餐垫左半部后释放；视频约 53–58 s、78–82 s、95–101.6 s 随后用闭合指尖在牌边和垫边下压、扫动，未再建立抓握，且推动了餐垫。后段压/擦、推/扫依次发生。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [ + [ + 43.5, + 45.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 43.5, + "log_step": 56, + "text_zh": "观察：视频 38.0–41.5 s，机器人夹起后排方块7，原牌架空出；视频 43.2–45.2 s 方块7仍竖直被夹持，已降低至餐垫后半部近上方。依DAG允许夹持入区的判据，首次达成取视频约 43.5 s。" + }, + { + "t": 45.5, + "log_step": null, + "text_zh": "观察：视频 45.2–45.8 s，机器人张爪上撤，方块7向画面上方翻倒，正面朝上滑到餐垫后缘外；视频 46.0–47.0 s 牌中心位于垫外。区域关系失去取视频约 45.5 s。" + }, + { + "t": 101.6, + "log_step": 82, + "text_zh": "观察：视频 47.0–101.6 s 方块7仍可由朝上的红色牌面追踪，末帧位于餐垫左后缘外。log step 82 仅记录新一轮滑牌调用，没有返回结果；视频和评分器均只记录到此前的1016个控制步，不能把该调用的预期结果记为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda二指夹爪夹住方块7两面，将牌从后排架上搬至餐垫后半部后张爪释放；视频约 48–52 s、72–76 s 夹爪随后在方块7附近下压扫动，牌没有随之入垫，餐垫却发生位移；后续动作是压/擦、推/扫，未重新抓起。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [ + [ + 34.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 34.7, + "log_step": 46, + "text_zh": "观察：视频 30.0–32.0 s，机器人夹起原画面右侧最外的梅花8，原灰色牌架随即空出；视频 34.4–35.4 s 机器人将该牌降低至餐垫中央近上方，视频 35.7–36.3 s 松手后可见蓝色牌背落在垫中央。首次进入低处目标区域估为视频 34.7 s。" + }, + { + "t": 101.6, + "log_step": null, + "text_zh": "观察：视频 36.3–101.6 s 梅花8持续为垫内的那张蓝背牌；视频 49–64 s、78–94 s、97–101.6 s 餐垫多次被夹爪推动，该牌随垫平移、旋转，仍留在垫内。视频 100.6–101.6 s 该牌位于餐垫中部偏右，没有被移出目标区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda二指夹爪夹住梅花8两面并搬运，随后在垫中央松手；后续修正其他牌时，视频约 62–64 s、87–88 s 闭合指尖也在这张牌及垫面附近压擦、拨动，梅花8与餐垫共同移动，未重新夹起。上述压/擦、推/扫是抓握之后的接触。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [ + [ + 25.5, + 27.7 + ] + ], + "final": false, + "evidence": [ + { + "t": 25.5, + "log_step": 46, + "text_zh": "观察：视频 21.0–23.5 s，机器人夹起原画面右侧靠内的红桃9，右侧最外梅花8此时仍在架上；视频 25.2–26.6 s 机器人将红桃9竖直夹持在餐垫右半部近上方。首次进入低处目标区域估为视频 25.5 s。" + }, + { + "t": 27.7, + "log_step": null, + "text_zh": "观察：视频 26.7–26.8 s 机器人张爪上撤，红桃9翻倒为蓝背朝上，落在黑桃10旁；视频 26.8–27.3 s 两牌边缘贴近、局部重叠，视频 27.4–28.0 s 两牌旋转滑出前缘。红桃9中心越过区域边界取视频约 27.7 s，边界时刻为目测。推断：红桃9释放后的近邻接触同时撞动黑桃10。" + }, + { + "t": 101.6, + "log_step": null, + "text_zh": "观察：视频 47.0–101.6 s 红桃9始终可追踪为画面下方两张蓝背牌中偏右的一张；末段压扫时餐垫和牌有移动，但视频 100.6–101.6 s 该牌仍完全在垫外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda二指夹爪夹住红桃9两面并搬至餐垫右半部，随后张爪释放；视频约 59–64 s、83–88 s、99–101.6 s 指尖在红桃9/黑桃10所在前缘附近做下压扫动，主要可见餐垫及垫上的梅花8被带动，没有重新抓住红桃9。后续压/擦、推/扫顺序写在本说明。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [ + [ + 7.3, + 27.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": 37, + "text_zh": "观察：视频 2.5–4.5 s，Panda二指夹爪合拢夹住中央前排的黑桃10并将其从灰色牌架提离；视频 7.0–7.6 s 将牌降低到餐垫中央近上方，视频 8.3–9.0 s 松手后牌翻成蓝背朝上落在垫内。首次达成取视频约 7.3 s，允许仍被夹持。" + }, + { + "t": 27.4, + "log_step": 46, + "text_zh": "观察：连续追踪首张蓝背牌可确认其为黑桃10；视频 11.0–26.6 s 它基本静止在餐垫前缘内侧，视频 26.8–27.3 s 新释放的红桃9与其边缘贴近、局部重叠，视频 27.4–27.7 s 两牌旋转滑出前缘，视频 28.0–45.8 s 黑桃10未回到垫内。失去区域关系的时刻仍估为视频约 27.4 s。推断：这次移动是红桃9释放后的接触牵连，不能据此写成黑桃10自身持续失稳。" + }, + { + "t": 101.6, + "log_step": 80, + "text_zh": "观察：视频 47.0–101.6 s 的多轮压扫没有将黑桃10送回餐垫；视频 100.6–101.6 s 它仍为画面下方偏左、完全在垫外的蓝背牌。log step 80 服务返回 control_steps=1016、done=false，与评分器 n_actions=1016 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda平行二指夹爪在视频约 2.7–8.2 s 夹住黑桃10两面并搬运，随后张爪释放；后续视频约 65–70 s、87–94 s 闭合指尖在其附近下压并向内扫动，餐垫被推动，未见重新抓起该牌。后段压/擦、推/扫为先后发生的修正动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_9_of_hearts_on_placemat", + "t": 27.7, + "log_step": 46, + "where": "操作中", + "evidence_zh": "观察：视频 26.4–26.6 s 机器人仍在餐垫右半部近上方夹持红桃9，视频 26.7–26.8 s 张爪上撤后该牌翻成蓝背朝上，落在黑桃10旁；视频 26.8–27.3 s 两牌边缘贴近、局部重叠，视频 27.4–28.0 s 两牌先后旋转滑出餐垫前缘。黑桃10在视频 11.0–26.6 s 基本停在前缘内侧；视频 28.0–101.6 s 两牌均未恢复入垫。推断：红桃9释放后的翻倒与近邻接触牵动了黑桃10；当时正在操作且此后未修复的步骤是红桃9上餐垫，断点取其失去入区状态的视频约 27.7 s，不按两牌约 0.3 s 的目测越界先后来选择被动移动的黑桃10。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": true, + "card_9_of_hearts_on_placemat": false, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 27.7, + "log_step": 46, + "evidence_zh": "观察：视频 26.4–26.6 s 红桃9已由机器人夹持在餐垫右半部近上方；视频 26.7–26.8 s 机器人按计划松手上撤，红桃9翻倒为蓝背朝上，落在黑桃10旁；视频 26.8–27.3 s 两牌边缘贴近、局部重叠，视频 27.4–28.0 s 两牌旋转并滑出餐垫前缘，视频 100.6–101.6 s 仍在垫外。推断：这是红桃9在目标内主动释放后的放后不稳，并经两牌接触同时撞动了原已稳定的黑桃10；不能将黑桃10的这次移动归为其自身松手后持续失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 36 的 pick_and_place_card 保持持牌姿态降低至 z_place=0.864 后张爪、上撤；log step 45 为黑桃10和红桃9分别指定平面释放位置 (0.105,0.365) 与 (0.015,0.320)，log step 37、46 记录了相应调用。视频 26.4–26.8 s 红桃9竖直释放后翻倒，视频 26.8–27.3 s 其牌边贴近并局部覆盖黑桃10牌边，视频 27.4–28.0 s 原本静止的黑桃10与红桃9几乎同时旋转滑出。推断：相邻释放布局与竖直放牌方式未为翻倒、滑移留足余量，造成两牌接触并破坏已完成的入区状态，支持控制·抓取和接触设计；重叠本身并非任务违规，问题在释放后两牌一起离开目标区域。DAG要求的目标牌与放置关系没有选错，也没有放置次序要求，现有证据不足以另加认知·推理/规划；无实际末端轨迹及接触力记录，不能归为已证实的跟踪失稳或力控故障。是否存在可行替代：未知，未验证改变落点或释放姿态能否避免此次接触。" + } + ], + "gap_zh": "没有状态日志，也没有逐牌原生contain结果或接触力记录；五张牌的入区及越界时刻由正面视频判断，几何边界和持牌高度存在约半秒级目测误差，两牌边缘贴近及随后的共同运动可见，但具体碰撞点、接触力和谁先推动谁没有状态记录，红桃9牵动黑桃10及释放接触布局不适配属于结合连续帧和脚本的推断，不能把“压到牌面”的完整过程写成直接观测事实。后段指尖局部被夹爪遮挡，不能确认每轮压扫是否直接压住目标牌，但抓握搬运和餐垫被推动均可见。log step 3 给出control_dt=0.1 s，log step 37的91控制步对应视频 9.1 s 搬完首牌的停点，log step 80的1016控制步对应视频 101.6 s 末帧，二处已核对；log step 82无返回，其计划中的额外滑牌不属于已记录的评分轨迹。" + }, + "summary_zh": "机器人将五张指定牌都从牌架搬到餐垫区域，最多同时达到3/5，最终仅梅花8保持在垫内，为1/5。断点为红桃9上餐垫：视频约 27.7 s 红桃9释放翻倒后滑出，同时牵连此前稳定的黑桃10；结合相邻释放位置和连续帧，推断释放接触布局不适配，后续压扫未恢复两牌。没有状态、逐牌contain或接触力日志，边界时刻为目测，碰撞传力和接触设计根因仍含推断，因此置信度由7降至6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点时间与终值基本可信（梅花8在垫内、其余四张在垫外，与视频一致）。问题在失败机制：视频显示红桃9松手后翻倒并压到黑桃10上，二者约同时被推出垫外，标签却把黑桃10写成自行'放后不稳'并以其为断点，漏掉红桃9的碰撞；断点应落在当时正在操作的红桃9。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐牌区间、末态1/5、峰值3/5与视频一致；断点为红桃9、现象放后不稳、根因抓取和接触设计均有证据且推断已标注，上一轮问题已修正，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:04:58Z", + "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/vlabench-texas-holdem-i00-standard--u4ycfo7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--u4ycfo7/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--u4ycfo7/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--u4ycfo7/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "410d05208207bae9f2dad978a1b68c904d0984faf29f937152863be5d64f32d1", + "video_sha256": "bf8c6a7ed653ef4e1169645d78d39b65177db9a31796a118bc59bf8fb543bfb2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--uvhr8s8.json b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--uvhr8s8.json new file mode 100644 index 0000000000000000000000000000000000000000..24ed0399b9111a4c6dcf97bf268700a66550036a --- /dev/null +++ b/phase2/vlabench/texas_holdem/trajectories/vlabench-texas-holdem-i00-standard--uvhr8s8.json @@ -0,0 +1,301 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "vlabench-texas-holdem-i00-standard--uvhr8s8", + "taskKey": "vlabench/texas_holdem", + "dag_sha256": "ddf9b4c68be812aec9fd69b4d48d6fce637500610f4bef8ec86cca9b43200bc5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_crashed_on_call": 0, + "n_actions": 4649, + "sim_steps": 4649, + "calls": 377, + "rows": 4649, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3601.8, + "video_rendered": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/vlabench-texas-holdem-i00-standard--uvhr8s8/replay.mp4", + "duration_s": 66.6, + "fps": 10.0, + "frames": 666, + "sha256": "d82ff3f25fd1c80e35650b89d3ff61c7c16ca18c93130a19ef27773750e61bac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "card_6_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红桃6位于画面左侧两张红牌中靠右的灰色牌架上，餐垫为空。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频约 12.0–12.3 s，机器人夹爪横移扫过左侧牌组，红桃6和相邻方块7倾倒到桌面；此后红桃6留在餐垫后方。" + }, + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 65.5–66.5 s，红桃6仍与另一张红牌一起平放在画面左后方，远离餐垫；全程未见该牌被搬入餐垫区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 12.0–12.3 s，Panda夹爪扫碰红桃6及其牌架，使牌倾倒；未见夹爪对向夹持红桃6。" + } + ] + }, + "card_7_of_diamonds_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，方块7在画面最左侧灰色牌架上，未在餐垫内。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频约 12.0–12.3 s，机器人夹爪扫过左侧牌组后，最左侧方块7掉到牌架左前方桌面；后续动作仍未把它送至餐垫。" + }, + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 65.5–66.5 s，方块7仍平放在左后方红牌组，餐垫与它之间有明显桌面间隔。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 12.0–12.3 s，Panda夹爪扫碰左侧牌组，使方块7从牌架翻落到桌面；未见对向夹住该牌。" + } + ] + }, + "card_8_of_clubs_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，梅花8在画面右侧最外面的牌架上。" + }, + { + "t": 11.4, + "log_step": null, + "text_zh": "观察：视频 11.2–11.4 s，机器人夹爪扫过右侧牌组后，梅花8由竖直变成横倒，仍在餐垫后方。" + }, + { + "t": 25, + "log_step": null, + "text_zh": "观察：视频约 20.0–25.0 s，机器人夹爪继续推移这张黑色牌，牌停到餐垫右侧外缘附近；牌中心仍在棕色区域外，垫内可见的灰色物体是牌架。" + }, + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 65.5–66.5 s，梅花8仍平躺在餐垫右外侧，牌仅靠近垫缘，没有进入餐垫区域；其身份由视频 11.2 s 起连续追踪。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：Panda手指/夹爪在视频约 11.2–11.4 s 拨倒梅花8，视频约 20.0–25.0 s 又以推扫接触使它沿桌面移动到餐垫右外侧；没有观察到夹持牌体搬运。" + } + ] + }, + "card_9_of_hearts_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红桃9在画面右侧梅花8左邻的灰色牌架上，未在餐垫内。" + }, + { + "t": 18.4, + "log_step": null, + "text_zh": "观察：视频约 18.0–19.0 s，机器人夹爪在右侧牌组中下降、闭合和抬升，红桃9离开竖直姿态并留在牌架旁桌面；没有随夹爪转移到餐垫。" + }, + { + "t": 33, + "log_step": null, + "text_zh": "观察：视频 32.0–34.0 s，机器人夹爪向画面右侧推移该红牌及邻近牌架，该牌继续停在垫外。" + }, + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 65.5–66.5 s，红桃9在画面右后方、机器人手臂右侧，仍与餐垫明显分离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 18.0–19.0 s 及 32.0–34.0 s，Panda夹爪碰拨并推移右侧红桃9及邻近牌架；未见夹爪夹住红桃9牌体。" + } + ] + }, + "card_10_of_spades_on_placemat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黑桃10位于画面中央靠前的灰色牌架上，餐垫为空。" + }, + { + "t": 10.8, + "log_step": 88, + "text_zh": "观察：视频 10.6–10.9 s，机器人夹爪横扫中央牌架，黑桃10倾倒；夹爪离开后该牌横躺在原牌架附近，没有被夹持带走。" + }, + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 28.0–31.0 s，黑桃10已正面朝上平放在中央后方桌面；机器人夹爪在其周围运动，但没有把它带到餐垫。" + }, + { + "t": 66.5, + "log_step": null, + "text_zh": "观察：视频 65.5–66.5 s，黑桃10仍在中央后方、餐垫后缘以外的桌面上；视频全程未见它进入餐垫区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 10.6–10.9 s，Panda夹爪侧向扫碰黑桃10，使其由牌架倾倒到桌面；后续未观察到对向夹持该牌。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "card_10_of_spades_on_placemat", + "t": 10.7, + "log_step": 88, + "where": "探索", + "evidence_zh": "观察：视频 10.6–10.9 s，机器人在牌组前横移观察时，夹爪碰倒中央靠前的黑桃10；log step 88 的脚本是在逐牌移动腕部相机拍近照。视频后续直到 66.5 s，黑桃10始终未进入餐垫；这是最早发生且没有通过完成该步修复的失败。" + }, + "unmet": { + "card_6_of_hearts_on_placemat": false, + "card_7_of_diamonds_on_placemat": false, + "card_8_of_clubs_on_placemat": false, + "card_9_of_hearts_on_placemat": false, + "card_10_of_spades_on_placemat": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 10.7, + "log_step": 88, + "evidence_zh": "观察：视频 10.6–10.9 s，Panda夹爪扫入中央牌架位置，黑桃10随即从竖立变成横倒；视频 11.0 s 夹爪移开后，牌留在桌上。随后还碰倒旁边多张牌，未形成成功转移。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 10.7, + "log_step": 88, + "source_zh": "日志", + "evidence_zh": "推断：log step 88 的逐牌拍照脚本在中间航点逆解仍输出 IK warn 0.411、0.425、0.356 等警告时继续执行移动；视频 10.6–12.3 s 对应观察动作扫倒多张牌，说明观察轨迹未安全绕开牌组。后续 log step 118 的抓取目标逆解误差为 0.345、0.373，脚本仍执行，实际打印的末端位置与指定抓取位置明显不同；log step 122、145 又反复出现逆解警告或跳过航段。这些独立控制记录与视频中未能把牌移入餐垫的结果一致，支持轨迹或逆解问题。" + } + ], + "gap_zh": "没有状态日志或逐牌原生contain读数，牌体参考点及精确判定边界不能数值重建；按初态身份、连续视频追踪和成功参考视频所示区域判定。部分瞬时接触被腕部遮挡，未将闭爪或日志中的“grasp/dragged/pushed”直接当作牌体抓握或放置成功；视频中确实搬动的灰色牌架不计作目标牌。所有视频时间直接取帧，未把 agent 时间或 control_steps 换算成视频时间。" + }, + "summary_zh": "本次五张目标牌均未进入餐垫判定区域，历史最高及末态进度均为 0/5；机器人主要把牌碰倒、推散，灰色牌架被移到垫上不算完成。最早未修复的失败是视频约 10.7 s 探索观察时碰倒黑桃10，日志中持续带逆解警告执行的观察及操作轨迹支持控制·轨迹或逆解根因。无状态日志和逐牌contain读数，精确几何边界无法数值核验，但视频 65.5–66.5 s 仍清楚显示目标牌全部在垫外。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五张牌末帧均在垫外（0/5），断点为约 10.7 s 探索拍照时碰倒黑桃10，被挡/碰撞与轨迹或逆解根因均有视频及 log step 88/118 的 IK warn 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": "2026-10-30T02:30:38Z", + "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/vlabench-texas-holdem-i00-standard--uvhr8s8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/vlabench-texas-holdem-i00-standard--uvhr8s8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2deffe91d50838d98933af1d2efa5d1ffd099a5573e05f1ed39e6e011bf833ae", + "video_sha256": "d82ff3f25fd1c80e35650b89d3ff61c7c16ca18c93130a19ef27773750e61bac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--d689v4c.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--d689v4c.json new file mode 100644 index 0000000000000000000000000000000000000000..f9baffe24efdd9abd51b0811057cdf474e426de3 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--d689v4c.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-privileged--d689v4c", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.3333, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 751, + "sim_steps": 751, + "progress": 0.3333, + "object_fell": 0, + "replay_wall_s": 116.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 60, + "agent_resets": 1, + "agent_sim_steps": 81195, + "agent_records": 46, + "agent_replays": 1, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-privileged--d689v4c/replay.mp4", + "duration_s": 25.133, + "fps": 15.0, + "frames": 377, + "sha256": "60af7ef9ae44885d319b32d9b158751280875072921e7cc8b89a461a8fbc0b0f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 24.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 8.4 s，机器人左夹爪两指位于深色杯子两侧，随后杯子随左臂逐段上升；右臂仍停在初始位置。视频 23.2、24.0、25.0 s 可见左臂继续持杯，杯子没有留在原桌面位置。" + }, + { + "t": 24.0, + "log_step": 336, + "text_zh": "推断：log step 336 的生成结果在 751 个控制步结束时已为 pick=True、左爪抓握=True、杯中心 z=0.86142 m，两指接触力约 75.97/77.14 N；log step 349 确认最终交付同一举杯检查点，其独立重放仍为 pick=True，支持最终达标。视频 16.0、24.0、25.0 s 的俯视及腕部画面不能分辨何时跨过高度阈值，日志也未给出首次锁存的控制步。区间起点视频 24.0 s 仅取末段作粗略近似，并非观察到的首次达标时刻；误差无法限定在 0.5 s 内，可能更大。精确高度越阈和连续 8 步计数在画面中不可直接读取。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左臂平行二指夹爪夹住深色杯子的杯身并逐段抬升，视频 8.4–25.0 s 可见杯子位于两指间并随左臂移动；右夹爪没有参与。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 349, + "text_zh": "观察：视频 0–25.0 s，机器人右夹爪始终留在工作台前右侧，未靠近杯子；末帧杯子仍在左夹爪中，没有右爪接握、左爪释放的过程。log step 349 将举杯检查点复制为最终轨迹，所列独立重放为 pick=True、handover=False、hang=False；会话后续换手测试不在这段评分视频内。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 349, + "text_zh": "观察：视频 0–25.0 s，深色杯子始终在桌面左侧原位附近由左臂操作，未搬到右侧杯树枝钩；视频最后一秒及视频 25.0 s，左爪仍夹住杯子，杯树空置。log step 349 的最终交付重放字段 hang=False，与画面一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_held_right", + "t": null, + "log_step": 349, + "where": "首步前", + "evidence_zh": "观察：评分视频 0–25.0 s 只有机器人左臂抓杯、逐段抬升，右臂未接近杯子，交右臂这一步尚未启动。log step 348 中 agent 自述换手测试未建立右爪抓握，决定恢复 751 步举杯检查点；log step 349 的复制命令和相同文件哈希确认最终交付止于举杯。未发生可定位的换手失败瞬间，故视频锚点留空。" + }, + "unmet": { + "mug_lifted_left": true, + "mug_held_right": false, + "mug_hung_on_tree": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 349, + "evidence_zh": "观察：视频 0–25.0 s，机器人右夹爪一直远离杯子，左爪没有向右爪交杯；评分轨迹只含左臂举杯。log step 349 确认 agent 提交的是举杯检查点，因此评分尝试未启动换手，不能把会话测试里的接触失败或掉杯当作本段视频的现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：停止推进换手有会话测试中的抓握控制失败作为依据，而非仅从未尝试反推。log step 313 的测试输出 RIGHT_CLOSED True False、caught_step=None，右爪两指接触力约 39.76/31.12 N，但一个接触的 pad fraction=-0.01693，handover=False；log step 341、347 的后续测试仍报告右爪抓握=False、caught_step=None。agent 在 log step 348 明确将这些换手测试失败与恢复举杯检查点联系起来，log step 349 实际执行恢复。上述测试只作为根因证据；接触几何与运动跟踪的贡献尚不能分清，停在控制大类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志，画面不能直接读出指垫接触力、高度阈值及连续计数；左臂举杯首次达标时刻无法从现有画面或稀疏日志精确确定，区间起点视频 24.0 s 仅为末段粗略近似，误差可能超过 0.5 s，最终达标由最终交付的独立重放阶段字段支持。评分轨迹未包含换手尝试，根因仅由会话测试日志及 agent 恢复检查点的记录支持，无法进一步区分抓取接触设计与轨迹跟踪问题；不将这些测试映射成评分视频中的动作。五项原生连续指标未在评分器 reward 字段中报告，value 均留空。" + }, + "summary_zh": "评分轨迹仅完成左臂举杯，最终锁存为 1/3；杯子未交右臂，也未挂上杯树。举杯区间起点视频 24.0 s 仅为粗略近似，首次达标时刻无法精确确定。断点是尚未启动的杯子交右臂：agent 的会话换手测试反复未建立有效右爪抓握，最终按 log step 349 恢复并提交 751 步举杯检查点，根因保守归为控制。缺少逐帧状态日志且稀疏日志未给出首次锁存步数，不能支持原先约 0.5 s 的时间精度，因此 conf 降为 6；换手测试仅用于根因分析。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标注总体成立：评分视频只有左臂持杯举起，右爪未接近杯子，断点 mug_held_right/首步前/没尝试，根因仅用会话测试作为 控制 并保守停在大类，符合 FAIL-22。唯一需改的是举杯首次达标时间 24.0 s 的“±0.5 s、画面可见最后一次抬升”表述：画面与 log 都不能支持这么窄的精度。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注成立：评分视频仅左臂持杯举起（约 8 s 起夹住并抬升至 25 s），右爪未靠近，断点 mug_held_right/首步前/没尝试，根因按 FAIL-22 用会话测试证据停在控制；举杯起点 24.0 s 已明确标为粗略近似。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:05:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--d689v4c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--d689v4c/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--d689v4c/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--d689v4c/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "07453beb9ee91cfa608a273b73e8de0b9eb58f0c252669ce661826aab2f42826", + "video_sha256": "60af7ef9ae44885d319b32d9b158751280875072921e7cc8b89a461a8fbc0b0f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--edkules.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--edkules.json new file mode 100644 index 0000000000000000000000000000000000000000..214b7aad4034665fd9db8afd875166c48e73009e --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--edkules.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-privileged--edkules", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 516, + "sim_steps": 516, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 142.4, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 46, + "agent_resets": 3, + "agent_sim_steps": 8805, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-privileged--edkules/replay.mp4", + "duration_s": 17.267, + "fps": 15.0, + "frames": 259, + "sha256": "5bc103d20b9a3905d60110434ba556b751c88da18bfc1137c3447034ec1e2d7a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 4.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的深色杯子静置在左侧桌面，左夹爪尚未接触。" + }, + { + "t": 4.7, + "log_step": null, + "text_zh": "观察：视频 3.0–3.75 s 左夹爪两指夹住棕色杯柄；视频 4.0–5.25 s 杯子随左臂上升并离开原桌面位置，腕部视角中杯柄保持在两指之间。" + }, + { + "t": 4.7, + "log_step": null, + "text_zh": "推断：由视频 4.25–4.75 s 的持续抬升及评分器 success=1、progress=1.0，左臂举杯节点约在视频 4.7 s 达到；接触力和高度阈值无逐帧测量，时刻误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.0–5.25 s 左臂二指夹爪夹住深色杯子的棕色杯柄并举杯。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 11.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "观察：视频 8.5–10.0 s 左夹爪仍夹着杯柄，右夹爪从另一侧接近并夹住杯口附近，双臂短暂共同持杯。" + }, + { + "t": 11.2, + "log_step": null, + "text_zh": "观察：视频 10.25 s 左夹爪已经张开，随后向左撤离；视频 10.5–11.75 s 杯子留在右夹爪中悬于桌面上方，视频 12.0–13.0 s 又随右臂向杯树移动，原桌面位置空出。" + }, + { + "t": 11.2, + "log_step": null, + "text_zh": "推断：左爪在视频约 10.2 s 释放后，右爪独持杯子持续约一秒，结合评分器 success=1，换手节点约在视频 11.2 s 达到；准确双指力和连续计数未记录，时刻误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 8.5–10.0 s 左夹爪握杯柄、右夹爪接握杯口附近；视频约 10.2 s 左夹爪松开并撤离，右夹爪独自持杯。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [ + [ + 17.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.8, + "log_step": null, + "text_zh": "观察：视频 12.0–15.8 s 右夹爪握杯移向右侧杯树并下放，腕部画面可见杯柄到达树枝附近；左爪一直张开并远离杯子。" + }, + { + "t": 17.2, + "log_step": null, + "text_zh": "观察：视频 16.2–17.2 s 右夹爪逐渐张开并向右撤开，杯子没有跟随撤爪，仍停在杯树枝端下方悬空；视频 17.2 s 末帧双爪均张开，杯子未落回桌面。" + }, + { + "t": 17.2, + "log_step": null, + "text_zh": "推断：视频约 16.2 s 起的释放及悬挂稳定段延续至视频 17.2 s，结合评分器 success=1、all_success=1、deterministic=1、object_fell=0，将挂杯验收达到时刻记为视频约 17.2 s；无逐帧位置、指垫力和稳定计数，具体越阈时刻误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 12.0–16.2 s 右臂二指夹爪抓住杯口附近搬运并将杯柄送到杯树枝端，随后张爪撤离，杯子留在枝端下方。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "finger_pad_contact_force", + "value": null, + "unit": "N", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "hang_xy_distance", + "value": null, + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better" + }, + { + "name": "hang_mug_center_z", + "value": null, + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better" + }, + { + "name": "hang_z_deviation_from_segment_start", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "本次评分轨迹依次完成左臂举杯、空中交给右臂及杯树旁释放挂杯，三个节点最终均成立，评分器 success=1、deterministic=1。视频约 4.7 s、11.2 s、17.2 s 分别作为三步达到的近似锚点，最后一秒可见右爪松开撤离后杯子仍悬在枝端下方。没有状态日志，无法逐帧核实指垫力、位置阈值与连续保持计数，原生指标均未由评分字段报告；参考视频与本次运行同源，不作独立成功对照。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三节点均成立与视频一致：左夹爪夹杯柄抬起、空中交右爪、右爪送至杯树枝端；评分器 success=1，时间锚点在约 0.5 s 误差内，contact_actual 合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:37:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--edkules/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--edkules/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41ecc1fbceb816ac740eaaa33738847517b05f885cdbada7518319e88afd551a", + "video_sha256": "5bc103d20b9a3905d60110434ba556b751c88da18bfc1137c3447034ec1e2d7a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5.json new file mode 100644 index 0000000000000000000000000000000000000000..b7c9f20182f712aea328f3f95be963fac38d42c1 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-privileged--j8yjej5", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1264, + "sim_steps": 1264, + "progress": 0.0, + "object_fell": 0, + "replay_wall_s": 158.8, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5/replay.mp4", + "duration_s": 42.2, + "fps": 15.0, + "frames": 633, + "sha256": "b3ab1d532cd84cbb840dc23f1a4dbc3d9432318562833b8899695ffaf772842d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": 45, + "text_zh": "观察：视频 0.0–1.5 s 左夹爪在远离杯子的起始位置空合；视频 1.75–5.75 s 左臂空手移至桌前中部，杯子一直留在原桌面位置，未随左爪升起。log step 45 的最终录制代码在接近、抓取和抬升逆解失败后跳过对应移臂命令，但仍执行左爪闭合。" + }, + { + "t": 42.1, + "log_step": null, + "text_zh": "观察：全片粗查并检查视频 10.0–17.5 s、24.0–31.5 s 及40.5–42.1 s，杯子没有离开原桌面位置；末秒左腕画面仍可见完整杯子在桌上，未出现左臂持杯抬升。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 0.0–1.5 s 左二指夹爪在杯子之外闭合，随后空手运动，未夹住杯子。候选名称：空合；没有杯子的相向夹持接触，故不能记为抓握，也没有推、压、托或勾的目标接触。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.0, + "log_step": 45, + "text_zh": "观察：视频 6.0–17.5 s 右臂移向左爪附近并闭爪，左右夹爪均为空，深色杯子仍在后方原桌面位置；视频 18.0–26.0 s 左爪张开、退回，右爪未带走杯子。与成功参考视频 8.0–12.0 s 可见杯子随右爪移动的交接结果不同。" + }, + { + "t": 42.1, + "log_step": null, + "text_zh": "观察：视频 40.5–42.1 s 杯子仍在桌上，右爪停在杯树旁；没有右爪独持悬空杯子的结果，左举前置事件亦未达到。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 12.0–24.5 s 双臂在交接区域配合移臂、转腕和开合爪，但两爪间没有杯子，杯子留在原处。候选名称：空手交接动作；无任何一爪包夹杯子的接触，故不用抓握。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.0, + "log_step": 45, + "text_zh": "观察：视频 26.5–31.5 s 右臂空手移向杯树并作下移、靠近枝钩的动作；杯子始终留在原桌面位置，没有被运到杯树。成功参考视频 13.0–16.0 s 可见杯子随右臂到达杯树并在松爪后悬留，本次没有该结果。" + }, + { + "t": 42.1, + "log_step": null, + "text_zh": "观察：视频 40.5–42.1 s 俯视画面和左腕画面均显示杯子仍静置桌面、与杯树分离；右夹爪虽已张开，杯树处没有悬挂杯子。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 26.5–40.0 s 右夹爪空手移向杯树，随后张开；杯子仍在桌上。候选名称：空手挂杯动作；右爪未抓住或承托杯子，不能复制任务典型方案的抓握接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "finger_pad_contact_force", + "value": null, + "unit": "N", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "hang_xy_distance", + "value": null, + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better" + }, + { + "name": "hang_mug_center_z", + "value": null, + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better" + }, + { + "name": "hang_z_deviation_from_segment_start", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "mug_lifted_left", + "t": 1.0, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频约 1.0 s 左夹爪已在杯子之外空合，随后左臂空手去交接区域，杯子从未被举起，直到视频 42.1 s 仍在原桌面位置。这是最早未修复的步骤；log step 45 记录的最终文件含 1264 个动作，与评分器 n_actions=1264 一致，log step 47 也明确交付第 5 次录制，因此不采用前几次会话试抓的碰杯现象。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.0, + "log_step": 45, + "evidence_zh": "观察：视频 0.0–1.5 s 左爪远离杯子空合，视频 1.75–5.75 s 左爪移动时杯子没有跟随；此后全片杯子留在桌上，没有建立举杯所需的包夹抓握，并非先持住再滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.0, + "log_step": 45, + "source_zh": "日志", + "evidence_zh": "推断：log step 45 的最终生成代码只在 IK 返回 ok 时执行左臂接近、抓取和抬升；同一步输出显示 standoff、pre、grasp、lift0.17 和 lift0.12 均 ok=False，位置残差约 107–123 mm。因而这些移臂动作全部被跳过，仅在原位闭爪，随后脚本仍执行交接和挂杯动作；这与视频 0.0–5.75 s 的空合及空手移动吻合。证据支持抓取控制未形成可执行动作，但不足以区分接触位姿设计不适配与逆解求解失败，故停留在控制大类。" + } + ], + "gap_zh": "没有逐帧状态日志、指垫力或关节限位记录，不能量化接触力，也不能仅由逆解残差断言左臂对所有合法抓法均不可达。log step 47 关于前几次杯柄方向错误的解释是 agent 对会话试验的自述，最终第 5 次已改用点云方向，故不据此给本次另加感知根因；评分器未报告 DAG 所列五项连续指标，native_metrics 的值留空。", + "unmet": { + "mug_lifted_left": false, + "mug_held_right": false, + "mug_hung_on_tree": false + } + }, + "summary_zh": "本次交付的第 5 次录制中，左爪空合后双臂执行空手交接与挂杯动作，杯子从视频开头到视频 42.1 s 始终留在原桌面位置，三个节点均未达到。断点为左臂举杯：最终脚本的抓取与抬升逆解均失败，相关移臂动作被跳过，所需抓握从未建立。无逐帧状态或关节限位证据，根因只能确定为控制，不能进一步断言所选位姿不可达或某个求解参数错误。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频中杯子全程留在桌面，三个节点均未达到，断点为左臂举杯，现象\"没建立接触\"与根因\"控制\"（日志 step 45 的 IK 失败、移臂被跳过）与证据一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:02:53Z", + "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/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--j8yjej5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dc0e9bb0dcf710f397fcf765c791d912418c0727bc751ccbe467824097184bc0", + "video_sha256": "b3ab1d532cd84cbb840dc23f1a4dbc3d9432318562833b8899695ffaf772842d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f164f7e9cf850852a6414744adc40935a2112c --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-privileged--vby7hbr", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 2040, + "sim_steps": 1800, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 324.6, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 46, + "agent_sim_steps": 13184, + "agent_records": 8, + "agent_replays": 9, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.666, + "peak_memory_gb": 11.165, + "peak_processes": 13, + "peak_disk_gb": 0.243, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr/replay.mp4", + "duration_s": 60.067, + "fps": 15.0, + "frames": 901, + "sha256": "5e5189830dc4fdaac6f96e8f759bb779e4109c0f227d03827d90864c7957abb6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 5.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 3.2–4.8 s，机器人左夹爪从杯柄两侧合拢；视频 5.2–6.4 s，杯子随左夹爪上升，原桌面位置空出，左腕画面中杯柄保持夹在两指之间，右臂尚未接杯。" + }, + { + "t": 5.5, + "log_step": null, + "text_zh": "推断：依据视频 5.2–6.4 s 的抬升及保持，将满足举高与短时保持的达到时刻估为视频 5.5 s，误差约 0.5 s；评分器 reward.success=1、progress=1.0 支持该受评阶段已通过，但视频不能量出两指各 0.1 N。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂平行二指夹爪夹住深色杯子的棕色杯柄，随后举起并搬向双臂之间；右爪此时未持杯。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 14.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.3, + "log_step": null, + "text_zh": "观察：视频 12.8–13.3 s，机器人右夹爪夹住杯柄对面的杯口部位，左夹爪仍夹持杯柄；两爪短暂同时持杯。" + }, + { + "t": 14.7, + "log_step": null, + "text_zh": "观察：视频 13.7 s 左爪张开，杯柄离开左爪两指；视频 14.0–15.2 s，杯子持续悬在右爪下方，视频 16.0–18.0 s 左臂撤回而杯子随右臂向杯树移动，没有回到桌面。" + }, + { + "t": 14.7, + "log_step": null, + "text_zh": "推断：从视频约 13.7 s 左爪释放后，右爪独持杯子约一秒，将换手阶段达到时刻估为视频 14.7 s，误差约 0.5 s；reward.success=1 支持该阶段通过。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人左夹爪先夹杯柄，右夹爪从杯口相对一侧夹持杯壁；交接时两爪短暂同时抓握，随后左爪张开撤离，右爪独持杯子。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [ + [ + 60.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 18.0–57.3 s，机器人右臂把杯子保持在杯树枝钩旁并缓慢调整位置，左臂已撤回；杯子仍贴随右爪，尚不能按释放后的挂杯结果计入。" + }, + { + "t": 59.5, + "log_step": null, + "text_zh": "观察：视频 58.9–60.0 s，右夹爪两指张开，杯子相对夹爪转动下垂，棕色杯柄留在杯树低处枝钩附近；最后的俯视画面中杯子位于杯树底座旁上方，未回到原桌面位置，左爪始终空置。右臂遮挡部分杯柄与枝钩接触处。" + }, + { + "t": 60.0, + "log_step": 115, + "text_zh": "观察：run.json 的评分器字段 success=1、all_success=1、deterministic=1、progress=1.0、sim_steps=1800；log step 114、115 对交付的同一文件各做一次新进程重放，均报告 pick/handover/hang=true，终态哈希相同。" + }, + { + "t": 60.0, + "log_step": 115, + "text_zh": "推断：交付重放在控制步 1800 成功结束，任务控制频率为 30 Hz，1800/30=60.0 s，与视频 59.2–60.0 s 松爪后杯子下垂及视频结束位置相符，故把挂杯验收达到锚定在视频 60.0 s。按该运行的评分规则判定终态为真；无状态日志，不能从画面独立复核高度容差、接触力及连续 30 步计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪保持夹住杯口附近的杯壁，将杯柄移到杯树枝钩处并调整，末段张爪；左爪未参与挂杯操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人左爪夹杯柄举起杯子，右爪接握杯口后左爪释放撤离，末段右爪张开，杯子在杯树枝钩旁下垂，三个节点最终均完成（3/3）。评分器报告成功且确定性重放通过，挂杯验收锚定视频 60.0 s，无失败断点。证据缺口：没有状态日志，部分挂钩接触被右臂遮挡，接触力、高度容差和连续保持计数不能独立量测；前两节点达到时间为视频估计，误差约 0.5 s。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点均达成；视频帧与时间（约5.5 s、14.7 s、60.0 s）基本吻合，接触标签合理，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": "2026-10-30T02:56:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--vby7hbr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4afb7f20db9cf8cdc796cb8ef663e3c0c1b522ff05c814f0a9ec6760f9d0478d", + "video_sha256": "5e5189830dc4fdaac6f96e8f759bb779e4109c0f227d03827d90864c7957abb6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--wcndww2.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--wcndww2.json new file mode 100644 index 0000000000000000000000000000000000000000..96181ff5429114179a197984b7ef8f67030d6665 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-privileged--wcndww2.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-privileged--wcndww2", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1584, + "sim_steps": 1584, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 153.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 7, + "agent_sim_steps": 10097, + "agent_records": 11, + "agent_replays": 5, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-privileged--wcndww2/replay.mp4", + "duration_s": 52.867, + "fps": 15.0, + "frames": 793, + "sha256": "f3c22a15794977ab41df5ae065333abc8f1e01d5dc2958b6e2dd2fea060637c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 7.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 6.6–8.0 s，机器人左夹爪夹住棕色杯柄，深色杯子随左臂连续升起，原桌面位置腾空；左腕画面可见杯柄夹在两指之间。视频 8.4–16.3 s 杯子持续保持抬高。" + }, + { + "t": 7.6, + "log_step": 72, + "text_zh": "推断：结合视频 6.6–8.0 s 的升起过程及 log step 72、75 对最终交付轨迹的新进程重放结果（pick、handover、hang 均为 true），左举阶段约在视频 7.6 s 达到，误差约 0.5 s；画面不能直接测量 0.1 N 指垫力和 5 cm 高度阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左夹爪两指夹住棕色杯柄并举起、搬运深色杯子（视频 6.6–20.5 s）。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35.0, + "log_step": null, + "text_zh": "观察：视频 33.6–34.6 s，机器人右夹爪一指伸入杯口、另一指在外侧夹住杯沿，左夹爪仍持杯柄；视频 34.8–35.8 s 左夹爪张开并退离，杯子没有落回桌面，仍由右夹爪夹持。" + }, + { + "t": 36.0, + "log_step": 72, + "text_zh": "推断：视频 35.0–37.8 s 左爪已释放，右爪独持杯子悬空，随后视频 39–44 s 杯子随右臂移至杯树；结合 log step 72、75 最终文件重放 handover=true，将连续保持约 1 s 后的达到时间近似标为视频 36.0 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左夹爪先夹住杯柄，右夹爪夹住杯沿内外两侧，双爪短暂共同持杯；随后左爪松开撤离，右爪独持（视频 33.6–37.8 s）。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [ + [ + 52.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 49.067, + "log_step": null, + "text_zh": "观察：视频 44–51.7 s，机器人右夹爪持杯对准杯树并下降；右腕视角中可见水平枝钩伸入棕色杯柄内，左夹爪已远离杯子。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "观察：视频 52.0、52.267、52.533、52.8 s，右夹爪张开并开始退离，杯子绕枝钩摆转但杯柄仍套在枝钩上，杯体保持悬空，没有落回桌面；视频 52.8 s 为末帧。" + }, + { + "t": 52.8, + "log_step": 75, + "text_zh": "推断：结合末段视频释放后仍挂在枝钩处的状态、评分字段 success=1、all_success=1、deterministic=1，以及 log step 72、75 最终交付文件的新进程重放三阶段全通过，将挂杯连续稳定验收的达到点标在视频 52.8 s 附近。没有逐帧状态日志，无法从画面精确复核水平距离、中心高度及稳定段计数；未把会话中的失败插入测试当作本次轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右夹爪夹住杯沿搬运并调整杯子，将杯柄套入杯树枝钩，随后张开并撤离；左夹爪在此阶段不接触杯子（视频 39–52.8 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人依次完成左臂举杯、交给右臂和释放挂杯，三个节点最终均达到，评分成功且最终文件的两次新进程重放均通过。视频约 7.6 s 杯子被左爪举起，约 36.0 s 右爪完成独持，视频 52.8 s 末帧杯柄仍套在杯树枝钩上、双爪已释放。没有逐帧状态日志，指垫力、精确几何阈值与连续计数依赖成功验收支持，节点时间为视觉近似。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点均达到，时间（举杯约7.6 s、右爪独持约36 s、挂杯约52.8 s视频时间）与帧及评分字段一致，contact_actual 与画面相符，无失败层。未发现需改内容的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:32:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--wcndww2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-privileged--wcndww2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de9280b2fa304fc6b512b4f0ca1d6da5495f4f9d76e73c728b9e80386aa17086", + "video_sha256": "f3c22a15794977ab41df5ae065333abc8f1e01d5dc2958b6e2dd2fea060637c3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--49yrawj.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--49yrawj.json new file mode 100644 index 0000000000000000000000000000000000000000..c33d79e33153f79a370960785c94c6afb3434359 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--49yrawj.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--49yrawj", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 1, + "finalized": 1, + "n_actions": 1130, + "sim_steps": 1130, + "physics_steps": 4520, + "steps": 24, + "elapsed_s": 881.1, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-standard--49yrawj/replay.mp4", + "duration_s": 37.733, + "fps": 15.0, + "frames": 566, + "sha256": "5a86be3e2a3c9f65d6d33185b1994ee1ed3c780e1bc02bae2b9f25608726c3cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 2.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.9, + "log_step": 40, + "text_zh": "观察：视频 0.0 s 杯子原在桌面；视频 2.4–3.0 s 左夹爪夹着棕色杯柄将深色杯身抬离桌面，视频 3.0–4.2 s 杯子持续悬空并随左臂运动，原位置已空，符合左臂举杯的可见判据。" + }, + { + "t": 2.9, + "log_step": 38, + "text_zh": "推断：按视频中约 0.1 m 的可见抬升和随后持续保持，达到时刻约为视频 2.9 s（约半秒误差）；没有逐指接触力与阶段计数日志，无法精确核对 0.1 N 和连续 8 步。此节点是锁存事件，后来的掉杯不撤销已完成的左举。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂二指夹爪夹住杯柄并将杯子举离桌面；杯子随夹爪一起移动。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.2, + "log_step": 69, + "text_zh": "观察：视频 5.8–11.6 s 左夹爪持续持杯，右夹爪多次靠近杯身但未接走；视频 12.5–13.5 s 右臂换方向接近时与杯树相碰，杯树倾倒到两爪附近。" + }, + { + "t": 21.47, + "log_step": 83, + "text_zh": "观察：视频 20.8–21.1 s 两夹爪仍在杯口和杯柄附近；视频 21.13 s 左爪张开后杯子已开始下移，视频 21.47–21.73 s 杯子明显脱离右爪向桌面落下，视频 22.0–23.6 s 杯子停在桌面而右爪悬空。右爪没有在左爪释放后持续举杯约 1 s，此后至视频 37.67 s 也未再将杯子拾起。" + }, + { + "t": 21.47, + "log_step": 82, + "text_zh": "推断：这是单次在线评分局（reward.resumes=0、live_matches_replay=1）。log step 82 的服务 control_steps=643，按任务规定 30 Hz 对应视频约 21.43 s，已与视频 21.13–21.73 s 的松左爪和掉杯核对；log step 83 的 agent 自述“右爪正夹杯沿”不能替代随后实际脱手的画面。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左爪夹杯柄保持举杯，右爪闭合夹住杯沿附近，随后左爪松开，右爪未保持住杯子；右臂接近途中还碰倒了杯树。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.2, + "log_step": 86, + "text_zh": "观察：视频 22.0–23.6 s 杯子已落回桌面，杯树横倒；视频 24.0–37.67 s 右臂转而尝试夹持和恢复杯树，杯子一直留在桌面，没有被送到枝钩并释放悬挂。视频 36.6–37.67 s 的末秒逐帧可见杯子仍在桌面，杯树被右爪进一步带动；log step 107 的服务记录在 control_steps=1130 以 object_fell 结束。" + }, + { + "t": 37.67, + "log_step": 107, + "text_zh": "推断：杯子既未完成前置的右臂持续独持，也没有形成释放后离桌稳定的挂杯状态，故挂杯始终未达到。机器人后段仅恢复支架，未开始持杯套钩；成功参考在参考视频 11.0 s 可见右爪独持，在参考视频 14.0–17.0 s 可见杯子留在树旁悬挂高度，本次画面不存在这些结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_held_right", + "t": 13.2, + "log_step": 69, + "where": "操作中", + "evidence_zh": "观察：视频 12.5–13.5 s，机器人右臂为换手重新绕向杯子，碰倒杯树，这是换手过程中首次未修复的场景破坏；视频 21.13–21.73 s 左爪释放后杯子又从右爪处滑落回桌面，换手始终未完成。之后机器人转而恢复杯树，至视频 37.67 s 仍未重新举杯；log step 107 服务记录 object_fell 终止，掉落终止不另作断点。" + }, + "unmet": { + "mug_lifted_left": true, + "mug_held_right": false, + "mug_hung_on_tree": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 13.2, + "log_step": 69, + "evidence_zh": "观察：视频 12.53–13.47 s 右夹爪及腕部绕行接近左爪所持杯子时碰到杯树，杯树底座随之翻起、树干向左倒入双爪之间；视频 14.0–20.8 s 杯树仍倒伏在操作区。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 21.47, + "log_step": 83, + "evidence_zh": "观察：视频 20.8–21.1 s 右爪闭合在杯沿附近，左爪仍夹住杯柄；视频 21.13–21.4 s 左爪张开后杯子相对右爪下滑，视频 21.47–21.73 s 杯子脱手落下，视频 22.0 s 已落回桌面。右爪未能在左爪退出后保持承载。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 21.47, + "log_step": 83, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 20.8–21.47 s 右爪只在杯沿附近形成浅夹持，左爪一松杯子即下滑，接触布局不足以在换手时承担杯重；log step 83 的 agent 也自述“pinching the mug’s rim”，其脚本随后保持右爪闭合并上抬，而 log step 85 的服务夹爪读数已趋近全闭、视频 22.0–23.6 s 杯子却在桌面，支持夹持失效。可行替代已由同任务成功参考验证：参考视频 10.0–12.0 s 右爪包夹杯身并在左爪退出后继续独持；不将参考动作记作本次进度。" + } + ], + "gap_zh": "无逐帧状态日志，评分字段未报告各阶段、逐指接触力及五项原生指标；左举时刻和接触几何按视频近似判断。碰倒杯树的事实可见，但无法进一步区分其轨迹设计、跟踪或位置估计的根因；末端 object_fell 未报告具体物体及位置，故不凭该字段断言是哪一物体越过掉落阈值。" + }, + "summary_zh": "本次只完成左臂举杯（约视频 2.9 s，锁存），右臂换手和挂杯均未完成，最终为 1/3。右臂换手接近时于视频约 13.2 s 碰倒杯树，随后浅夹杯沿，在视频约 21.5 s 未能接稳杯子；机器人后续恢复杯树时由服务以 object_fell 结束。缺少阶段计数和接触力状态日志，左举时间及右爪接触设计的归因为视觉近似与上下文推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点与现象与视频一致：左举约视频 2.9 s 达成，右臂接近时约 12.6–13.5 s 碰倒杯树，约 21.5 s 换手脱手，挂杯未达成；未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:05:03Z", + "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/yamlab-hang-mug-on-tree-i15-standard--49yrawj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--49yrawj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a2a6e65ad540f494d89a6487b7940a6309d782c4c06b824c0ea3a379e4f1d379", + "video_sha256": "5a86be3e2a3c9f65d6d33185b1994ee1ed3c780e1bc02bae2b9f25608726c3cd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm.json new file mode 100644 index 0000000000000000000000000000000000000000..43767390d37e1b38acc8f75e5354ae9d82002bc0 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--b5dx7xm", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1584, + "sim_steps": 1584, + "physics_steps": 6336, + "steps": 444, + "elapsed_s": 1948.4, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "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/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm/replay.mp4", + "duration_s": 52.867, + "fps": 15.0, + "frames": 793, + "sha256": "a5fb0d15bc57c630129eb68325d5d0b8ce71c2181307d158df9aefd8a77dbcf9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，深色杯子位于桌面左侧，左、右夹爪均张开，杯子尚未被举起。" + }, + { + "t": 7.5, + "log_step": 31, + "text_zh": "观察：视频 6.7–8.5 s，左夹爪夹住杯口一侧的杯壁并上升，杯子离开原桌面位置且随左爪运动，左腕画面持续可见被夹持的杯口；log step 31 的动作是左臂抬升并保持。" + }, + { + "t": 7.5, + "log_step": null, + "text_zh": "推断：结合视频 7.2–8.5 s 的离桌高度和持续持杯，将左举阶段达到时刻近似记为视频 7.5 s，误差约 0.5 s；评分器 live_success、replay_success 均为 1，支持该锁存阶段已通过，但视频不能直接测得指垫接触力。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂平行二指夹爪以一指在杯口内侧、另一指在外侧夹住杯壁，举起深色杯子。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.7, + "log_step": 42, + "text_zh": "观察：视频 20.0–21.7 s，左夹爪仍持杯，右夹爪在杯口另一侧合拢，两臂共同参与交接；log step 42 执行右爪闭合。" + }, + { + "t": 23.0, + "log_step": 43, + "text_zh": "观察：视频 22.3–23.7 s，左夹爪张开，杯子从两爪间下落并回到桌面；腕部画面显示杯子已离开指尖夹持位置。因此此次交接不能作为持续右手举杯的达到时刻。" + }, + { + "t": 36.0, + "log_step": 50, + "text_zh": "观察：视频 30.0–34.0 s，右夹爪下降重新夹住桌面上的同一只杯子；视频 34.3–36.7 s，杯子随右爪明显上升并保持悬空，左爪持续张开且未持杯；log step 50 执行右臂抬升并保持。" + }, + { + "t": 36.0, + "log_step": 70, + "text_zh": "推断：视频约 35.0 s 后可见右爪独持杯子并维持离桌高度，按连续约 1 s 的判据，将阶段达到时刻近似记为视频 36.0 s，误差约 0.5 s；log step 70 的服务结果为 done=True、reason=success，且评分器 live_success=replay_success=1，支持右持阶段已通过。此处按评分所要求的右持、左松及高度条件记完成，不声称首次空中交接成功。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：首次交接时左爪夹住杯口一侧，右爪在另一侧合拢接握，随后左爪释放，杯子落回桌面；恢复时仅右臂夹爪重新夹住杯壁并举起，左爪保持张开。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [ + [ + 52.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.0, + "log_step": 65, + "text_zh": "观察：视频 38.0–48.6 s，机器人右臂持杯移向右侧杯树；右腕画面可见杯柄环靠近枝钩，随后枝条进入杯柄环内。视频 49.0–51.6 s，杯子在枝钩处降低，右爪尚未完全退出。" + }, + { + "t": 52.8, + "log_step": 70, + "text_zh": "观察：视频 51.8–52.8 s，右夹爪张开并向上退出，左爪仍在远处张开；杯子留在杯树枝钩处并摆动，没有落回桌面。视频 52.8 s 的末帧仍可见悬空杯子及已张开的右爪；log step 70 的机器人服务返回 DONE success、done=True、reason=success。" + }, + { + "t": 52.8, + "log_step": 70, + "text_zh": "推断：末尾约 1 s 的释放后悬挂画面与评分器 live_success=1、replay_success=1、live_matches_replay=1 一致，挂杯阶段达到时刻记为视频 52.8 s；连续计数和高度容差不能单由图像精确测定。log step 70 的服务控制步总数 1584，按任务给定 30 Hz 得到视频 52.8 s，与已检查的末尾释放及成功终止位置一致，未使用 agent 工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右臂二指夹爪夹住杯口附近的杯壁，搬运并调整杯子，使杯柄环套入杯树枝钩；随后张开夹爪释放并上抬退出，左臂不接触杯子。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人左臂举杯后，首次交接使杯子落回桌面，随后右臂重新抓起并完成释放挂杯，三个节点按评分规则均完成，在线与重放评分均成功（视频约 7.5 s、36.0 s、52.8 s；log step 70）。任务设计问题：任务文本要求交接时杯子保持抬高，但实际评分接受了落桌后由右臂重新抓起的路径，故右持节点按原生判据记为完成，并非直接空中交接成功（视频 22.3–36.7 s；inputs/run.json 的 task_text、reward）。没有逐帧状态日志，指垫力、杯中心精确高度和稳定计数无法直接核实，早期达到时刻约有 0.5 s 不确定性；评分未报告五项原生指标数值，均填 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点的达到时刻（视频约 7.5 s、36.0 s、52.8 s）与帧一致；落桌后右爪重抓的路径被评分接受，已按任务设计问题说明。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:25:24Z", + "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/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--b5dx7xm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4ff837f4f534e5cbc2041b7e884a8473bdcd999b55285e540917b1ef6ce75285", + "video_sha256": "a5fb0d15bc57c630129eb68325d5d0b8ce71c2181307d158df9aefd8a77dbcf9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--knqhn5p.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--knqhn5p.json new file mode 100644 index 0000000000000000000000000000000000000000..f83409a9accfc030320a46446d157b5fb9aef98d --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--knqhn5p.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--knqhn5p", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 1, + "finalized": 1, + "n_actions": 34727, + "sim_steps": 34727, + "physics_steps": 138908, + "steps": 1453, + "elapsed_s": 3786.2, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-standard--knqhn5p/replay.mp4", + "duration_s": 1157.667, + "fps": 15.0, + "frames": 17365, + "sha256": "239d62004c33e8072e1d7e68ab9bb04280e81d00893ee2cfbd837e3bcb1b87c8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 166.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 166.0, + "log_step": 133, + "text_zh": "观察：视频 164.0–167.7 s，深色杯子随左夹爪进一步升高，杯柄在左腕视角中随杯身保持在夹爪前方；视频 179.0–188.0 s，左臂又将杯子搬离旧位置，原处露出桌面，杯子随臂悬空移动。" + }, + { + "t": 166.0, + "log_step": 134, + "text_zh": "推断：结合视频 165.7–167.7 s 的升高与持续夹持，以及 log step 133 的实测左 TCP z=0.8784 m、log step 134 的杯体可见点 z=0.831–0.965 m，左举杯达到约高于初始中心 0.05 m 的条件，首次达到估计为视频 166.0 s，误差约 0.5 s；未直接测得指垫力或阶段锁存值。该节点为 event，后续掉杯不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 135.0–167.7 s，左平行二指夹爪合拢夹住深色杯身并上举；视频 179.0–188.0 s 搬运时杯子随左夹爪移动。此前接近与探查也曾将杯子在桌上推移。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 881.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 740.0, + "log_step": 140, + "text_zh": "观察：视频 740.0–750.0 s，杯子停在桌面，左臂撤开、右臂仍未持杯；log step 140 的实测输出显示先前交接动作移动的是左 TCP，右 TCP 不动，双爪均张开。log step 141 中 agent 承认把右臂航点传给只移动左臂的 mv()；因此不采信 log step 201 所称早期右臂已接握。" + }, + { + "t": 881.0, + "log_step": 167, + "text_zh": "观察：视频 875.0–878.0 s，右夹爪接近并夹住桌上的杯子；视频 879.0–883.0 s，杯子离开桌面随右臂升高，原杯位置露出桌面，左夹爪张开且不持杯。视频 890.0–1100.0 s 可见杯子继续由右臂悬持并改变朝向。" + }, + { + "t": 881.0, + "log_step": 167, + "text_zh": "推断：按 DAG 的验收条件，左举杯事件之后，右爪单独夹持且杯子抬高并持续约 1 s 即可计入本节点；视频约 881.0 s 达到，时间误差约 1 s。这次是落桌后右臂重新抓起，没有观察到双爪在空中直接交接；log step 167 的右 TCP z=0.8987 m 和非零夹持开口支持视频中的持杯，但不代替视频证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 875.0–883.0 s，右平行二指夹爪夹住同一只杯身并提离桌面，左爪保持空置。早期左爪曾松杯，右爪随后抓取失败并推移杯子，最终由右爪从桌面重新夹起；未见双爪同时抓握杯子，故不记双臂协作。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1102.0, + "log_step": 188, + "text_zh": "观察：视频 1102.0–1156.6 s，右臂把杯子从左侧工作区带向杯树并停在树旁，杯子仍贴在右夹爪处，左臂空置；没有出现双爪释放后杯子稳定悬挂的画面。成功参考视频 14.0–16.0 s 中则能看到右爪退开、杯子独留在杯树旁。" + }, + { + "t": 1156.9, + "log_step": 188, + "text_zh": "观察：视频 1156.7–1157.6 s，杯子从右夹爪前方脱出，杯柄和杯身一起翻转下落，杯树仍直立；log step 188 的搬运调用已经返回 done=True，log step 197 的后续挂钩航点被服务以 EpisodeOver: object_fell 拒绝，log step 198 的服务状态与评分器 object_fell=1 一致。未形成释放后稳定挂杯。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1020.0–1100.0 s，右二指夹爪持杯调整方向；视频 1102.0 s 后持杯向杯树搬运，至视频约 1156.8 s 杯子脱出。未见成功挂住后的主动松爪。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_hung_on_tree", + "t": 1156.8, + "log_step": 188, + "where": "操作中", + "evidence_zh": "观察：视频 1102.0 s 后机器人右臂持杯靠近杯树，视频约 1156.8 s 杯子脱离夹爪并翻落，未形成稳定悬挂；log step 188 已返回 done=True，log step 198 的服务状态给出 reason=object_fell。此前落桌和抓取失败后来已通过右爪重新持杯修复，最终未完成的是挂杯。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 1156.8, + "log_step": 188, + "evidence_zh": "观察：视频 1155.5–1156.6 s 杯子仍在右夹爪处，视频 1156.7–1157.6 s 杯身连同铜色杯柄从夹爪前方翻转脱出并下降；log step 188 代码在整段搬运中保持右爪闭合命令 0.0，没有主动松手，服务随后报告 object_fell。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1156.8, + "log_step": 188, + "evidence_zh": "推断：log step 188 的脚本要求保持右腕姿态、右爪闭合，将 TCP 平移至 (0.70,-0.26,0.97) m；同一步机器人实测 TCP 却为 (0.7766,-0.2476,0.9691) m，前向偏差约 0.077 m。结合视频 1102.0–1157.6 s 的持杯搬运和闭爪失手，说明执行中未能保持持杯状态；证据支持控制层问题，尚不能把失手唯一归于接触设计、逆解或反馈控制。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志或原生阶段锁存记录，指垫接触力、杯中心精确高度与连续计数不可直接复核；前两节点的达到时刻由视频近似判断。片尾可确认杯子脱出，但夹爪与杯树邻近处局部遮挡，没有接触对和受力记录，无法确认是否碰枝、摩擦不足或跟踪偏差触发失手，故不另标碰撞或更细根因。log step 198/201 中 agent 把终止归于 log step 197 的抬高接近，与 log step 188 已 done=True 的服务记录不符；实际终止发生于前一次搬运。", + "unmet": { + "mug_lifted_left": true, + "mug_held_right": true, + "mug_hung_on_tree": false + } + }, + "summary_zh": "机器人左臂举杯，早期交接失手落桌后，右臂重新抓起并持续悬持，按 DAG 的阶段验收计为完成 2/3；未观察到空中直接换手。右臂向杯树搬运时于视频约 1156.8 s 丢失杯子，服务以 object_fell 终止，挂杯未完成，根因保留在控制层。没有原生阶段与接触力日志，前两节点的阈值达到时间及最终失手的具体受力机制只能近似判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与断点与视频一致：左举杯约视频 166 s 达到（与 log step 138 的 control_steps=5267→视频 175.6 s 搬运起点不矛盾），落桌后右臂在视频约 881 s 重新抓起并悬持，挂杯未完成；视频 1156.4–1157.6 s 杯子从右爪脱落，log step 188 返回 done=True 且服务 reason=object_fell，与标签一致。没保持住 + 控制（保守的未细分根因）有证据支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:03:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--knqhn5p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--knqhn5p/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4f5cde8e395d1193a989341fc19e514cec62d9aa96b5afca0e25694d31a97ff9", + "video_sha256": "239d62004c33e8072e1d7e68ab9bb04280e81d00893ee2cfbd837e3bcb1b87c8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--luritnj.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--luritnj.json new file mode 100644 index 0000000000000000000000000000000000000000..c39835718e2ccf67ac9c208c699f166e524fca74 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--luritnj.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--luritnj", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 1, + "finalized": 1, + "n_actions": 579, + "sim_steps": 579, + "physics_steps": 2316, + "steps": 158, + "elapsed_s": 597.0, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-standard--luritnj/replay.mp4", + "duration_s": 19.4, + "fps": 15.0, + "frames": 291, + "sha256": "696c353b9536f99e53db2d7ea7e0e52d106f724e7d00b7cd29cae29490ab0696" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.4, + "log_step": 36, + "text_zh": "观察：视频 6.8–8.2 s 左夹爪接近杯身，视频 8.33–8.8 s 闭爪时杯子转动并向夹爪前方移开，随后仍在桌面上；没有随左臂受控抬起并保持。log step 36 的脚本执行左爪闭合。" + }, + { + "t": 19.33, + "log_step": 49, + "text_zh": "观察：视频 17.07–19.0 s 左夹爪再次靠近杯身；视频 19.07–19.33 s 闭合的两指前方杯子翻转、远离指尖，未被夹住保持。评分器字段 object_fell=1、success=0；log step 49 为第二次闭爪命令。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 8.33–8.8 s 左夹爪手指闭合时推碰杯身，使杯子在桌面上移位、转向；视频 19.07–19.33 s 再次闭合将杯子挤离指尖。未观察到双指持续夹住杯子，右臂未参与接触。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.33, + "log_step": null, + "text_zh": "观察：视频 0–19.33 s 的俯视及右腕画面中，右臂始终停在杯树前方原位，杯子一直在左臂作业区域，未移到右夹爪中，也未出现右爪独持杯子。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.33, + "log_step": null, + "text_zh": "观察：视频 0–19.33 s 杯树处没有出现杯子；末帧杯子仍在左侧抓取区域且翻转，两臂未向杯树搬杯。对照成功参考视频约 12–16 s 可见的杯子移至杯树附近并释放，本次未出现该位置关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_lifted_left", + "t": 8.4, + "log_step": 36, + "where": "操作中", + "evidence_zh": "观察：视频 8.33–8.8 s 左夹爪第一次闭合后，杯子移开并回到桌面静置，左爪未完成举杯；机器人随后重定位再抓，同一步始终未完成。视频 19.07–19.33 s 第二次闭合又使杯子翻转离开指尖，评分器 object_fell=1，尝试结束。" + }, + "unmet": { + "mug_lifted_left": false, + "mug_held_right": false, + "mug_hung_on_tree": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 8.4, + "log_step": 36, + "evidence_zh": "观察：视频 8.33–8.8 s 两指合拢而杯子转向、移到指尖之外，视频 9.0–12.0 s 杯子留在桌上，左爪撤开；视频 19.07–19.33 s 第二次闭合后杯子也离开指尖。这里缺少的是能夹持举杯的对向抓握，推碰接触实际存在。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "evidence_zh": "推断：log step 34 的脚本将左爪移至杯身侧面，log step 36 闭爪；视频 8.33–8.8 s 杯身被两指闭合动作推开，未留在两指之间。log step 44–49 改为较低杯身侧向接近并闭爪，视频 19.07–19.33 s 仍将杯子挤离，说明本次杯身接触几何没有形成稳定夹持。可行替代由成功参考视频约 2–6 s 的左爪夹持杯柄并举杯验证；参考只用于说明替代抓法存在，不作为本次进度证据。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态日志或原生阶段计数、指垫接触力读数，无法量化两次接触的力和杯中心高度；根因由闭爪命令及可见杯身被推离的接触过程推断。agent 在 log step 44 自述杯身宽度不适配夹爪，但该具体尺寸关系未获独立核验，未据此作定量归因。" + }, + "summary_zh": "机器人两次用左夹爪尝试夹杯，均把杯子推离而未持续抬起，左臂举杯、交右臂和挂杯均未达到（终态 0/3）。断点在左臂举杯，接触几何未形成稳定抓握；视频 19.07–19.33 s 杯子翻转离开指尖，评分器记录掉落并终止。没有状态日志与接触力读数，无法精确复核受力和高度阈值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点均未达成、断点在左臂举杯、时间与帧一致；视频中杯子始终未被夹起。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:01:58Z", + "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/yamlab-hang-mug-on-tree-i15-standard--luritnj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--luritnj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a250673d6217839692968a35e4768f25d2dffe45963eacb280f97e42dc60aa7", + "video_sha256": "696c353b9536f99e53db2d7ea7e0e52d106f724e7d00b7cd29cae29490ab0696", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--wcjwodh.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--wcjwodh.json new file mode 100644 index 0000000000000000000000000000000000000000..c495779a9955f210224b9557be8784aba2565ed0 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--wcjwodh.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--wcjwodh", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 1, + "finalized": 1, + "n_actions": 3297, + "sim_steps": 3297, + "physics_steps": 13188, + "steps": 411, + "elapsed_s": 2629.3, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.422, + "peak_processes": 6, + "peak_disk_gb": 0.28 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-hang-mug-on-tree-i15-standard--wcjwodh/replay.mp4", + "duration_s": 110.0, + "fps": 15.0, + "frames": 1650, + "sha256": "70106241b95577abe4795bb48738fc07cdfe424e78a602bb52adeae4c4a81558" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 4.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": 142, + "text_zh": "观察：视频 4.2–5.2 s 左夹爪夹住棕色杯柄并将深色杯子抬离桌面，杯子随左臂上升后保持；左腕画面可见杯柄位于两指间。log step 142 的举杯指令执行完毕，夹爪开口约 0.0148 m。" + }, + { + "t": 4.8, + "log_step": 144, + "text_zh": "推断：结合视频 4.4–5.2 s 的升高和保持，左臂举杯约在视频 4.8 s 达到；log step 144 中 agent 自算点云的杯底离桌约 0.0736 m 与画面一致，仅作辅助，不能代替原生接触力和阶段计数。此节点为锁存事件，随后掉回桌面不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂平行二指夹爪夹住杯柄并举杯；视频 3.4–5.2 s 可见杯子被夹持并随臂上升。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [ + [ + 98.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.0, + "log_step": 151, + "text_zh": "观察：视频 12.3–16.7 s 左夹爪松开退开后杯子回到桌面，右爪退开时杯子仍留在原处；早期交接未完成。log step 151 也将此处称为落回桌面的杯子。" + }, + { + "t": 98.5, + "log_step": 333, + "text_zh": "观察：视频 96.8–98.0 s 右夹爪夹住侧倒杯身并上升，杯子不再留在桌面旧位置；随后视频 98.0–99.6 s 杯子保持相对右腕稳定，左爪张开停在左侧，视频 100.0–102.0 s 杯子随右臂被搬向杯树。log step 333 报右爪抬起后开口约 0.0625 m。" + }, + { + "t": 98.5, + "log_step": 343, + "text_zh": "推断：右臂后段重新从桌面拾起同一杯子，满足先左举、再右爪独持并抬高的阶段判据；约在视频 98.5 s 达到持续保持要求，误差约 0.5 s。单次在线局无重置；log step 333/343 的 control_steps=2983 按控制率 30 Hz 对应视频 99.43 s，已与视频 99.4–100.0 s 右臂结束保持并开始向树移动核对；未使用 agent 工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 8–12 s、22–26 s 左爪持杯柄，右爪靠近闭合尝试接杯，左爪随后松开；早期交接未持住。视频 96.8–99.6 s 后续补救由右爪独自夹住杯身抬起，左爪已张开退出，不把早期右爪闭合当成成功抓握。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.3, + "log_step": 343, + "text_zh": "观察：视频 100.0–102.1 s 右臂持杯移到杯树附近；视频 102.2–102.9 s 右爪打开后，杯子离开夹爪翻转下落，落在树左侧桌面，没有保持悬挂。log step 343 的脚本依次执行搬运、降低、打开右爪和退回，log step 345 报服务仍未成功结束。" + }, + { + "t": 109.93, + "log_step": 381, + "text_zh": "观察：视频 105–109.93 s 右臂再次靠近杯子补救，最后一秒右腕画面中的杯子翻转并向桌沿下方落去，未出现释放后稳定悬挂。log step 381 服务最终 reason=object_fell，评分字段 success=0、object_fell=1；脚本打印的完成字样仅检查 done，不能作为挂杯成功证据。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "推断：与 oracle 视频 14–17.2 s 松爪后杯子留在树旁悬挂高度的画面对比，本次视频 102.2–105 s 明显回到桌面，故挂杯节点未达到；未因总分为零而否定此前两个举杯事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右臂夹爪夹住杯身运至杯树附近，再主动张开释放（视频 100–102.3 s）；随后右爪再次接近杯子补救，未恢复挂杯结果。未观察到成功的杯柄套钩。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_hung_on_tree", + "t": 102.3, + "log_step": 343, + "where": "操作中", + "evidence_zh": "观察：视频 102.2–102.9 s 右臂执行挂杯松爪，杯子没有留在枝钩上而翻落至树旁桌面；视频 105–109.93 s 的再次操作未修复挂杯，最后服务返回 object_fell（log step 381）。此前左举、右臂独持已先后完成，因此最早未修复的步骤是挂杯。" + }, + "unmet": { + "mug_lifted_left": true, + "mug_held_right": true, + "mug_hung_on_tree": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 102.3, + "log_step": 343, + "evidence_zh": "推断：视频 102.2–102.9 s 杯子在右夹爪按计划打开后立即翻落桌面，未先形成枝钩承挂；相邻视频 101.8–102.1 s 仍由右爪夹持，视频 103–105 s 已躺在树旁桌面。松手时杯柄尚未挂到位，按位姿不准标注。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 331 用右爪夹住侧倒杯身，log step 343 保持该握姿转运、略微倾斜并降低到固定末端位置后直接打开夹爪；该动作没有建立松手后能承重的柄钩配合，视频 102.2–102.9 s 的立即翻落与之吻合。log step 341–342 的逆解检查只验证末端路径可解，不能验证杯柄与枝钩的接触布局；本次握姿下的可行替代尚未验证。" + } + ], + "gap_zh": "没有逐帧状态日志，原生双指接触力、杯中心精确高度与阶段连续计数未报告；举杯和右臂持杯达到时间由多视角运动及保持段近似判断，约有 0.5 s 误差。右腕在持杯时被杯身近距离遮挡，释放前的柄钩局部接触无法直接量测，接触设计根因是由脚本动作与松手后结果推断，不能确定具体几何误差数值。五项原生指标在评分字段中均未报告，故保留 null。" + }, + "summary_zh": "左臂举杯约在视频 4.8 s 完成；早期交接失败后，右臂在后段重新抓起同一杯子，约在视频 98.5 s 达到独持抬高条件，两个事件节点锁存，最终完成 2/3。挂杯断在视频 102.3 s 附近：右爪在未形成柄钩承挂时松开，杯子翻落桌面，后续补救最终以物体掉落结束；脚本与画面支持放置接触布局未成功的推断。缺少原生接触力、精确高度和连续计数，达到时间及接触设计根因存在上述证据限制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查帧与标注一致：视频 4.8 s 左腕画面杯柄被夹持并抬起，98.5 s 右腕画面杯身被独持且左爪退开，102.5 s 杯子已离开右爪落在桌面，挂杯未达成，断点在 mug_hung_on_tree 合理。未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:02:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--wcjwodh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--wcjwodh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2c5e2a015b5c466d7e9a2ded94a07981785a66158a3fc1f18a765ea140d65907", + "video_sha256": "70106241b95577abe4795bb48738fc07cdfe424e78a602bb52adeae4c4a81558", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--xalritw.json b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--xalritw.json new file mode 100644 index 0000000000000000000000000000000000000000..092dcb29c86011ee63a2b2014fdb95d40b188960 --- /dev/null +++ b/phase2/yamlab/hang_mug_on_tree_i15/trajectories/yamlab-hang-mug-on-tree-i15-standard--xalritw.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-hang-mug-on-tree-i15-standard--xalritw", + "taskKey": "yamlab/hang_mug_on_tree_i15", + "dag_sha256": "13d869e4079e52e20f77c21da82d1d220f530ea87f7e9a443645a260ba498e34", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 513, + "sim_steps": 513, + "physics_steps": 2052, + "steps": 171, + "elapsed_s": 2384.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "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/yamlab-hang-mug-on-tree-i15-standard--xalritw/replay.mp4", + "duration_s": 17.2, + "fps": 15.0, + "frames": 258, + "sha256": "f32448a28f05c5fab343f140d66cf2ca4a0dd0cd23c7c4df4a48dcf34000f3d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_lifted_left": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": 55, + "text_zh": "观察：视频 5.0–6.3 s 左夹爪夹住杯沿后向上提起，杯子随夹爪运动，视频 8.0–9.3 s 原桌面位置已空，杯子仍随左臂悬空移到交接处。log step 55 的在线服务返回左夹爪开口约 0.0111 m，且本段执行完成。" + }, + { + "t": 6.3, + "log_step": 54, + "text_zh": "推断：视频约 5.8 s 杯子已随左夹爪明显升高并持续保持，满足左举杯节点；达到时刻视觉估计误差约 0.3 s。log step 54 的实际执行脚本安排抬升约 0.10 m 后保持，log step 55 返回左 TCP 高度约 0.9214 m，与视频提杯一致；视频不能直接测量双指 0.1 N 接触力。该节点为锁存事件，后续交接落杯不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂平行二指夹爪夹住深色杯子的杯沿壁，将杯子从桌面举起并保持。" + } + ] + }, + "mug_held_right": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.2, + "log_step": 66, + "text_zh": "观察：视频 11.3–13.0 s 左夹爪仍持杯，右夹爪向杯身靠近并闭合；视频 13.13–13.8 s 杯子相对两爪向下滑转，视频 14.0–14.3 s 落到桌面，右爪空闭。视频 15.3–17.13 s 左爪已张开并退开，杯子留在桌面，没有右爪独持悬空并持续运动的阶段。log step 66 的在线服务最终返回右夹爪开口约 0 m。" + }, + { + "t": 17.13, + "log_step": 68, + "text_zh": "推断：右爪接握没有形成满足持续时间的独立持杯状态，故换手节点未达到。log step 68 读取本次交接的开口记录，右爪开口从约 0.0814 m 经 0.0666 m 降到约 0 m，与视频中杯子滑脱后右爪空闭一致；不将脚本注释中“双爪持住”的意图当作完成证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪夹住杯沿并将杯子横转呈送；右夹爪两指从杯身两侧收拢尝试接握，杯子在收拢过程中滑脱，未形成稳定右爪独持。随后左夹爪张开撤退。" + } + ] + }, + "mug_hung_on_tree": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.13, + "log_step": null, + "text_zh": "观察：视频 14.3–17.13 s 杯子停在两机械臂之间的桌面上，右侧杯树枝钩处没有杯子，机器人没有将杯子搬到杯树或在枝钩处释放。成功参考视频约 13–17 s 可见杯子移到杯树旁并在双爪退开后仍悬挂，本次始终没有出现该结果；参考仅用于辨认目标外观。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_lift_above_initial_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "finger_pad_contact_force", + "unit": "N", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_xy_distance", + "unit": "m", + "threshold": 0.11462, + "direction": "lower_better", + "value": null + }, + { + "name": "hang_mug_center_z", + "unit": "m", + "threshold": 0.84925, + "direction": "higher_better", + "value": null + }, + { + "name": "hang_z_deviation_from_segment_start", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_held_right", + "t": 13.2, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频约 13.2 s，机器人正在双臂交接杯子，右夹爪闭合时杯子开始相对夹爪下滑，视频约 14.0 s 落回桌面；到视频 17.13 s 未恢复交接。log step 66 是最后一次实际运动提交，后续日志只有观测和逆解试算，没有新的机器人执行。" + }, + "unmet": { + "mug_lifted_left": true, + "mug_held_right": false, + "mug_hung_on_tree": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 13.2, + "log_step": 66, + "evidence_zh": "观察：视频 9.3–12.9 s 杯子原先由左夹爪悬空持住；右夹爪闭合过程中，视频 13.13–13.8 s 杯子从原持握位置滑转下落，视频 14.0–14.3 s 落在桌面，双爪没有保住杯子。这里指交接过程中丢失原有持杯状态，不声称右爪曾完成独立持杯。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：机器人交接时的接握控制未能维持杯子的承载接触。log step 65 的实际脚本令右爪靠向杯身后闭合、再按固定顺序打开左爪并后退，没有依据接杯是否成功调整动作；log step 66、68 的右爪开口最终为约 0 m，视频 13.13–14.3 s 同时显示杯子滑脱落桌。证据支持交接控制失败，但不足以将接触几何、力或跟踪误差唯一分开，故停留在控制类别。" + } + ], + "gap_zh": "没有逐帧状态日志或原生阶段计数，无法精确核验左举杯的高度阈值、双指接触力及首次满足时刻，也不能确认右爪是否曾极短暂形成双指有效抓握。log step 83 记录模型提供方过滤中断，后续补救机会被截断；本文件标注的是此前已在视频 13.13–14.3 s 发生且未修复的交接滑脱，不将过滤中断本身当作机器人现象或根因。原生五项连续指标未在评分器字段中报告，因此值均留空。" + }, + "summary_zh": "机器人完成左臂举杯（视频约 5.8 s，锁存），最终节点进度为 1/3；视频约 13.2 s 双臂交接时杯子滑脱并落回桌面，右臂独持和挂杯均未达到。视频末秒杯子仍在桌面，日志也显示右爪空闭；交接控制失败有证据，但没有状态日志可细分接触几何、力或跟踪问题，日志末尾另有发生在物理失败后的模型过滤中断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点值、时间、接触和断点（mug_held_right，交接时杯子滑脱落桌）均与视频和 log 一致；现象“没保持住”和根因“控制”有证据，保守合理；末尾的模型过滤中断未被当成现象，处理正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:28:42Z", + "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/yamlab-hang-mug-on-tree-i15-standard--xalritw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-hang-mug-on-tree-i15-standard--xalritw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c3b56b14dce06349f46e09b28550dbd709222891daf57a6d51a3f5552083d828", + "video_sha256": "f32448a28f05c5fab343f140d66cf2ca4a0dd0cd23c7c4df4a48dcf34000f3d7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb.json new file mode 100644 index 0000000000000000000000000000000000000000..d1908054cef6a89d436610858736fd5b4e7d61a9 --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb.json @@ -0,0 +1,221 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 525, + "sim_steps": 525, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 348.8, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 10, + "agent_sim_steps": 1050, + "agent_records": 3, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 5.435, + "peak_memory_gb": 20.73, + "peak_processes": 17, + "peak_disk_gb": 0.478, + "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/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb/replay.mp4", + "duration_s": 17.6, + "fps": 15.0, + "frames": 264, + "sha256": "ea8b0e1eac6886b8a1f4111cdf8c3028dfbfd8b0dc24f1a5ca3f06982519f542" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 6.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，深色双耳锅静置在左侧桌面，右侧黑色灶台上没有锅。" + }, + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 5.6、6.2、6.8、7.4 s，机器人左右二指夹爪分别夹住锅两侧锅沿，锅随两爪共同上升，离开原先桌面支撑；腕部画面可见夹指分处锅壁内外。" + }, + { + "t": 6.7, + "log_step": 55, + "text_zh": "推断：结合视频 6.2–7.4 s 的共同提起过程和评分器 success=1、all_success=1，提起高度、双爪抓握及持续窗口已达标，首次达成约记视频 6.7 s，误差约 0.5 s；log step 55 对已交付轨迹的新进程重放也报告 pick=true。该时间由视频估计，未将 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人左右二指夹爪分别夹住锅两侧锅沿，每爪夹指跨在锅壁内外，共同承载并上提深色锅。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 17.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 8.0–14.6 s，机器人双爪保持夹住锅沿，锅从左侧原位置连续移到右侧灶台上方；视频 14.6–16.0 s 两臂下放锅，锅保持直立，原桌面位置已空出。" + }, + { + "t": 16.5333333333, + "log_step": null, + "text_zh": "观察：视频 16.27–16.67 s，腕部视图中的夹指逐渐张开，与锅壁拉开间隙；锅没有跟随夹指移动，仍直立留在黑色灶台上。" + }, + { + "t": 17.5333333333, + "log_step": 55, + "text_zh": "观察：视频 16.73、17.0、17.27、17.53 s，锅持续直立静置于灶台上，双爪已张开，未见锅滑离或倒下；评分器字段 success=1、all_success=1、deterministic=1，log step 55 对已交付轨迹的新进程重放报告 pick=true、place=true、end_reason=success。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "推断：视频末段的释放与静置过程结合评分器成功结果，确认放置位置、高度、直立和双爪释放的连续验收通过；节点约在视频 17.5 s 达成并保持到结束，时间误差约 0.3 s。没有状态日志，无法从图像独立测出精确几何误差及原生验收计数。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人左右二指夹爪各夹锅沿一侧，共同搬运锅到右侧灶台并下放；锅落在灶台后两爪张开释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人双爪夹持锅沿共同提锅，约在视频 6.7 s 完成双臂提起，随后将锅移到右侧灶台并张开双爪，约在视频 17.5 s 完成持续放置验收，两节点最终均达成（2/2），没有失败断点。评分器 success=1、all_success=1、deterministic=1，且 log step 54–55 对已交付轨迹的两次新进程重放均报告提起和放置成功。无状态日志，逐指接触力、精确几何阈值及验收计数不能由画面独立复核；节点时间依据视频估计，各原生连续指标因评分器未报告数值而保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两节点均达成，时间与接触（双臂协作+抓握）与视频一致，无失败断点；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:33:28Z", + "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/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-privileged--5i6jezb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bc0e49b13d5431701d42e5fc6666a951f1b3ca8d0d2d77366e8686b75bc01f21", + "video_sha256": "ea8b0e1eac6886b8a1f4111cdf8c3028dfbfd8b0dc24f1a5ca3f06982519f542", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--8hsszuk.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--8hsszuk.json new file mode 100644 index 0000000000000000000000000000000000000000..81b87f71c73c4c86f08d15b49bedb27c7b080975 --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--8hsszuk.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-privileged--8hsszuk", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 960, + "sim_steps": 960, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 208.6, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 6, + "agent_sim_steps": 5481, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-put-pot-on-cooktop-i00-privileged--8hsszuk/replay.mp4", + "duration_s": 32.067, + "fps": 15.0, + "frames": 481, + "sha256": "9e10eaa117169c1b40ec83229aa69b33f1b3206ea64441322a108cc507ae123f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 19.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，深色双耳锅静置在左侧桌面，黑色灶台在其右侧，机器人两爪尚未抓锅。" + }, + { + "t": 19.0, + "log_step": null, + "text_zh": "观察：视频 17.5–20.5 s，机器人两只二指夹爪分别夹住锅两侧把手并共同上移，锅随双爪离开原桌面位置；视频 19.0 s 主视图可见锅已抬高，两个腕部视图中的把手均保持在夹指之间，随后锅持续悬空并向灶台搬运。" + }, + { + "t": 19.0, + "log_step": null, + "text_zh": "推断：结合视频 18.5–19.5 s 的连续抬升和最终成功评分，将超过提起高度且保持所需短窗口的首次达成记在约视频 19.0 s，时间误差约 0.5 s；无状态日志，不能从画面独立测量高度阈值及每指接触力。" + }, + { + "t": null, + "log_step": 73, + "text_zh": "观察：log step 73 中，基准重放服务对最终交付的 960 动作轨迹报告 success=true、stages.pick=true、stages.place=true；log step 78 的第二次独立重放同样通过，且终态哈希相同。该结果佐证提起阶段已受评分器验收，不把会话内其他试验当作本视频节点进展。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 17.5–20.5 s，机器人左、右二指夹爪各夹住锅的一侧环形把手，双爪同时承载并向上提锅；腕部视图可见把手位于各爪夹指之间。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 32.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 21.0–28.6 s，机器人双爪共同将悬起的锅移向右侧黑色灶台，左侧原放锅区域空出；视频 28.6–30.6 s，锅在灶台上方下放，双爪仍靠在两侧把手处。" + }, + { + "t": 31.1, + "log_step": null, + "text_zh": "观察：视频 30.8–31.1 s，机器人两爪张开，腕部视图可见夹指与把手间的间隙增大；锅直立留在灶台上，视频 31.1–32.0 s 未再被提起，也未滑离或倾倒，最后一帧视频 32.0 s 仍保持该姿态。" + }, + { + "t": 32.0, + "log_step": null, + "text_zh": "推断：以视频约 31.0 s 双爪松开后锅稳定留在灶台上的画面，以及本次 reward.success=1、all_success=1、deterministic=1 为依据，将包含约一秒连续验收窗口的放置节点首次达成记为约视频 32.0 s；精确位置、高度、倾角和抓握判据由成功评分佐证，不能从画面独立量化。" + }, + { + "t": null, + "log_step": 78, + "text_zh": "观察：log step 78 的基准重放服务报告最终交付轨迹 stages.pick=true、stages.place=true、success=true、sim_steps=960，与 log step 73 的另一次独立重放具有相同终态哈希；此处仅用作终态验收佐证，不以 agent 工作时间推算视频时间。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 21.0–30.6 s，机器人左右二指夹爪分别夹持锅两侧把手，共同搬运到右侧灶台并下放；视频约 30.8–31.1 s 两爪张开释放，锅留在灶台上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：本次评分轨迹中，机器人双爪分别夹住锅两侧把手提锅，约视频 19.0 s 达到双臂提起节点，随后共同搬到右侧灶台、下放并松爪，约视频 32.0 s 完成持续放置验收，两个节点终态均完成；评分器成功字段与两次独立重放结果一致。推断：节点首次达成时间按视频估计，误差约 0.5 s；本任务没有状态日志，接触力和精确几何阈值无法独立复测，所列四项原生指标未在评分字段中报告，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个节点均达成；视频中双爪提锅、搬运到右侧灶台、下放并张爪，与标注一致，时间在约一秒内，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + 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"source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 9200, + "sim_steps": 9200, + "progress": 0.0, + "object_fell": 0, + "replay_wall_s": 208.7, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 0, + "agent_sessions": 2, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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/yamlab-put-pot-on-cooktop-i00-privileged--f9augiu/replay.mp4", + "duration_s": 306.733, + "fps": 15.0, + "frames": 4601, + "sha256": "8a1c259ea13b6700419603792012950ff0465eb026308001c19a6b193599263e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 101.8, + "log_step": 147, + "text_zh": "观察：视频 100.0–102.5 s，机器人左夹爪在锅左侧锅沿合拢，右夹爪仍在锅右上方、没有把锅沿或把手夹在两指之间；视频 102.5–106.5 s 左臂运动使锅偏移，未出现双爪共同承载提锅的画面。log step 147 中所录第二次尝试合爪后抓握反馈为 (True, False)，提起段结束仍为 pick=False。" + }, + { + "t": 160.0, + "log_step": 151, + "text_zh": "观察：视频 110.0–150.0 s 锅仍留在左侧，视频 152.5–161.5 s 双臂移向右侧灶台时锅没有随行；视频 306.66 s 锅仍在桌面、灶台左侧。log step 151 将第二次尝试 acts_t2 的 9200 行动作保存为交付文件；log step 153、156 的同一锅沿测试是之后的另一尝试，不计入本视频进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 100.0–105.5 s，机器人左二指夹爪夹住锅左侧锅沿并使锅偏移，随后脱离；右二指夹爪在锅旁空合，没有形成对锅的抓握。实际仅确认左爪抓握，未形成双爪同时持锅。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160.0, + "log_step": 146, + "text_zh": "观察：视频 152.5–161.5 s 机器人双臂转向灶台上方，夹爪没有携带锅，锅仍在左侧桌面；log step 146 的交付动作脚本在提起段后继续执行 move、place、open_gripper。这里发生的是空爪搬放动作，没有锅从桌面到灶台的转移。" + }, + { + "t": 306.66, + "log_step": null, + "text_zh": "观察：视频 251.0–258.5 s 双爪张开、移动，锅仍未到灶台；视频 305.73–306.66 s 的末段画面中，锅直立留在灶台左侧桌面，黑色灶台上没有锅。放置关系从未出现。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "视频 152.5–161.5 s 双臂空爪移向灶台，之后执行搬放和开爪动作；此放置段未接触或承载锅。左爪先前对锅沿的实际抓握记在提起节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pot_lifted_bimanually", + "t": 102.0, + "log_step": 147, + "where": "操作中", + "evidence_zh": "观察：视频约 100.0–102.5 s，机器人合爪后仅左爪夹到锅沿，右爪在锅旁空合；视频 102.5–106.5 s 锅被左爪带动偏移，双爪共同提起从未建立。随后机器人转向灶台而锅留在桌面，直到视频 306.66 s 都未补成这一步。log step 147 的第二次动作记录显示 CLOSED (True, False)、pick=False；log step 151 保存的正是该记录。" + }, + "unmet": { + "pot_lifted_bimanually": false, + "pot_on_cooktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 102.0, + "log_step": 147, + "evidence_zh": "观察：视频 101.8 s 主视图及右腕视图中，机器人右夹爪没有夹住锅沿或把手，左爪则位于锅左侧锅沿；视频 102.5–106.5 s 两爪没有共同承载锅。log step 147 中交付记录的合爪反馈为左 True、右 False。所缺的是右爪对锅的有效抓握接触，不能把左爪单独夹到锅计作双爪抓取成功。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 146, + "evidence_zh": "推断：交付脚本未能把双爪带到可共同抓锅的姿态，并在运动未收敛后继续合爪和提起。log step 146 的 mv 捕获 move_ee 异常后返回 False，调用方未检查返回值；log step 147 的同一次记录显示下降结束右臂仍有 155.1 mm / 39.1° 误差、合爪为 (True, False)，提起段又未收敛。视频 101.8–106.5 s 的右爪空夹与该反馈一致；现有证据不能进一步区分目标抓取姿态不适配与逆解/跟踪未收敛，故保留上位类别。" + } + ], + "gap_zh": "没有状态日志，视频不能独立测出每指接触力、锅的精确峰值高度和左爪脱离的确切控制步；但右爪未夹住锅、锅没有移到灶台均可见，不影响两节点判假。控制日志未充分区分抓取姿态可达性与求解/跟踪问题；后续同一锅沿方案未成为最终交付，不以其反馈替代本段视频。原生四项连续指标未在评分器字段报告，均保留 null。" + }, + "summary_zh": "两步均未达成：机器人只有左爪短暂夹住锅沿并使锅偏移，未建立双爪共同提起，随后空爪移向灶台，锅到视频 306.66 s 仍留在左侧桌面。首个未修复断点是双臂提起锅，右爪没有建立有效抓握；交付脚本在末端运动未收敛后继续执行，根因归为控制。无状态日志，无法独立复核接触力及细分控制原因，后续测试和生成脚本也不代表交付轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、提起节点为断点、右爪没建立接触均与视频一致（视频 98–108 s 锅仅被左爪带偏，160 s、306 s 锅仍在左侧桌面）；log step 146/147/151 的引用与内容相符，根因保留上位类别'控制'有日志依据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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"deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 375, + "sim_steps": 307, + "progress": 1.0, + "object_fell": 0, + "replay_wall_s": 120.0, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 12, + "agent_sim_steps": 614, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-put-pot-on-cooktop-i00-privileged--pxx5ewd/replay.mp4", + "duration_s": 10.333, + "fps": 15.0, + "frames": 155, + "sha256": "ad7e117ec599fbc2daba1e258541fd3be0e0b36ed5ccda5b4fbfef9696b61c9b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 4.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，深色双耳锅静置在左侧桌面，右侧黑色矩形灶台上没有锅；机器人两爪尚未持锅。" + }, + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 3.67–3.93 s，两只夹爪分别夹住锅的两侧把手；视频 4.20–5.13 s，锅随双臂共同上升、明显离开原桌面，视频 4.8 s 两爪仍同时夹持把手，腕部视图可见把手处于相对的夹指之间。" + }, + { + "t": 4.8, + "log_step": null, + "text_zh": "推断：结合视频 4.47–5.13 s 的持续双爪提举和 inputs/run.json 中评分器 success=1、progress=1.0，提起阶段满足高度、双爪抓握及保持窗口，达成时刻约为视频 4.8 s（约半秒精度）；逐指接触力无法由画面独立量出。该节点为事件，随后下放不取消完成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 3.67–5.13 s，机器人左右二指夹爪分别合拢夹住锅的一侧把手，共同承载并向上提锅。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 10.267, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 6.0–8.0 s，机器人双爪夹持两侧把手，将锅从原先左侧桌面搬到右侧灶台上方；锅原先所在的桌面位置已空。" + }, + { + "t": 9.6, + "log_step": null, + "text_zh": "观察：视频 8.0–9.20 s，机器人将锅直立下放到灶台上；视频 9.33–9.60 s，两只夹爪逐渐张开，把手与夹指之间出现间隙，锅保持在灶台上。" + }, + { + "t": 10.267, + "log_step": null, + "text_zh": "观察：已检查视频 9.33–10.267 s 的密集帧及末帧，锅始终直立停在黑色灶台上，两爪张开并开始撤离，没有再提起或滑落；inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、progress=1.0。" + }, + { + "t": 10.267, + "log_step": null, + "text_zh": "推断：结合视频末段松爪后保持落稳的画面与评分成功，放置验收的连续保持窗口在视频末尾完成，约视频 10.27 s 记为达成（约半秒精度），终态为真。没有状态日志，无法逐帧复核位置、高度、倾角容差或精确的原生计数切换时刻。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6.0–9.20 s，机器人两只二指夹爪各夹住一个锅把手，协同搬运并下放锅；视频 9.33–10.267 s，两爪张开释放并撤离，锅留在灶台上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "pot_cooktop_center_xy_distance", + "value": null, + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better" + }, + { + "name": "pot_center_rest_height_abs_error", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "pot_up_axis_vertical_angle", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "观察：评分视频中机器人双爪夹住锅的两侧把手，共同提离桌面，再搬到右侧灶台上直立下放，双爪张开后锅保持落稳；评分器 success=1、all_success=1、deterministic=1。推断：双臂提锅约在视频 4.8 s 达成，放置的保持窗口约在视频 10.27 s 完成，终态完成 2/2 个节点，无失败断点。无状态日志，精确接触力、容差数值及计数切换时刻不能独立复核，时间采用约半秒精度；评分器未报告 DAG 所列四项连续指标的数值，均记为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两节点均达成、无断点；画面（双爪夹把手提起、搬到灶台、松爪后锅留在灶台上）与评分器 success=1 支持标注，时间在约半秒精度内，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": "2026-10-30T02:58:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-privileged--pxx5ewd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-privileged--pxx5ewd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f2a2013196ba4df527e161efd655626517abdd5940e90713e559c4aab0f254b6", + "video_sha256": "ad7e117ec599fbc2daba1e258541fd3be0e0b36ed5ccda5b4fbfef9696b61c9b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9b4af8476f221adea9970c58abbd6eb0f1623f --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx.json @@ -0,0 +1,214 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1970, + "sim_steps": 1970, + "progress": 0.0, + "object_fell": 0, + "replay_wall_s": 362.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 4, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx/replay.mp4", + "duration_s": 65.733, + "fps": 15.0, + "frames": 986, + "sha256": "bb92de0e9ee8a4c558e04d295be2fa160c3e1f523b340f038d13535933197b54" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 130, + "text_zh": "观察：视频 15.0–28.0 s 的主视图和两腕视图中，机器人双爪在锅旁合拢并运动，锅只在桌面小幅平移、转动，没有随双爪提离支撑；视频 33.0 s 仍见锅在桌面。log step 130 保存本次 1970 步轨迹，输出双爪开度均为 0.0000、上提未收敛以及 pick=False；该保存步数与评分器 n_actions=1970 一致。" + }, + { + "t": 65.6, + "log_step": null, + "text_zh": "观察：视频 64.7–65.6 s 的末段，锅仍直立留在灶台左侧桌面；本次视频未出现成功参考视频 6.0–8.0 s 中锅随双爪整体抬起的可见变化。参考仅用于辨认达成外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 24.0–28.0 s，机器人夹爪邻近锅沿运动时锅在桌面被拨动并转向，至少一只夹爪对锅产生推拨接触；没有形成双爪共同承载的抓握。具体是哪一指面接触被腕部和锅沿遮挡。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 130, + "text_zh": "观察：视频 30.0–53.0 s，机器人继续移动两臂，随后张开夹爪，但锅仍在左侧桌面，灶台上没有锅；log step 130 的脚本在上提失败后仍执行搬运、下放和松爪，输出搬运及下放均未收敛、place=False。" + }, + { + "t": 65.6, + "log_step": null, + "text_zh": "观察：视频 60.0 s 和 64.7–65.6 s，锅与右侧黑色灶台分离，仍留在桌面，没有锅落在灶台并松爪的结果，故该状态始终未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 33.0–36.0 s 的搬运动作中，机器人夹爪从锅沿附近移动，锅只在桌面小幅转动、移位，没有被携带；log step 130 的上提后与搬运后锅位姿变化也与此一致。实际为夹爪对锅的推拨，未观察到夹持搬放；具体接触指面不可见。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pot_lifted_bimanually", + "t": 22.0, + "log_step": 130, + "where": "操作中", + "evidence_zh": "观察：视频约 22.0 s，机器人已在锅旁合爪并开始后续运动，锅仍留在桌面；视频 24.0–28.0 s 只见锅被拨动，没有双爪共同提起。log step 130 的本次保存记录显示两爪均完全闭合、上提未收敛且 pick=False；到视频 65.6 s 仍未修复该步骤。" + }, + "unmet": { + "pot_lifted_bimanually": false, + "pot_on_cooktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 22.0, + "log_step": 130, + "evidence_zh": "观察：视频 18.0–28.0 s，机器人双爪合拢后没有把锅带离桌面，锅只被小幅推转；log step 130 输出 closed left/right 的 open 均为 0.0000。推断：所需的双爪有效抓握没有建立，不能把短暂擦碰或推拨计为持锅后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 130, + "source_zh": "日志", + "evidence_zh": "观察：log step 130 的最终脚本改变抓取方向后执行末端移动及合爪；闭爪后两爪开度均为 0，上提原语报告左右位置误差 291.4 mm 和 209.7 mm，搬运及下放也未收敛，仍保存 1970 步轨迹。视频 22.0–36.0 s 与锅未被夹起的结果一致。推断：抓取运动执行未能使双爪到位并建立承载接触；现有证据不足以区分接触位姿设计、逆解分支或跟踪问题，根因保留在控制大类。" + } + ], + "gap_zh": "没有状态日志或逐指接触力记录，腕部与锅沿遮挡使瞬时推拨的具体夹爪和指面不能完全辨认；实际推拨由锅的桌面位移及邻近夹爪运动推断。无法独立确定最终抓取运动未到位的具体控制子原因。早期会话测试中的短暂提起和滑落不属于 log step 130 保存并评分的轨迹，未计入节点或现象；评分器未报告四项原生几何指标，均留 null。" + }, + "summary_zh": "评分轨迹未完成双臂提起锅，锅只在桌面被夹爪小幅推拨，最终仍在灶台左侧，因此两节点均未达成。断点是双臂提起锅：合爪未建立有效抓握，最终保存日志也显示空闭爪和运动未收敛，归因于控制。无状态日志及逐指接触数据，具体控制子原因和瞬时接触指面不能确定。", + "conf": 7, + "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、断点为双臂提起锅、现象没建立接触、根因停在控制，均有视频和 log step 130（闭爪 open=0.0000、上提未收敛、pick=False、pot z 0.821）支持；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:20:38Z", + "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/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-privileged--yhqi9qx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "82fbecbfbba432dc8ba2bde8f282e7da0e4c5f23e704099ceb408851e977f989", + "video_sha256": "bb92de0e9ee8a4c558e04d295be2fa160c3e1f523b340f038d13535933197b54", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw.json new file mode 100644 index 0000000000000000000000000000000000000000..5c63c7136bc69cdc8b263021f10ecd14247c9da5 --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 498, + "sim_steps": 498, + "physics_steps": 1992, + "steps": 166, + "elapsed_s": 1347.7, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "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/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw/replay.mp4", + "duration_s": 16.667, + "fps": 15.0, + "frames": 250, + "sha256": "3d17290d57f15a959437f8b4244c45bd89df390c99f8cb02c34b143c35f9afc0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开头锅静置于左侧桌面，右侧黑色灶台为空；视频 4.0–6.2 s 两条机械臂的夹爪降至锅沿并合拢，锅尚在原处。" + }, + { + "t": 8.0, + "log_step": 45, + "text_zh": "观察：视频 6.2、7.2、7.6、8.0、8.8 s 的连续检查显示锅随两爪共同上升，锅底离开原桌面，两爪分别夹在锅沿两侧；随后视频 10–13 s 锅被共同搬离原位置。log step 45 是本实时回合的提起提交，服务返回累计 control_steps=264，未结束。" + }, + { + "t": 8.0, + "log_step": 58, + "text_zh": "推断：结合视频 7.6–8.0 s 的抬升和保持画面，将双爪提起达标时刻估为视频 8.0 s（约有 0.5 s 不确定性）；评分器 live_success=1、replay_success=1、live_matches_replay=1，且 log step 58 服务返回 success，支持此前必需的双爪抓握、抬升高度与保持窗口均曾通过验收。视频不能独立测量每指接触力或精确高度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左右机械臂的二指夹爪分别夹住锅沿的相对两侧，共同承载并向上提起；视频 6.2–8.8 s 可见锅随两爪上升。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 16.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": 51, + "text_zh": "观察：视频 10–13 s 两臂同时持锅向右搬运，锅离开左侧原位置并到达黑色灶台上方；视频 13.867–15.333 s 两爪仍夹着锅并缓慢下放。" + }, + { + "t": 16.6, + "log_step": 58, + "text_zh": "观察：视频 15.467–16.6 s 两爪逐渐张开，腕部画面可见夹指与锅沿分离；锅直立留在右侧黑色灶台上，最后一帧视频 16.6 s 仍保持该位置，未见翻倒或滑离。log step 58 的放置提交由服务返回 Done=True、Reason=success、Control steps=498；评分器实时与重放均成功且一致。" + }, + { + "t": 16.6, + "log_step": 58, + "text_zh": "推断：视频末段的松爪与稳定放置，加上本回合服务和评分器成功结果，支持放置的水平、竖直、倾角容差与连续 30 控制步验收已通过；将包含保持窗口的达成时刻记为视频 16.6 s，约有 0.5 s 不确定性，不能仅凭图像独立复核这些数值阈值。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左右二指夹爪持续分别夹住锅沿两侧，共同将锅搬至灶台并下放，视频 15.467–16.6 s 两爪张开松离锅沿。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人先以双爪夹住锅沿共同提起（约视频 8.0 s），再搬至右侧灶台下放、张开双爪，至视频 16.6 s 完成放置验收，两节点终态均为真。实时服务及评分器均确认成功，重放结果一致，无失败断点。没有状态日志，接触力、精确位姿容差和保持窗口不能由图像独立测量，具体达标时刻按画面与成功验收作约半秒精度的判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均达成、成功运行无失败断点，与帧和评分器结果一致；时间在约半秒到一秒内合理，接触标注符合双爪各夹一侧。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T02:57:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--cfgnpdw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "88335506027a87057317a068a987efc60165bd3476771a653fe3d4cb41ef98c9", + "video_sha256": "3d17290d57f15a959437f8b4244c45bd89df390c99f8cb02c34b143c35f9afc0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--fcceihd.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--fcceihd.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecfefed0b7ea95b974f7b3218de2555b4662dbd --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--fcceihd.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-standard--fcceihd", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1162, + "sim_steps": 1162, + "physics_steps": 4648, + "steps": 365, + "elapsed_s": 717.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "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": 0.18, + "peak_processes": 9, + "peak_disk_gb": 0.301, + "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/yamlab-put-pot-on-cooktop-i00-standard--fcceihd/replay.mp4", + "duration_s": 38.8, + "fps": 15.0, + "frames": 582, + "sha256": "3dba1b880d62cb6ae58cbc311a15a8eb34bf3ab0699495cfdb7abafa226c5162" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 21.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.53, + "log_step": 28, + "text_zh": "观察：视频 6.4–9.07 s，机器人两只张开的夹爪接近锅耳，左夹爪抵到左侧锅耳后，锅在桌面上小幅平移并转动；视频 10.13–10.67 s 左爪退开，右爪留在另一侧锅耳处。此时锅尚未离开桌面。" + }, + { + "t": 18.67, + "log_step": 40, + "text_zh": "观察：视频 17.07–18.93 s，机器人左夹爪重新对准铜色锅耳并合拢；两幅腕部视图中，各自的锅耳位于相向夹指之间，右爪继续夹住另一侧锅耳。" + }, + { + "t": 21.33, + "log_step": 41, + "text_zh": "观察：视频 19.73–22.4 s，机器人双爪夹着两个锅耳同步上升，锅整体离开左侧桌面，原支撑位置露出；视频 21.33–22.4 s 锅底与桌面间已有明显间隙，两侧锅耳仍随夹爪运动。" + }, + { + "t": 21.33, + "log_step": 41, + "text_zh": "推断：结合视频 20.8、21.07、21.33、21.6 s 的抬升过程及评分器 live_success=1、replay_success=1，双臂提起阶段约在视频 21.3 s 达成（视觉估时约有 0.5 s 不确定性）；每指接触力和原生连续 8 步的精确起点没有独立记录，不能由图像直接测量。该节点为事件，后续下放不取消。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 18.67–22.4 s，机器人左右二指夹爪分别夹住锅的两个铜色环形锅耳，共同承载并提起锅。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 7.47–9.07 s，机器人左侧张开的夹爪接近并抵动左锅耳，使锅在桌面小幅平移、转动；之后退开并重新对准，再完成上述双爪抓握。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 38.73, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.4, + "log_step": 43, + "text_zh": "观察：视频 24–30.93 s，机器人两爪各夹一个锅耳，共同将悬空的锅从左侧桌面上方搬到右侧黑色灶台上方；原放锅处已经空出。视频 32–36.27 s 两臂下放，锅保持直立，锅底落到灶台上。" + }, + { + "t": 38.73, + "log_step": 46, + "text_zh": "观察：视频 37.53–38.73 s，两爪逐渐张开，腕部视图可见夹指与铜色锅耳之间拉开空隙；锅停在灶台上保持直立，没有随夹指张开而移动。视频 38.0–38.73 s 的末段逐帧检查未见锅滑离或倾倒。" + }, + { + "t": 38.73, + "log_step": 46, + "text_zh": "观察：log step 46 中，机器人服务（记录本次实时回合状态的 API）返回 done=True、reason=success、control_steps=1162；评分器另记录 live_success=1、replay_success=1、live_matches_replay=1、resumes=0。日志最后的汇总脚本是在回合结束后才保存（log step 47–48），本次评分对象是服务已记录的实时回合。" + }, + { + "t": 38.73, + "log_step": 46, + "text_zh": "推断：log step 6 的服务规格给出控制频率 30 Hz，log step 46 的控制步 1125/30=视频 37.5 s 对应随后开始的可见张爪，末控制步 1162/30=视频 38.73 s 与已检查的末帧一致，故将包含连续 30 步保持窗口的放置达成锚定为视频 38.73 s。精确位置、高度及倾角无状态日志，终态验收依据可见直立放置、双爪松开和服务成功判定。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 24–37.53 s，机器人两只二指夹爪分别抓住两个锅耳，共同搬运到灶台并下放；视频 37.53–38.73 s 两爪张开解除抓握，锅留在灶台上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人完成双臂提起锅和锅放上灶台两个节点，最终为 2/2；视频约 21.3 s 双爪共同提起，视频约 38.73 s 双爪松开、锅直立留在灶台，服务及重放评分均成功。视频约 7.47–9.07 s 的左爪接近曾推移锅，之后机器人退开重新抓稳，未留下失败断点。没有状态日志，提起时刻为视觉估计，每指接触力、精确几何值及阶段保持计数无法独立复核，依据成功判定确认验收，四项原生指标未报告数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均达成、终值 2/2 与评分器 success=1 一致；提起约 21.3 s 和放置锚定 38.73 s 与帧相符（顶视图难测高度，误差在约 1 s 内），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": "2026-10-30T02:30:53Z", + "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/yamlab-put-pot-on-cooktop-i00-standard--fcceihd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--fcceihd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9e3cb2ee258b661b8e1a0f97e546e1fd5d513a9b6c91090f3abc61b30e47aff1", + "video_sha256": "3dba1b880d62cb6ae58cbc311a15a8eb34bf3ab0699495cfdb7abafa226c5162", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--nnuvgsm.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--nnuvgsm.json new file mode 100644 index 0000000000000000000000000000000000000000..5de676aeedf23b5ffa78437278d70808d3b94c23 --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--nnuvgsm.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-standard--nnuvgsm", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 1, + "finalized": 1, + "n_actions": 2936, + "sim_steps": 2936, + "physics_steps": 11744, + "steps": 728, + "elapsed_s": 1952.9, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-put-pot-on-cooktop-i00-standard--nnuvgsm/replay.mp4", + "duration_s": 97.933, + "fps": 15.0, + "frames": 1469, + "sha256": "29357204bc85780984f268477949e6ba7623e5c9f2d256e6afba3a4696c12634" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 63.8, + "log_step": 43, + "text_zh": "观察：视频 62.8–64.0 s，机器人两爪在锅耳附近闭合，左爪空合，右爪围住右侧铜色锅耳，锅仍留在桌面；log step 43 的机器人服务反馈左爪开度约为零、右爪约 0.052 米，未出现双爪共同抬锅。" + }, + { + "t": 81.0, + "log_step": 108, + "text_zh": "观察：视频 74.0–83.5 s，机器人改在锅身两侧反复靠近、合爪，锅沿桌面向远端移动；视频 81.0 s 两爪在锅壁外侧闭合，锅没有被双爪提离支撑。log step 108、126 的服务夹爪开度均接近零。" + }, + { + "t": 97.6, + "log_step": 158, + "text_zh": "观察：视频 84.0–96.9 s，锅仍在桌后缘，未见双爪承载并抬高；视频 97.4–97.87 s，两爪改变朝向时锅翻转下落。log step 158 的机器人服务返回 done=true、reason=object_fell。" + }, + { + "t": 64.0, + "log_step": 43, + "text_zh": "推断：本回合无重置、无恢复，服务 control_steps 是此视频的控制步计数；按 log step 7 的 30 赫兹，log step 43 的 1920 步对应视频 64.0 s，log step 158 的 2936 步对应视频 97.87 s，已分别用合爪和末段翻落画面核对。全段未出现满足双爪同时抓握并提起的画面，因此该事件未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 63.0–64.5 s，右臂二指夹爪围夹右侧铜色锅耳，左爪空合；随后右爪张开撤离。这是短暂单爪夹持，未形成双爪共同提起。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 59.7–62.8 s 及视频 74.0–97.87 s，左右夹爪在锅耳、锅身附近接近、合拢和转向，接触推动锅在桌面移位，末段将锅碰翻；后段夹指空合，没有各自夹住锅壁。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，深色双耳锅位于桌面左侧，黑色矩形灶台位于右侧，两者分离。" + }, + { + "t": 97.87, + "log_step": 158, + "text_zh": "观察：通看视频 0.0–97.87 s，机器人一直围绕桌面上的锅尝试抓取，没有持锅搬到右侧灶台并松爪的动作；视频 97.4–97.87 s 锅在桌后缘翻落，灶台仍在右侧，未出现锅直立落稳在灶台上的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pot_lifted_bimanually", + "t": 63.0, + "log_step": 43, + "where": "操作中", + "evidence_zh": "观察：视频 62.8–64.0 s，机器人首次合爪抓锅耳时左爪空合，未形成双爪共同持锅；此后机器人反复改抓锅身，始终未完成提起。视频 97.4–97.87 s，机器人在锅两侧转动夹爪，锅翻落，log step 158 的机器人服务以 object_fell 终止回合；失败始终发生在提锅步骤。" + }, + "unmet": { + "pot_lifted_bimanually": false, + "pot_on_cooktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 63.0, + "log_step": 43, + "evidence_zh": "观察：视频 62.8–64.0 s，左爪在锅耳旁空合，只有右爪围夹锅耳；视频 78.0–83.5 s、视频 91.2–96.9 s 的后续合爪仍未夹住锅壁并形成双爪承载，锅始终没有共同抬起。log step 100、108、126、144、151 的服务开度反馈均接近零；缺少的是提锅所需的双爪对向指腹夹持，并非完全没有碰到锅。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "日志", + "evidence_zh": "推断：所选夹点和夹爪朝向未使锅耳或锅壁稳定进入两爪各自的指腹间。log step 142 的 radial_contact 逆解位置误差不足 1 毫米，执行后 log step 144 两爪仍闭至接近零开度；log step 151 再次闭合也接近零，视频 81.0 s、视频 92.0–96.9 s 可见夹指在锅壁外侧空合而锅仅在桌上移位。随后 log step 154、157–158 在这些接触位置改转夹爪朝向，视频 97.4–97.87 s 锅被碰翻，说明接触几何及贴锅转向没有形成可承载的抓取。替代方案的可行性由成功参考 inputs/oracle/replay.mp4 的视频 2.0–8.0 s 双爪夹锅并提起画面确认；参考视频只用于判断替代可行性。" + } + ], + "gap_zh": "本回合未提供状态日志；腕部视角不能完整展示每个指腹的接触面，也没有原生抓握布尔量、逐指接触力或分阶段计数，无法复核 0.1 牛阈值及精确接触对。节点未达成由可见的未共同提起、未搬放及终止前翻落判定；原生四项几何指标在 reward 中均未报告，保留为 null。" + }, + "summary_zh": "机器人多次靠近锅耳和锅身合爪，出现短暂右爪夹锅耳及双爪推动锅的接触，但始终未完成双臂共同提起，两个节点最终均未达成。断点为提锅步骤：双爪承载接触未建立，末次贴锅转向在视频 97.4–97.87 s 将锅碰翻，服务以 object_fell 终止；证据支持抓取和接触设计不合适。没有状态日志和逐指接触力，精确受力与原生几何指标无法复核。", + "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（两节点均未达成）、断点 pot_lifted_bimanually 和 contact_actual 与视频一致；问题在现象层：把终止回合的锅翻落单独作为第二个现象。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点 pot_lifted_bimanually、contact_actual、现象（没建立接触）与根因（抓取和接触设计）与视频一致；第1轮问题已按要求修正，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:04:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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"29357204bc85780984f268477949e6ba7623e5c9f2d256e6afba3a4696c12634", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk.json new file mode 100644 index 0000000000000000000000000000000000000000..6357c9ac28e2bd12177e592c7624882b3ceb963d --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-standard--rrukrfk", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 73494, + "sim_steps": 73494, + "physics_steps": 293976, + "steps": 1250, + "elapsed_s": 5102.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "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/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk/replay.mp4", + "duration_s": 544.467, + "fps": 15.0, + "frames": 8167, + "sha256": "8aee984cbe24557bf954d363bfec3f6fb2f237359aa5c92769b6719ec6ba442f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 85, + "log_step": null, + "text_zh": "观察：视频 80–119 s，机器人两臂先后靠近锅两侧，右爪反复调整位置，锅仍在桌面；未见两爪共同承载并把整锅提离桌面。" + }, + { + "t": 230, + "log_step": 172, + "text_zh": "观察：视频 220.5–241 s，左夹爪夹在锅左侧锅壁上并带动锅向右平移，右臂停在上方；这是单爪夹持拖动，不是双臂提起。log step 172 的脚本输出亦记录左爪闭合后执行侧向拖动。" + }, + { + "t": 260, + "log_step": 177, + "text_zh": "观察：视频 251–280 s，两臂再次下降到锅两侧，左爪夹住锅壁，右爪未见把锅壁夹在两指之间，锅仅局部倾动，没有双爪共同提起。log step 177 的提起序列输出右指位置约为 0，左右臂提起目标均多次未收敛。" + }, + { + "t": 544.4, + "log_step": 208, + "text_zh": "观察：视频 520–544.4 s，右爪空载移到灶台一侧，锅仍完整可见地留在桌面，未随夹爪升高或搬走；全片粗检及上述操作段加密检查均未见双爪提锅达标。log step 208 的服务状态仍为 done=false；评分器 live_success=0、replay_success=0、live_matches_replay=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 220.5–241 s 及视频 251–280 s，机器人左臂二指夹爪夹住锅的一侧锅壁，带动锅在桌面平移或局部倾动；右臂参与接近和闭爪尝试，但未确认其建立对向夹持，不记作双臂共同抓握。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，深色双耳锅在桌面左侧，右侧黑色矩形灶台上没有锅；放置状态初始不成立。" + }, + { + "t": 525, + "log_step": 205, + "text_zh": "观察：视频 520–538 s，机器人右夹爪朝灶台移动并张开，锅仍留在其左侧桌面，未跟随右爪搬运。log step 197、199 的脚本包含提起后松左爪、右臂搬运并释放的序列，log step 205 输出 carry 动作；这些脚本动作不能代替实际搬锅。" + }, + { + "t": 544.4, + "log_step": null, + "text_zh": "观察：视频 543.5 s 和视频 544.4 s，锅仍直立放在灶台左侧的桌面，锅底未放到灶台上，灶台主面可见。对照成功参考片中锅实际移上灶台的外观，本次没有出现该关系；故放置节点未达到，而非因遮挡记未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 520–538 s，机器人右臂夹爪执行向灶台移动、张开和撤回的空载搬放动作，锅未随动。候选：空夹搬放；没有实际夹住或托住锅的接触，抓握、托/舀等现有接触方式均不符合这段尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pot_lifted_bimanually", + "t": 260.0, + "log_step": 177, + "where": "操作中", + "evidence_zh": "观察：视频 251–280 s，机器人正在对锅两侧合爪并尝试上提，左爪带动一侧锅壁，右爪没有建立可见的对向夹持，整锅未双臂离桌；后续继续调整和重试，至视频 544.4 s 仍未完成这一提起步骤。log step 177、189、202、205 多次记录合爪后上提目标未收敛，后来的空载搬放没有修复提起失败。" + }, + "unmet": { + "pot_lifted_bimanually": false, + "pot_on_cooktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 260.0, + "log_step": 177, + "evidence_zh": "观察：视频 251–280 s，左爪已夹在锅壁上，右爪下降和合拢后未夹住另一侧锅壁，锅没有被双爪共同承载；视频 350–395 s 的重试也没有出现共同提起，视频 520–538 s 右爪空载移动而锅留桌。这里缺少的是提锅必需的双爪有效抓握，不是否认左爪曾接触并夹住锅。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：机器人未能把两爪同时送到并维持在有效抓握及上提位姿。log step 157 的服务运动反馈显示，右爪被命令到 z=0.86 m 的锅壁抓取位姿，实测 TCP 却约为 z=0.929 m、5/6 行未收敛；log step 177 的上提动作左右臂各 12 行未收敛，右爪仍完全闭合在空处；log step 189、202、205 又出现同类不收敛。视频 251–280 s、350–395 s 与结尾空载移动支持这是实际控制未形成有效双爪抓握。现有证据不能可靠区分接触位姿选择、逆解和跟踪的贡献，因此保留在控制总类。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志；现有评分器字段未报告提起高度、两爪原生抓握谓词或 DAG 所列四项原生指标。腕部视图可辅助看接近与夹持，但不能测量每指 0.1 牛或精确保持窗口；控制步数也未与这段压缩视频建立经事件核对的映射，所有视频锚点直接取自抽帧。推断：两步未达由可见的单爪拖动、未共同提起及锅最终仍在桌面判定；控制根因的具体子类证据不足。" + }, + "summary_zh": "机器人反复接近锅，左爪曾夹住锅壁并在桌面拖动，但没有完成双爪共同提起，两个节点最终均未达成。断点是双臂提起锅时未建立有效双爪抓握；日志中的反复运动不收敛支持控制问题，结尾右爪空载朝灶台搬放时锅仍留桌。没有状态日志及原生接触力读数，无法进一步核实精确高度、接触阈值和控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽帧（视频 0/85/150/230/260/300/372/450/500/544 s）显示锅全程留在桌面，两节点未达、断点在双臂提起、没建立接触、根因停在控制，与证据一致；未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T03:00:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--rrukrfk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "201ee0c99cbc080201a6230a360a2256898f8cbd71907467f648971ca954f10c", + "video_sha256": "8aee984cbe24557bf954d363bfec3f6fb2f237359aa5c92769b6719ec6ba442f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--vctczbd.json b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--vctczbd.json new file mode 100644 index 0000000000000000000000000000000000000000..4b86073ba2c6660b8005815a9b5fcdb930cb5826 --- /dev/null +++ b/phase2/yamlab/put_pot_on_cooktop/trajectories/yamlab-put-pot-on-cooktop-i00-standard--vctczbd.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "yamlab-put-pot-on-cooktop-i00-standard--vctczbd", + "taskKey": "yamlab/put_pot_on_cooktop", + "dag_sha256": "5d81cadd08152600ce7555a24b1c7393391f4ee8b701b74150bcc91b8523284a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "object_fell": 0, + "finalized": 1, + "n_actions": 709, + "sim_steps": 709, + "physics_steps": 2836, + "steps": 81, + "elapsed_s": 701.4, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/yamlab-put-pot-on-cooktop-i00-standard--vctczbd/replay.mp4", + "duration_s": 23.733, + "fps": 15.0, + "frames": 356, + "sha256": "d75606cdb326926b2c2a483886eff63925e6e091323d8d241e6ff452f871a667" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "pot_lifted_bimanually": { + "method": "visual", + "intervals": [ + [ + 12.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 深色双耳锅静置在左侧桌面，右侧黑色矩形灶台上没有锅，机器人两只夹爪尚未抓锅。" + }, + { + "t": 11.6, + "log_step": 53, + "text_zh": "观察：视频 11.4–11.6 s 两只夹爪位于锅两侧把手，锅随双臂一起向上移动；视频 12.0–13.2 s 锅继续升高，原先桌面位置露出，视频 13.2–14.0 s 双臂持锅悬停。" + }, + { + "t": 12.4, + "log_step": 57, + "text_zh": "推断：结合视频 11.6–13.2 s 的连续抬升及随后悬停，将双爪提起超过 5 厘米并保持所需窗口的首次达成估为视频约 12.4 s，误差约 0.4 s。inputs/run.json 的 live_success=1、replay_success=1 表明原生双爪接触与提起阶段通过；没有逐帧物体高度和指腹接触力，不能直接量出阈值越过的精确帧。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左、右平行二指夹爪分别夹住锅的两个侧把手，左爪调整后两爪共同承载并提锅；视频 11.6–14.0 s 锅随两爪抬升、悬停，腕部视图显示把手处于夹指之间。" + } + ] + }, + "pot_on_cooktop": { + "method": "visual", + "intervals": [ + [ + 23.63, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.0, + "log_step": 66, + "text_zh": "观察：视频 14.2–17.0 s 机器人双臂共同持锅向右移动并转动，锅离开原先左侧位置，移至黑色灶台上方；视频 19.0–22.5 s 双臂下放锅，锅始终直立。" + }, + { + "t": 23.0, + "log_step": 74, + "text_zh": "观察：视频 22.6–23.3 s 两爪逐渐张开，腕部视图可见夹指与把手之间出现间隙；视频 23.0–23.667 s 锅保持在灶台上，未随开爪离开、倾倒或滑走。log step 74 中机器人服务先返回 control_steps=697、done=false，随后返回 control_steps=709、done=true、reason=success；inputs/run.json 的实时和重放评分均成功。" + }, + { + "t": 23.63, + "log_step": 74, + "text_zh": "推断：本局为无重置、无恢复的单次实时回合，控制频率为 30 赫兹。log step 72 的 control_steps=677 对应视频约 22.57 s，已与视频 22.6 s 开爪起始核对；log step 74 的 control_steps=709 对应视频约 23.63 s，与视频末尾锅落稳且双爪张开的画面一致，故将完成 30 个控制步连续放置验收的达成时刻记为视频 23.63 s。精确位置、高度和直立角容差由成功判定佐证。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左、右二指夹爪分别持续夹住锅的两个侧把手，共同平移、转动并下放锅至灶台；视频 22.6–23.3 s 两爪张开释放，锅留在灶台上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pot_lift_above_rest", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "pot_cooktop_center_xy_distance", + "unit": "m", + "threshold": 0.23357, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_center_rest_height_abs_error", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pot_up_axis_vertical_angle", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人调整左爪后，双臂共同提起锅并移至右侧灶台，随后张开两爪，两个节点最终均完成。视频 23.0–23.667 s 锅直立留在灶台上，log step 74 的机器人服务返回 success，评分记录也确认实时与重放均成功，无失败断点。没有状态日志，提起达成时刻约有 0.4 s 误差，指腹接触力及精确几何阈值不能由画面独立测量；评分器未报告四项原生连续指标的数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功局，两个节点均达成，无断点；提起约 12.4 s（视频）与放置 23.63 s（视频，由 control_steps 映射并核对开爪）与帧一致，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": "2026-10-30T02:55:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--vctczbd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/yamlab-put-pot-on-cooktop-i00-standard--vctczbd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "74d242e566382b25a8deab3f9c06061920607ea65d384416ddaab58a43c3e119", + "video_sha256": "d75606cdb326926b2c2a483886eff63925e6e091323d8d241e6ff452f871a667", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}