Add 38 tasks (phase 2)

README.md

@@ -385,7 +385,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 - Layout as in phase 1: `phase2/<suite>/<task>/task_dag.json` and `phase2/<suite>/<task>/trajectories/<runId>.json`,
   provenance work-directory paths relative, `dag_sha256` = sha256 of `task_dag.json` as published here. A task is
   uploaded whole (its DAG together with all its phase-2 trajectories).
-- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 266 of 434 tasks, 532 of 868 trajectories.
+- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 304 of 434 tasks, 608 of 868 trajectories.
 
 ### Phase 2 tasks
 
@@ -395,33 +395,44 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/ambench/peg_in_hole/` | 2 | no |
 | `phase2/behavior-1k/assembling_gift_baskets/` | 2 | yes |
 | `phase2/behavior-1k/boxing_books_up_for_storage/` | 2 | yes |
+| `phase2/behavior-1k/boxing_food_after_dinner/` | 2 | yes |
 | `phase2/behavior-1k/bringing_paper_to_recycling/` | 2 | no |
 | `phase2/behavior-1k/can_meat/` | 2 | yes |
+| `phase2/behavior-1k/canning_food/` | 2 | yes |
 | `phase2/behavior-1k/carrying_in_groceries/` | 2 | yes |
 | `phase2/behavior-1k/carrying_out_garden_furniture/` | 2 | no |
+| `phase2/behavior-1k/clean_a_trumpet/` | 2 | yes |
 | `phase2/behavior-1k/clean_boxing_gloves/` | 2 | no |
 | `phase2/behavior-1k/clean_up_your_desk/` | 2 | yes |
 | `phase2/behavior-1k/clean_your_rusty_garden_tools/` | 2 | yes |
 | `phase2/behavior-1k/cleaning_up_branches_and_twigs/` | 2 | yes |
+| `phase2/behavior-1k/cleaning_up_plates_and_food/` | 2 | yes |
 | `phase2/behavior-1k/collecting_childrens_toys/` | 2 | yes |
+| `phase2/behavior-1k/cook_a_brisket/` | 2 | yes |
 | `phase2/behavior-1k/cook_a_frozen_pie/` | 2 | yes |
+| `phase2/behavior-1k/cook_bacon/` | 2 | yes |
 | `phase2/behavior-1k/cook_cabbage/` | 2 | yes |
 | `phase2/behavior-1k/cook_hot_dogs/` | 2 | yes |
 | `phase2/behavior-1k/dispose_of_batteries/` | 2 | yes |
 | `phase2/behavior-1k/halve_an_egg/` | 2 | no |
 | `phase2/behavior-1k/installing_a_fax_machine/` | 2 | no |
 | `phase2/behavior-1k/loading_the_car/` | 2 | yes |
+| `phase2/behavior-1k/make_gift_bags_for_baby_showers/` | 2 | yes |
 | `phase2/behavior-1k/make_pizza/` | 2 | yes |
+| `phase2/behavior-1k/organizing_school_stuff/` | 2 | yes |
 | `phase2/behavior-1k/outfit_a_basic_toolbox/` | 2 | yes |
 | `phase2/behavior-1k/packing_meal_for_delivery/` | 2 | yes |
 | `phase2/behavior-1k/polishing_shoes/` | 2 | no |
 | `phase2/behavior-1k/preparing_lunch_box/` | 2 | yes |
+| `phase2/behavior-1k/put_together_a_basic_pruning_kit/` | 2 | yes |
 | `phase2/behavior-1k/putting_dishes_away_after_cleaning/` | 2 | yes |
 | `phase2/behavior-1k/putting_up_Christmas_decorations_inside/` | 2 | yes |
 | `phase2/behavior-1k/re_shelving_library_books/` | 2 | yes |
+| `phase2/behavior-1k/rearrange_your_room/` | 2 | yes |
 | `phase2/behavior-1k/setting_the_table/` | 2 | yes |
 | `phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/` | 2 | yes |
 | `phase2/behavior-1k/slicing_vegetables/` | 2 | yes |
+| `phase2/behavior-1k/sorting_household_items/` | 2 | yes |
 | `phase2/behavior-1k/sorting_vegetables/` | 2 | yes |
 | `phase2/behavior-1k/store_batteries/` | 2 | no |
 | `phase2/behavior-1k/store_produce/` | 2 | no |
@@ -442,6 +453,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/dexhand/book_page_turn/` | 2 | no |
 | `phase2/dexhand/essential_cube_reorient/` | 2 | no |
 | `phase2/dexhand/essential_pen_regrasp/` | 2 | yes |
+| `phase2/dexhand/essential_rotary_gait/` | 2 | yes |
 | `phase2/dexhand/essential_two_object/` | 2 | no |
 | `phase2/dexhand/fan_guard_install/` | 2 | yes |
 | `phase2/dexhand/grinder_crank/` | 2 | no |
@@ -453,6 +465,8 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/dexhand/vacuum_bin_reseat/` | 2 | yes |
 | `phase2/dexjoco/bimanual_photograph/` | 2 | yes |
 | `phase2/dexjoco/fold_glasses/` | 2 | no |
+| `phase2/dextoolbench/brush_blue_brush_sweep_forward/` | 2 | yes |
+| `phase2/dextoolbench/brush_red_brush_sweep_right/` | 2 | yes |
 | `phase2/dextoolbench/eraser_handle_eraser_wipe_c/` | 2 | yes |
 | `phase2/dextoolbench/hammer_claw_hammer_swing_down/` | 2 | yes |
 | `phase2/dextoolbench/hammer_claw_hammer_swing_side/` | 2 | yes |
@@ -460,7 +474,9 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/dextoolbench/marker_staples_marker_draw_smile/` | 2 | yes |
 | `phase2/dextoolbench/marker_staples_marker_write_c/` | 2 | yes |
 | `phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/` | 2 | yes |
+| `phase2/dextoolbench/screwdriver_long_screwdriver_spin_vertical/` | 2 | yes |
 | `phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/` | 2 | no |
+| `phase2/dextoolbench/spatula_flat_spatula_flip_over/` | 2 | yes |
 | `phase2/dextoolbench/spatula_flat_spatula_serve_plate/` | 2 | yes |
 | `phase2/dextoolbench/spatula_spoon_spatula_flip_over/` | 2 | yes |
 | `phase2/dextoolbench/spatula_spoon_spatula_serve_plate/` | 2 | yes |
@@ -521,15 +537,18 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/embodied-olympics-fun/volleyball_spike/` | 2 | yes |
 | `phase2/embodied-olympics-fun/wall_ball/` | 2 | no |
 | `phase2/embodied-olympics-match/badminton_match_i04/` | 2 | yes |
+| `phase2/embodied-olympics-match/badminton_matchlow_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/fencing_bout_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/soccer_jointcpu_i01/` | 2 | no |
 | `phase2/embodied-olympics-match/soccerssl_match/` | 2 | yes |
+| `phase2/embodied-olympics-match/soccerssl_match_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/tabletennis_duelrl_i01/` | 2 | yes |
 | `phase2/embodied-olympics-match/tabletennis_match_i04/` | 2 | no |
 | `phase2/embodied-olympics-match/tabletennis_matchlow_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a01_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a01_i02/` | 2 | yes |
 | `phase2/embodied-safety-exam/a01_i04/` | 2 | no |
+| `phase2/embodied-safety-exam/a04/` | 2 | yes |
 | `phase2/embodied-safety-exam/a06_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/a06_i03/` | 2 | yes |
 | `phase2/embodied-safety-exam/a08_i01/` | 2 | yes |
@@ -543,10 +562,13 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/embodied-safety-exam/b11/` | 2 | yes |
 | `phase2/embodied-safety-exam/b11_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/b11_i03/` | 2 | yes |
+| `phase2/embodied-safety-exam/b12_i07/` | 2 | yes |
 | `phase2/embodied-safety-exam/c02/` | 2 | yes |
 | `phase2/embodied-safety-exam/c02_i01/` | 2 | no |
 | `phase2/embodied-safety-exam/c04_i01/` | 2 | no |
+| `phase2/embodied-safety-exam/c05_i01/` | 2 | yes |
 | `phase2/embodied-safety-exam/c05_i02/` | 2 | yes |
+| `phase2/embodied-safety-exam/c16/` | 2 | yes |
 | `phase2/embodied-safety-exam/e06_i03/` | 2 | yes |
 | `phase2/embodied-safety-exam/f01/` | 2 | yes |
 | `phase2/embodied-safety-exam/f04_i01/` | 2 | yes |
@@ -558,6 +580,7 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/humanoidbench/manip_cube/` | 2 | no |
 | `phase2/humanoidbench/manip_door/` | 2 | yes |
 | `phase2/ispatialgym/alignment_axial/` | 2 | yes |
+| `phase2/ispatialgym/camera_relocalization_obstructed/` | 2 | yes |
 | `phase2/ispatialgym/configuration_matching_articulation_open_small_scale/` | 2 | yes |
 | `phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/` | 2 | yes |
 | `phase2/ispatialgym/mental_rotation/` | 2 | no |
@@ -566,19 +589,25 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/kinder/sweep_into_drawer/` | 2 | yes |
 | `phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/` | 2 | no |
 | `phase2/maniguard/cabinet_pickup_i26/` | 2 | yes |
+| `phase2/maniguard/dusty_transfer_i03/` | 2 | yes |
 | `phase2/maniguard/dusty_transfer_i16/` | 2 | yes |
 | `phase2/maniguard/jar_transport_i25/` | 2 | no |
 | `phase2/metaworldplus/basketball/` | 2 | no |
+| `phase2/metaworldplus/button_press_topdown/` | 2 | yes |
 | `phase2/molmospaces/navigate_to/` | 2 | no |
 | `phase2/molmospaces/pick/` | 2 | yes |
+| `phase2/mujoco-playground/aloha_single_peg_insertion/` | 2 | yes |
 | `phase2/mujoco-playground/barkour_joystick/` | 2 | yes |
 | `phase2/mujoco-playground/go1_joystick_rough_terrain/` | 2 | no |
 | `phase2/mujoco-playground/spot_joystick_gait_tracking/` | 2 | yes |
 | `phase2/myosuite/baoding/` | 2 | yes |
 | `phase2/myosuite/bimanual/` | 2 | yes |
+| `phase2/myosuite/dex_apple_lift/` | 2 | yes |
 | `phase2/myosuite/dex_bunny_inspect/` | 2 | yes |
+| `phase2/myosuite/dex_cup_pour/` | 2 | yes |
 | `phase2/myosuite/dex_cylinder_pass/` | 2 | yes |
 | `phase2/myosuite/dex_hammer_use/` | 2 | no |
+| `phase2/myosuite/osl_run/` | 2 | yes |
 | `phase2/myosuite/soccer/` | 2 | yes |
 | `phase2/pandadyn/d01_reciprocal_cup_relay/` | 2 | yes |
 | `phase2/pandadyn/d03_cooperative_puck_course/` | 2 | yes |
@@ -619,11 +648,14 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/roboarc/rope_threading_04/` | 2 | yes |
 | `phase2/roboarc/rope_threading_08/` | 2 | yes |
 | `phase2/roboarc/slotted_post_ring_03/` | 2 | no |
+| `phase2/roboarc/slotted_post_ring_04/` | 2 | yes |
 | `phase2/roboarc/slotted_post_ring_05/` | 2 | yes |
 | `phase2/robocasa-gr1/potato_to_microwave_close/` | 2 | no |
 | `phase2/robocasa/coffee_setup_mug/` | 2 | no |
+| `phase2/robocasa/turn_off_sink_faucet/` | 2 | yes |
 | `phase2/robocasa365/display_meat_variety/` | 2 | no |
 | `phase2/robocasa365/microwave_defrost_meat/` | 2 | yes |
+| `phase2/robocasa365/searing_meat/` | 2 | yes |
 | `phase2/robodojo/fill_egg_holder/` | 2 | yes |
 | `phase2/robodojo/hang_mugs/` | 2 | yes |
 | `phase2/robodojo/hang_mugs_random/` | 2 | no |
@@ -637,8 +669,11 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/robodojo/swap_blocks/` | 2 | yes |
 | `phase2/robodojo/sweep_blocks_random/` | 2 | yes |
 | `phase2/robolab/bbq_sauce_in_bin/` | 2 | yes |
+| `phase2/robolab/food_packing3_cans/` | 2 | yes |
 | `phase2/robolab/red_dishes_in_bin/` | 2 | no |
+| `phase2/robolab/utensils_in_mug/` | 2 | yes |
 | `phase2/robolab/white_mug_in_center_of_table/` | 2 | yes |
+| `phase2/robopaint/acrylic_applesoranges/` | 2 | yes |
 | `phase2/robopaint/acrylic_bedroom/` | 2 | yes |
 | `phase2/robopaint/acrylic_kajikazawa/` | 2 | no |
 | `phase2/robopaint/acrylic_redfuji/` | 2 | yes |
@@ -649,11 +684,14 @@ reads only the highest `phaseN/` folder of a task (its DAG with its own trajecto
 | `phase2/robopaint/oil_monalisa_i01/` | 2 | yes |
 | `phase2/robopaint/oil_starrynight_i01/` | 2 | yes |
 | `phase2/robopaint/xingshu_maolinxiuzhu/` | 2 | yes |
+| `phase2/robopaint/xingshu_xian/` | 2 | yes |
 | `phase2/robopaint/xingshu_yong/` | 2 | yes |
 | `phase2/robotwin-2/put_bottles_dustbin/` | 2 | no |
 | `phase2/robowits/ball_into_bottle/` | 2 | no |
+| `phase2/robowits/cover_with_lid/` | 2 | yes |
 | `phase2/robowits/retrieve_cube/` | 2 | no |
 | `phase2/robowits/stack_bowls/` | 2 | yes |
+| `phase2/robowits/stand_bulb/` | 2 | yes |
 | `phase2/robowits/stand_pages/` | 2 | yes |
 | `phase2/vlabench/heat_food/` | 2 | no |
 | `phase2/yamlab/hang_mug_on_tree_i15/` | 2 | no |

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

@@ -0,0 +1,564 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "suite": "behavior-1k",
+ "base": "behavior-boxing-food-after-dinner-i00",
+ "title_zh": "餐后剩食装盒收纳",
+ "summary_zh": "两个塔可在同一保鲜盒内、保鲜盒在关闭的冰箱内、两只盘直接由水槽承托，所有目标物体松手且线速度不超过0.05米/秒并联合保持30个控制步。",
+ "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人：左右臂各7自由度、各配二指夹爪，含可动躯干和全向移动底盘，采用辅助抓取；头部相机和两侧腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-boxing-food-after-dinner-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "cabinet_opened",
+    "zh": "打开橱柜",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "criterion_zh": "头部或腕部相机可见装保鲜盒的厨房柜门离开柜体，柜内通道暴露，开度足以接近并移出保鲜盒；门仍挡住盒子通道时未完成，若初始已敞开则从开局即满足。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握装保鲜盒的橱柜把手，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作装保鲜盒的橱柜把手；未能确认全程可原地完成。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "一侧夹爪的手指勾住橱柜把手向外拉开柜门。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在需要时移动并支撑机械臂操作装保鲜盒的橱柜把手。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：橱柜门初态、开合关节以及盒子取用通道；实例仅给物体位姿，未提供柜门关节或重置后的画面。",
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/bddl/boxing_food_after_dinner.bddl:22-23",
+     "inputs/task/privileged/environment/instance.json:13-25",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284"
+    ],
+    "conf": 5,
+    "note_zh": "依必经容器访问前置的默认规则保留；开柜不要求终态保持。橱柜类别为无顶底柜，是否存在无需开门的通道缺少几何证据，待核实而不擅定可选。",
+    "freeze_held": false
+   },
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": false,
+    "criterion_zh": "头部或腕部相机可见冰箱门转离箱体、内部存储空间和放盒通道露出，至少一个开合关节超过全行程的5%，并可让保鲜盒通过；门仍封住存储空间时未完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握冰箱门把手，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作冰箱门把手；未能确认全程可原地完成。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "一侧夹爪的手指勾住冰箱门把手向外拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在需要时移动并支撑机械臂操作冰箱门把手。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.literals.json:8-20",
+     "inputs/bddl/boxing_food_after_dinner.bddl:38-40",
+     "inputs/task/standard/instruction.md:5"
+    ],
+    "conf": 6,
+    "note_zh": "目标字面量初值000001确认冰箱关闭；装盒必须打开，关门为恢复步骤。开门不依赖先装塔可或先取盒。",
+    "freeze_held": false
+   },
+   {
+    "id": "tacos_in_box_1",
+    "zh": "第1个塔可入盒",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机能看清保鲜盒内至少1个塔可，计数不区分两份食物的实例；每份计入食物的轴对齐包围盒中心须在盒的包围盒与内部容积中，已离手并放稳，掉出至少于1份时失去本步。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰���均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握任一份塔可，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作任一份塔可；未能确认全程可原地完成。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:9",
+     "inputs/bddl/boxing_food_after_dinner.bddl:32-35",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:3-4",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两份塔可可互换，按至少第k份计数；不要求固定夹爪或固定实例。可在盒入冰箱之前或之后装入，故与盒入冰箱之间不设顺序边；持盒移动不等于食物关系丢失。",
+    "freeze_held": true
+   },
+   {
+    "id": "tacos_in_box_2",
+    "zh": "第2个塔可入盒",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "tacos_in_box_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机能看清保鲜盒内至少2个塔可，计数不区分两份食物的实例；每份计入食物的轴对齐包围盒中心须在盒的包围盒与内部容积中，已离手并放稳，掉出至少于2份时失去本步。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰箱均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握任一份塔可，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作任一份塔可；未能确认全程可原地完成。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:9",
+     "inputs/bddl/boxing_food_after_dinner.bddl:32-35",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:3-4",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两份塔可可互换，按至少第k份计数；不要求固定夹爪或固定实例。可在盒入冰箱之前或之后装入，故与盒入冰箱之间不设顺序边；持盒移动不等于食物关系丢失。",
+    "freeze_held": true
+   },
+   {
+    "id": "box_in_fridge",
+    "zh": "保鲜盒入冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened",
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见保鲜盒进入冰箱内部，盒的轴对齐包围盒中心落在冰箱包围盒与内部容积中，盒已离手并放稳；只停在门外或盒落出内腔均未完成，门关闭遮挡后沿用最后可见关系并结合后续画面判断。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰箱均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握保鲜盒边沿或盒身，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作保鲜盒边沿或盒身；未能确认全程可原地完成。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:22",
+     "inputs/bddl/boxing_food_after_dinner.bddl:38",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:7",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "从柜内取盒、抬起和搬运属于此放入步骤的过程，不单列取出；不强制先把两个塔可装好。",
+    "freeze_held": true
+   },
+   {
+    "id": "plates_on_sink_1",
+    "zh": "第1只盘到水槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少1只盘已离开原台面，直接接触水槽且水槽在盘下方，盘已离手并放稳；按满足此支承关系的盘数计，旁边台面上的盘或只叠在另一盘上而未直接接触水槽的盘不计，少于1只时失去本步。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰箱均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握任一只盘的盘沿，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作任一只盘的盘沿；未能确认全程可原地完成。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:10",
+     "inputs/bddl/boxing_food_after_dinner.bddl:19-20",
+     "inputs/bddl/boxing_food_after_dinner.bddl:36-37",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:5-6",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两只同类盘目标相同，按数量而非固定实例计；评分器为ontop而非inside，故标放置。允许先把仍承载塔可的盘送到水槽，不强制在装食物之后。",
+    "freeze_held": true
+   },
+   {
+    "id": "plates_on_sink_2",
+    "zh": "第2只盘到水槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "plates_on_sink_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少2只盘已离开原台面，直接接触水槽且水槽在盘下方，盘已离手并放稳；按满足此支承关系的盘数计，旁边台面上的盘或只叠在另一盘上而未直接接触水槽的盘不计，少于2只时失去本步。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰箱均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓握任一只盘的盘沿，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作任一只盘的盘沿；未能确认全程可原地完成。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:10",
+     "inputs/bddl/boxing_food_after_dinner.bddl:19-20",
+     "inputs/bddl/boxing_food_after_dinner.bddl:36-37",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:5-6",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两只同类盘目标相同，按数量而非固定实例计；评分器为ontop而非inside，故标放置。允许先把仍承载塔可的盘送到水槽，不强制在装食物之后。",
+    "freeze_held": true
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "box_in_fridge",
+     "tacos_in_box_2"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见冰箱门板回到箱体，所有可开合关节均不超过从关闭到全开行程的5%；任一关节超过5%则失去本步，不能因夹爪还握着门把手而冻结。最终六项目标还须同时成立，两个塔可、两只盘、保鲜盒、水槽和冰箱均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是联合成功验收，不另计一步。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一侧二指夹爪推/扫冰箱门外侧，完成该物体的操作。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机械臂并在需要时移动，以操作冰箱门外侧；未能确认全程可原地完成。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪抓握冰箱门把手，将门带回关闭位置。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在需要时移动并支撑机械臂操作冰箱门外侧。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/boxing_food_after_dinner.bddl:39-40",
+     "inputs/bddl/boxing_food_after_dinner.literals.json:8-20",
+     "inputs/task/standard/instruction.md:5",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "关闭目标初态为真，按state从开局计入；开冰箱时下降由开门event抵消。after仅记录最终关门在盒和食物装入之后，不门控初始关闭，不依赖盘到水槽。全部目标的30控制步联合静置窗口放在成功判据中，不给本节点增加独立等待。",
+    "freeze_held": false
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的世界z分量小于0.75（偏离直立约41.4度以上），或基座比地面低超过0.03米，任一条件连续成立300个控制步（约10秒）即触发跌倒失败；短时倾倒后恢复不自动构成违规。无日志不能仅凭一张倾倒画面确认计数。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限数，任一基座位置坐标绝对值超过10000米，或基座线速度范数超过100米/秒，立即判仿真崩溃；目标物体每30控制步检查一次位置非有限或任一坐标绝对值超过10000米。应由原生崩溃状态确认，不能仅凭视频卡住推断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "flags.lit:(inside taco.n.02_2 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside taco.n.02_1 tupperware.n.01_1)",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "flags.lit:(ontop plate.n.04_1 sink.n.01_1)",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "flags.lit:(ontop plate.n.04_2 sink.n.01_1)",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "flags.lit:(inside tupperware.n.01_1 electric_refrigerator.n.01_1)",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "flags.lit:(not (open electric_refrigerator.n.01_1))",
+    "level": "new_code",
+    "source": "需记录逐帧BDDL原生目标字面量；定义见inputs/bddl/boxing_food_after_dinner.literals.json:2-8。本任务无状态日志，未实际绑定。"
+   },
+   {
+    "atom": "cabinet_access_open",
+    "level": "new_code",
+    "source": "需记录proc.cabinet.n.01_1.open与足够取用盒子的通道状态，并核实初始门关节；inputs/bddl/boxing_food_after_dinner.bddl:22；inputs/task/privileged/environment/instance.json:13-25"
+   },
+   {
+    "atom": "fridge_access_open",
+    "level": "new_code",
+    "source": "需记录proc.electric_refrigerator.n.01_1.open及装盒开度；inputs/task/standard/instruction.md:5"
+   },
+   {
+    "atom": "goal_objects_released_at_rest",
+    "level": "new_code",
+    "source": "需记录目标物体的辅助抓取附着和线速度，或goal_objects_held、goal_objects_moving；inputs/grader/efe_behavior-files/rcb_behavior.py:1406-1430"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需记录flags.success_rule或原生RestWatch.done/run，联合30控制步验收；inputs/grader/efe_behavior-files/rcb_behavior.py:147-164；inputs/grader/efe_behavior-files/rcb_behavior.py:1432"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需记录原生FallWatch.fallen或base高度、上轴z和连续300步计数；inputs/grader/efe_behavior-files/rcb_behavior.py:124-144"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需记录原生breakdown及原因，或机器人与目标物体异常状态；inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "note_zh": "评分器输出原生目标进度值，但不以本字段阈值直接决定成功；须通过联合松手静置验收。",
+   "sources": [
+    "inputs/grader/efe_behavior-files/rcb_behavior.py:1539-1553",
+    "inputs/grader/efe_behavior-files/standard/grade.py:50"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功示范：inputs/oracle_none.txt说明15条目录运行均失败；输入无solution，因此依据文本、BDDL初态/目标、冻结实例及评分代码规划，未观察成功相机画面（DECISIONS.md N2、N8）。",
+  "inputs/states/index.json的logs为空，故全部节点when、约束never及success均为null；atoms以new_code注明未来须记录的字段，不把未观察的标准字段当作已绑定证据（DECISIONS.md P8）。",
+  "橱柜初态与通道待核实：BDDL只给出保鲜盒在柜内，冻结实例只给无顶底柜和盒的位姿；没有门关节、场景网格或重置后的画面。按默认规则保留打开橱柜及取用依赖并标verify_zh，不因未知改为optional；需核实无顶结构与台面是否允许绕过柜门取盒（DECISIONS.md S2、规则3）。",
+  "冰箱关闭字面量初值为真，关上冰箱从开局计入，开冰箱为必经event并补偿其暂时丢失；无日志不能实测1/8的初始进度（DECISIONS.md S4(b)）。",
+  "两份塔可和两只盘分别按至少第k个计数，盘虽以两个具名ontop字面量列出，但同类且目标水槽相同，不固定实例身份（DECISIONS.md N4）。",
+  "按DECISIONS.md D4不另建导航节点，按S17在各操作方案中列底盘支撑：输入未给机器人冻结起点与可达范围，不能确定是否全程可原地完成。物体和目标均在厨房，scene_objects未给通往厨房的必经门，未凭房屋门列表新增跨房门步骤。",
+  "按DECISIONS.md D5，柜内取盒是保鲜盒入冰箱的搬放过程，不另设取出节点；装塔可、放盒和送盘没有评分器强制顺序，不按任务句子的罗列顺序串联。",
+  "两模式物理目标、松手静置、跌倒与崩溃规则相同；特权模式还核验两次独立重放都成功、末态哈希一致及冻结实例匹配，标准模式核验服务实时回合和终结记录。此类交付及回放有效性不建世界状态节点；没有状态日志，success=null，无法验证与目录裁决一致。依据privileged/grade.py:167-174、standard/grade.py:25-35及sim/server.py:128、345。",
+  "标准文本把静止写作慢于0.05米/秒，而rcb_behavior.py:1426仅在速度大于0.05时排除，故按代码采用不超过0.05米/秒。连续30控制步是全场景联合窗口，留在成功验收，不给单个放置重复施加独立1秒窗口（DECISIONS.md S1、D31）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六项目标及冰箱初态有明确文本、BDDL和评分代码依据，标签与计数粒度明确；但无成功示范或状态日志，且橱柜门初态和绕行取用几何未核实，所有动态判据只能由视频或后续新增日志核验。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志、无示范；节点集合（开橱柜、开冰箱、第1/2个塔可入盒、保鲜盒入冰箱、第1/2只盘到水槽、关冰箱）与文本和BDDL目标一致，开柜/开冰箱为起始状态强制的前置（S2允许，已标verify_zh/open_questions），计数步按N4处理，freeze_held设置正确，约束为评分器失败条件，success=null因无日志合规。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['cabinet_opened', 'fridge_opened', 'tacos_in_box_1', 'tacos_in_box_2', 'box_in_fridge', 'plates_on_sink_1', 'plates_on_sink_2', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:13:37Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__boxing_food_after_dinner/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__boxing_food_after_dinner/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "4fb6c439f8c8ac113db25fd2c57209dfef8f95f3112a3e4f0cd44a2aa893a251",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--uqp93cc.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-food-after-dinner-i00-privileged--uqp93cc",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 3095,
+   "sim_steps": 3095,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1727.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 10.457,
+   "peak_memory_gb": 9.262,
+   "peak_processes": 24,
+   "peak_disk_gb": 0.927,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-food-after-dinner-i00-privileged--uqp93cc/replay.mp4",
+  "duration_s": 103.167,
+  "fps": 30.0,
+  "frames": 3095,
+  "sha256": "9c68efb61dce3782b516e4d37a5e7bcf5027fe7230444913f40de0a3f8fa7a22"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频8–10 s，机器人左夹爪在柜门薄边处闭合；视频13–20 s，门面随夹爪转动，门缘与背景的夹角持续增大。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 111,
+      "text_zh": "推断：结合视频19–29 s的门缘、敞开空间及机械臂撤出过程，柜门已让出取盒通道；首次充分打开约在视频20 s，因腕部近景遮挡，时间约有2 s误差。log step 111–112确认交付脚本先执行开柜，再进入取盒段；不把log step 121的78.2度直接当作回放角度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频8–20 s，左侧二指夹爪合拢夹住柜门薄边，并带着门作转动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–6 s，轮式底盘驶到橱柜操作位置，支撑开柜操作。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 68.0,
+      "log_step": 122,
+      "text_zh": "观察：视频62–70 s可见冰箱门板贴合箱体，未露出内腔；全片没有机器人抓拉冰箱门的动作。log step 115的开冰箱代码是后续草稿，log step 122仍以未测试草稿另存，未包含在3095行交付轨迹中。"
+     }
+    ]
+   },
+   "tacos_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 70.5,
+      "log_step": null,
+      "text_zh": "观察：视频68–71.5 s，一份塔可仍在白盘内；视频72–90 s腕部视图持续可见塔可和盘面，未见塔可被夹起并离开盘子。视频91–103.1 s夹爪空着移动、张开和撤回，没有塔可落入盒中的画面。"
+     },
+     {
+      "t": 103.1,
+      "log_step": null,
+      "text_zh": "推断：视频中没有任何一份塔可完成入盒；评分器q_score=0.0也限定终态没有新增的塔可入盒字面量。冰箱初始已关闭，不计入该原生分数；本节点终态为假并非仅由零分倒推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频70.5–90 s，左夹爪在盘上塔可旁接近、闭合，但没有可确认的对向夹持或提起；手指与食物的接触点部分被腕部及前臂遮挡，实际接触方式未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频58–70 s底盘移向塔可所在台面，视频90–96 s又移回盒子预定放置区域，均为此次入盒尝试的移动支撑。"
+     }
+    ]
+   },
+   "tacos_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.1,
+      "log_step": null,
+      "text_zh": "观察：视频0–103.1 s没有第二份塔可的抓取、搬运或入盒过程；视频102.3–103.1 s仍能看到台面白盘上的食物。评分器q_score=0.0，与两份塔可均未入盒的画面相符。"
+     }
+    ]
+   },
+   "box_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频33–44 s，机器人左臂向柜内取盒位置伸入、闭合并后撤；视频46–55 s左手移到台面上方并张开，但未看见保鲜盒随夹爪离柜，也未看见盒子留在预定放置台面。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 121,
+      "text_zh": "推断：视频46–58 s的空手移动和台面后续画面未复现log step 121所报的“tupperware grasp”及“tupperware at”结果，取盒环节未形成可观察的成功搬运；不能仅凭会话读数补记抓取。柜内接触瞬间遮挡，无法区分从未夹住与在遮挡处脱离。"
+     },
+     {
+      "t": 103.1,
+      "log_step": null,
+      "text_zh": "观察：视频全程没有将保鲜盒送入冰箱的动作，视频62–70 s冰箱仍关闭；评分器q_score=0.0，终态未满足保鲜盒入冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频33–44 s左夹爪伸向柜内并闭合，但盒体和接触点被柜体、夹爪遮挡，视频46–55 s没有可确认的持盒画面，故不把会话日志的抓取读数当作实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频30–34 s底盘调整到取盒位置，视频58 s后离开，支撑该搬盒步骤的取盒阶段。"
+     }
+    ]
+   },
+   "plates_on_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.1,
+      "log_step": null,
+      "text_zh": "观察：视频全程没有盘子离开台面并送往水槽的动作，视频68–71 s的盘子仍承托塔可，视频102.3–103.1 s水槽内未出现盘子；评分器q_score=0.0也排除终态新增盘到水槽关系。"
+     }
+    ]
+   },
+   "plates_on_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.1,
+      "log_step": null,
+      "text_zh": "观察：视频全程没有搬运任一只盘到水槽；视频55 s可见两侧盘仍在原台面区域，视频102.3–103.1 s水槽内仍无盘子，未达到两只盘直接由水槽支承。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记录冰箱关闭字面量初值为真；视频62–70 s可见冰箱门贴合箱体，全片没有开门或关门操作，因此关闭状态从视频0 s沿用至视频103.167 s结束。按state节点规则计入初始关闭，不受after依赖门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_in_fridge",
+   "t": 40.0,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "推断：视频33–44 s机器人正在执行柜内取盒；随后视频46–55 s左手按搬盒路线移到台面并张开，却未见盒子随行或留在台面。此取盒失效在余下视频中没有被修复，早于视频70–90 s另一次塔可空夹；按DAG将取盒归入保鲜盒入冰箱步骤。log step 111给出对应脚本段，log step 121的会话成功抓盒读数与这些回放画面不一致，未据此认定视频抓取成功。"
+  },
+  "unmet": {
+   "tacos_in_box_1": false,
+   "tacos_in_box_2": false,
+   "box_in_fridge": false,
+   "plates_on_sink_1": false,
+   "plates_on_sink_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志 / 评分器字段 / 视频",
+    "evidence_zh": "推断：agent在长期调试后通过进程内s.reset()录制并保存轨迹（log step 112），未用新进程回放验证，最终自述录制初态“close ... but not exact”且没有执行评分器回放（log step 125）。评分器agent_replays=0、instance_exact=0、deterministic=1；视频46–55 s未复现log step 121所报的持盒及台面放盒，视频72–90 s塔可仍留在盘上，也不符合log step 122所报塔可已落地。交付了未经重放核验的动作文件，使这些会话操作结果未被可靠地带入评分尝试；不归咎于评分器故障。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范。保鲜盒的柜内接触点始终受柜体和前臂遮挡；视频46–55 s虽未见盒体随手移出，仍不足以区分从未建立有效夹持、遮挡处脱离等具体接触现象，因此现象层留空、取盒接触记未知，断点为结合前后画面的推断。开柜充分开度的首次时刻约有2 s误差。会话读数与评分视频不一致，没有直接映射会话控制���或agent时间；录制初态的具体差异及其如何改变抓取不能进一步核实。"
+ },
+ "summary_zh": "评分尝试打开了橱柜，并保留冰箱初始关闭状态，终态完成2/8个DAG节点；塔可入盒、盘到水槽和盒入冰箱均未达成，原生q_score为0。较早的未修复失败出现在保鲜盒的柜内取用阶段：后续手部及台面画面未呈现日志所称的持盒与放盒，之后塔可尝试也未将食物提离盘子。柜内遮挡使具体接触失效类型无法确定；交付从进程内reset录制且未回放核验，不能把会话中的抓取结果当作评分视频进度。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "抽查视频帧后未发现可证伪的错误：柜门在约30 s头部视角已呈敞开，冰箱全程关闭，塔可始终在盘上，盘未入水槽；断点取盒与交付根因留空现象并附gap_zh，证据可追溯。柜内接触被遮挡，保守处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:35:18Z",
+  "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/behavior-boxing-food-after-dinner-i00-privileged--uqp93cc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--uqp93cc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "65c53e7276f1be77fea7aa4626aca40172546a8997bf67373df93b7aded9bdec",
+   "video_sha256": "9c68efb61dce3782b516e4d37a5e7bcf5027fe7230444913f40de0a3f8fa7a22",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--f2uazxd.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-food-after-dinner-i00-standard--f2uazxd",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 5393,
+   "sim_steps": 5393,
+   "physics_steps": 21572,
+   "steps": 2771,
+   "elapsed_s": 2791.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-food-after-dinner-i00-standard--f2uazxd/replay.mp4",
+  "duration_s": 179.767,
+  "fps": 30.0,
+  "frames": 5393,
+  "sha256": "6c60bbf1e71869fe797c78330c3a74ce74173254f540462228d708771ea9f0dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 和视频 4.5 s，微波炉下方柜面闭合，未露出柜内取盒通道。"
+     },
+     {
+      "t": 80,
+      "log_step": 189,
+      "text_zh": "观察：视频约 27–104 s，机器人右臂在水槽下方柜面前伸缩，躯干和双臂姿态大幅变化，未见柜门打开、保鲜盒显露或被取出；log step 189 提交的是拉柜门动作。"
+     },
+     {
+      "t": 179.7,
+      "log_step": 564,
+      "text_zh": "观察：视频约 176.5–179.7 s，机器人右夹爪再次靠近柜面、合拢并撤回，柜面仍闭合；log step 564 的“Door opened!”是脚本无条件打印的完成消息，不能作为门已打开的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "右夹爪实际执行接近柜面、合爪和后撤，但柜面附近的接触点在腕部与头部视图中受遮挡，不能确认手指是否短暂碰到门或把手；不据合爪命令认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为查看和接近橱柜在厨房通道内行驶、转向，并在末次拉柜前后退调整站位。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 112,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0 s 及视频约 116–124 s，机器人移到冰箱前并查看门面，门板仍贴合箱体，未露出储物内腔；全片未见夹爪拉动冰箱把手或形成装盒通道。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人空手驶至冰箱前，后退、再靠近查看门面；未见手臂实施开冰箱门操作。"
+     }
+    ]
+   },
+   "tacos_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 15–19 s，第一份塔可仍在台面白盘上；视频约 117–119 s 可见另一份塔可也仍在台面白盘上，视频 179.7 s 水槽旁盘上仍有塔可，未见塔可被夹起装盒。"
+     },
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；塔可入盒是初始不成立的目标字面量，因此最终连第1份入盒也不成立。该总分只用于限制终值，不据此推断未曾尝试。"
+     }
+    ]
+   },
+   "tacos_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 118,
+      "log_step": null,
+      "text_zh": "观察：视频约 117–119 s，冰箱旁盘上仍有塔可；视频 179.7 s，水槽旁另一盘上也仍有塔可。全片未见保鲜盒接收食物。"
+     },
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 排除最终有两份塔可入盒；初始已成立的冰箱关闭条件不贡献该分数。"
+     }
+    ]
+   },
+   "box_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 112,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0 s 及视频约 116–124 s，冰箱保持关闭，机器人未持保鲜盒进入或放入冰箱；其他已检查画面也未见机器人从橱柜取出盒子。"
+     },
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且实时与重放一致，排除最终成立的保鲜盒入冰箱目标；柜内盒子始终不可见，不推断其精确位姿。"
+     }
+    ]
+   },
+   "plates_on_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "观察：视频约 15–19 s 与视频 179.7 s，水槽旁的白盘仍在台面上承载塔可；视频约 117–119 s 另一只盘也在冰箱旁台面上。已检查的搬臂动作均未显示盘离开原台面进入水槽。"
+     },
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 排除任一原本不在水槽上的盘最终满足直接由水槽承托，故第1只盘到水槽终值为假。"
+     }
+    ]
+   },
+   "plates_on_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 118,
+      "log_step": null,
+      "text_zh": "观察：视频约 117–119 s 冰箱旁盘仍在台面上，视频 179.7 s 水槽旁盘也仍在台面上；未见两只盘被搬到水槽。"
+     },
+     {
+      "t": 179.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 排除最终有两只盘由水槽直接承托。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 112,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0 s 及视频约 116–124 s，冰箱门板闭合、内腔未暴露；全片没有开门或关门操作。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 说明冰箱关闭字面量初始为真，结合视频中门始终未打开，将关闭状态记为从视频 0.0 s 保持至结束；评分器 q_score=0.0 不计这一初始即满足的条件，不能用它否定冰箱仍关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 80.0,
+   "log_step": 189,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 27–104 s，机器人执行右臂接近和拉柜的动作，夹爪在柜面前运动，柜门没有打开、保鲜盒没有显露；视频约 176.5–179.7 s 再次尝试后仍无取盒通道。推断：这是最早开始但此后始终未完成的步骤；视频约 136–169 s 的翻倒与恢复没有修复开柜失败，故断点仍为打开橱柜。"
+  },
+  "unmet": {
+   "tacos_in_box_1": false,
+   "tacos_in_box_2": false,
+   "box_in_fridge": false,
+   "plates_on_sink_1": false,
+   "plates_on_sink_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 80.0,
+    "log_step": 189,
+    "evidence_zh": "观察：视频 32.0 s 右夹爪在水槽前下方，视频约 75–103 s 右臂多次前伸、侧摆和撤回，同时头部与腕部视角大幅转动，未见夹爪带着把手或门板向外运动。推断：该拉柜动作未形成能牵引柜门的末端位置和姿态；不是已抓起盒子后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 189 的脚本将右臂接近、合爪、拉回的整段 ee_pose 路点一次提交，没有在抓取后检查把手或门是否随动；log step 47 的服务规范说明 ee_pose 联合求解躯干和双臂且不检查碰撞。log step 193 读到拉柜后躯干关节约为 [-0.04,0.54,-1.39,0.70]，与此前面向柜面的姿态明显不同；视频约 27–104 s 同时可见躯干和双臂大幅改姿而门未开。推断：执行未维持适于拉门的机器人姿态，也未依据接触结果修正动作；证据支持控制层问题，尚不足以分清接触设计、逆解或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频和运行日志，但无状态日志、无成功示范。柜内保鲜盒及夹爪与把手的接触点未被清楚拍到，因此实际手指接触标未知，不能细分为空夹、短暂碰触或抓握后脱开；关节开度也无逐帧记录。推断：以可见的柜门未打开和手臂定位异常标注断点及现象，控制根因仅到大类；放置节点的最终假值同时受到 q_score=0.0 的逻辑约束。"
+ },
+ "summary_zh": "评分轨迹没有完成新的搬运关系：两份塔可及两只盘仍在台面，保鲜盒未见取出，只有初始即满足的冰箱关闭状态保持到结束，最终为1/8。机器人反复尝试拉柜但末端与躯干姿态未形成有效开门动作，最早未修复的断点是打开橱柜；后续翻倒虽恢复，也未完成该步骤。柜内和指尖接触受遮挡且无状态日志，具体接触方式未知，控制根因只标到大类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点终值（仅 fridge_closed 为真，1/8）、断点（打开橱柜，操作中）与位姿不准/控制标注与帧和日志一致：全片未见柜门打开、塔可或盘移动。视频画面多为头部/腕部杂乱视角，细节难辨，故置信度中等。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:34:43Z",
+  "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/behavior-boxing-food-after-dinner-i00-standard--f2uazxd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--f2uazxd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac1aff831fdbd6360d712f7ab9ecdca2490ae1b4f1d530b3f3067f29811eefd9",
+   "video_sha256": "6c60bbf1e71869fe797c78330c3a74ce74173254f540462228d708771ea9f0dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,780 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/canning_food",
+ "suite": "behavior-1k",
+ "base": "behavior-canning-food-i00",
+ "title_zh": "食材切丁分碗入柜",
+ "summary_zh": "牛排丁和菠萝丁存在并分别装满不同的碗且不混料，两碗均在橱柜内，冰箱和橱柜关闭，全部目标同时成立并离手静置满30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，左右臂各配二指夹爪，具可动躯干和全向轮式底盘；采用辅助抓握，头部与左右腕部相机观察，privileged可读场景状态，standard只见相机与本体信息。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-canning-food-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部视角可见冰箱门板离开闭合位置、内腔入口露出，至少一个可开合关节超过全行程的5%；仅触及把手、门板仍闭合不算完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住冰箱门把手并拉开门板。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "任一夹爪的手指勾住冰箱把手拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/privileged/instruction.md:56",
+     "inputs/bddl/canning_food.literals.json:11",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/bddl/canning_food.bddl:20-23"
+    ],
+    "conf": 6,
+    "note_zh": "初始not open为真；最终关闭步骤会被开门破坏，保留此必经前置事件予以抵消（S4）。冰箱的开门不要求保持到结束；不添加到达把手或抓住把手节点。"
+   },
+   {
+    "id": "cabinet_opened",
+    "zh": "打开橱柜",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部视角可见橱柜门板离开闭合位置、内腔入口露出，至少一个可开合关节超过全行程的5%；仅触及把手、门板仍闭合不算完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住橱柜门把手并拉开门板。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "任一夹爪的手指勾住橱柜把手拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/task/privileged/instruction.md:56",
+     "inputs/bddl/canning_food.literals.json:12",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/bddl/canning_food.bddl:20-23"
+    ],
+    "conf": 6,
+    "note_zh": "初始not open为真；最终关闭步骤会被开门破坏，保留此必经前置事件予以抵消（S4）。橱柜的开门不要求保持到结束；不添加到达把手或抓住把手节点。"
+   },
+   {
+    "id": "steak_diced",
+    "zh": "牛排切丁",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见牛排经刀刃作用后生成牛排丁粒子，对应real diced__steak.n.01_1为真；只有完整食材或两半、尚无丁粒子不算完成，丁粒子系统不再存在则失去。最终联合验收还要求全部目标同时成立，所有具刚体速度���口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "任一夹爪持切肉刀，以刀刃压切牛排；此项只记刀刃与食材接触，不重复记录握刀。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住牛排或其半块，使其接触放置或固定着的有效刀刃；握刀不是评分条件。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-12",
+     "inputs/task/privileged/instruction.md:59",
+     "inputs/bddl/canning_food.bddl:37",
+     "inputs/bddl/canning_food.bddl:30-31",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "切成两半和继续切丁是同一切丁步骤的实现过程，不按切刀次数或两半数另建节点；验收采用评分器的丁料存在判据，不额外要求全部原料均已变成丁。工具拾取未证明所有合法路线必需，不单列。"
+   },
+   {
+    "id": "pineapple_diced",
+    "zh": "菠萝切丁",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见菠萝经刀刃作用后生成菠萝丁粒子，对应real diced__pineapple.n.01_1为真；只有完整食材或两半、尚无丁粒子不算完成，丁粒子系统不再存在则失去。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "切"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "任一夹爪持切肉刀，以刀刃压切菠萝；此项只记刀刃与食材接触，不重复记录握刀。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住菠萝或其半块，使其接触放置或固定着的有效刀刃；握刀不是评分条件。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-12",
+     "inputs/task/privileged/instruction.md:59",
+     "inputs/bddl/canning_food.bddl:38",
+     "inputs/bddl/canning_food.bddl:30-31",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "切成两半和继续切丁是同一切丁步骤的实现过程，不按切刀次数或两半数另建节点；验收采用评分器的丁料存在判据，不额外要求全部原料均已变成丁。工具拾取未证明所有合法路线必需，不单列。"
+   },
+   {
+    "id": "steak_bowl_filled",
+    "zh": "牛排丁装碗",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "steak_diced",
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从碗口可见两只目标碗中的任一只装有牛排丁，按粒子直径立方计的牛排丁体积总和严格超过该碗内腔体积的20%，且碗内没有任何菠萝丁粒子；低于或等于该阈值、混入菠萝丁或丁料洒出致不再满足时未完成或失去，两种丁料须由不同碗分别满足。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "任一夹爪持目标碗，以碗从下方承接或舀入��排丁；碗在此方案中直接作为承接工具，未假定场景另有勺。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "任一夹爪持切肉刀，以刀面把牛排丁推扫进已放稳的目标碗。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:8-9",
+     "inputs/task/privileged/instruction.md:57-58",
+     "inputs/bddl/canning_food.bddl:39-47",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "按食材种类区分两个装料步骤，任一目标碗均可装此种丁料，不固定碗实例身份；纯度与20%填充阈值属于同一步验收。类型取装入容器的结果，不强制舀入、扫入或倾倒之一；全局离手静置窗口留在success的自然语言说明中，局部状态允许持碗时成立。"
+   },
+   {
+    "id": "pineapple_bowl_filled",
+    "zh": "菠萝丁装碗",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pineapple_diced",
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从碗口可见两只目标碗中的任一只装有菠萝丁，按粒子直径立方计的菠萝丁体积总和严格超过该碗内腔体积的20%，且碗内没有任何牛排丁粒子；低于或等于该阈值、混入牛排丁或丁料洒出致不再满足时未完成或失去，两种丁料须由不同碗分别满足。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "任一夹爪持目标碗，以碗从下方承接或舀入菠萝丁；碗在此方案中直接作为承接工具，未假定场景另有勺。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "任一夹爪持切肉刀，以刀面把菠萝丁推扫进已放稳的目标碗。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:8-9",
+     "inputs/task/privileged/instruction.md:57-58",
+     "inputs/bddl/canning_food.bddl:48-56",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "按食材种类区分两个装料步骤，任一目标碗均可装此种丁料，不固定碗实例身份；纯度与20%填充阈值属于同一步验收。类型取装入容器的结果，不强制舀入、扫入或倾倒之一；全局离手静置窗口留在success的自然语言说明中，局部状态允许持碗时成立。"
+   },
+   {
+    "id": "bowls_in_cabinet_1",
+    "zh": "第1只碗入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见至少1只不同目标碗位于任务橱柜内腔，各碗轴对齐包围盒中心同时落在柜体包围盒和内部容积内；只有柜外、柜顶或门口未入内的碗不计，柜内碗数少于1时失去，初始两只碗已在柜内即计入。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住一只目标碗的碗沿或碗体，将碗送入橱柜。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪抵住已靠近橱柜入口的碗体，将其推入柜内支承面。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:55",
+     "inputs/bddl/canning_food.bddl:22-23",
+     "inputs/bddl/canning_food.bddl:57-62",
+     "inputs/bddl/canning_food.literals.json:9-10",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "相同碗按柜内数量计，不按实例名计；此关系初始已成立，不附加装满条件，也不要求先取出再放回。可在柜内完成装料，因此不把开柜或装料设为该已存在关系的前置；第2只仅承接第1只的计数顺序。"
+   },
+   {
+    "id": "bowls_in_cabinet_2",
+    "zh": "第2只碗入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bowls_in_cabinet_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见至少2只不同目标碗位于任务橱柜内腔，各碗轴对齐包围盒中心同时落在柜体包围盒和内部容积内；只有柜外、柜顶或门口未入内的碗不计，柜内碗数少于2时失去，初始两只碗已在柜内即计入。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住一只目标碗的碗沿或碗体，将碗送入橱柜。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪抵住已靠近橱柜入口的碗体，将其推入柜内支承面。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:55",
+     "inputs/bddl/canning_food.bddl:22-23",
+     "inputs/bddl/canning_food.bddl:57-62",
+     "inputs/bddl/canning_food.literals.json:9-10",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "相同碗按柜内数量计，不按实例名计；此关系初始已成立，不附加装满条件，也不要求先取出再放回。可在柜内完成装料，因此不把开柜或装料设为该已存在关系的前置；第2只仅承接第1只的计数顺序。"
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见冰箱全部门板回到闭合位置，所有可开合关节均处于离闭合端不超过全行程5%的范围；任一门板超过此范围即失去，初始已关闭也成立，夹爪仍扶着把手不妨碍该局部关闭状态成立。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪或掌面推冰箱门板回到闭合端。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住冰箱把手带动门板关闭。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机��人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:11",
+     "inputs/task/privileged/instruction.md:56",
+     "inputs/bddl/canning_food.bddl:64",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "初始关闭，从起点计入；打开后下降、关闭后恢复，保持state且freeze_held=false。after只记关闭恢复的物理关系，不对state门控；冰箱取出食材后可立即关上，未加切丁或装料先于关冰箱的顺序。"
+   },
+   {
+    "id": "cabinet_closed",
+    "zh": "关上橱柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened",
+     "bowls_in_cabinet_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见橱柜全部门板回到闭合位置，所有可开合关节均处于离闭合端不超过全行程5%的范围；任一门板超过此范围即失去，初始已关闭也成立，夹爪仍扶着把手不妨碍该局部关闭状态成立。最终联合验收还要求全部目标同时成立，所有具刚体速度接口的目标物体均已离开辅助抓握且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪或掌面推橱柜门板回到闭合端。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一夹爪握住橱柜把手带动门板关闭。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人在厨房内移动到门、食材或碗的操作位置；是否必需移动缺少轨迹核实，按S17保留。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:11",
+     "inputs/task/privileged/instruction.md:56",
+     "inputs/bddl/canning_food.bddl:67",
+     "inputs/bddl/canning_food.literals.json:68",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "初始关闭，从起点计入；打开后下降、关闭后恢复，保持state且freeze_held=false。after只记关闭恢复的物理关系，不对state门控；冰箱取出食材后可立即关上，未加切丁或装料先于关冰箱的顺序。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的竖直分量小于0.75（约倾斜超过41.4度），或基座低于地面超过0.03米，二者的或条件连续300个控制步（30赫兹，约10秒）成立则失败；短时倾倒后在窗口内恢复不算，且同一控制步若先满足成功，成功优先于倒地检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限值，或机器人任一位置坐标绝对值超过10000米，或基座线速度范数超过100米/秒；目标刚体每30个控制步检查一次，位置出现非有限值或任一坐标绝对值超过10000米也立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "goal_literal_0",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:3; log flags.lit:(real diced__steak.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_1",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:4; log flags.lit:(real diced__pineapple.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_2",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:5; log flags.lit:(filled bowl.n.01_2 diced__steak.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_3",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:6; log flags.lit:(not (contains bowl.n.01_2 diced__pineapple.n.01_1))"
+   },
+   {
+    "atom": "goal_literal_4",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:7; log flags.lit:(filled bowl.n.01_2 diced__pineapple.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_5",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:8; log flags.lit:(not (contains bowl.n.01_2 diced__steak.n.01_1))"
+   },
+   {
+    "atom": "goal_literal_6",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:9; log flags.lit:(inside bowl.n.01_2 cabinet.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_7",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:10; log flags.lit:(inside bowl.n.01_1 cabinet.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_8",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:11; log flags.lit:(not (open electric_refrigerator.n.01_1))"
+   },
+   {
+    "atom": "goal_literal_9",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:12; log flags.lit:(not (open cabinet.n.01_1))"
+   },
+   {
+    "atom": "goal_literal_10",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:13; log flags.lit:(filled bowl.n.01_1 diced__pineapple.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_11",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:14; log flags.lit:(not (contains bowl.n.01_1 diced__steak.n.01_1))"
+   },
+   {
+    "atom": "goal_literal_12",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:15; log flags.lit:(filled bowl.n.01_1 diced__steak.n.01_1)"
+   },
+   {
+    "atom": "goal_literal_13",
+    "level": "new_code",
+    "source": "inputs/bddl/canning_food.literals.json:16; log flags.lit:(not (contains bowl.n.01_1 diced__pineapple.n.01_1))"
+   },
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:56; log proc.electric_refrigerator.n.01_1.open"
+   },
+   {
+    "atom": "cabinet_open",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:56; log proc.cabinet.n.01_1.open"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434; log flags.success_rule (BDDL goal + released + still for 30 control steps)"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144; log FallWatch.fallen"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471; log Session.breakdown"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功参考轨迹：inputs/oracle_none.txt记载15次目录运行均失败；没有solution目录，步骤仅依据任务文本、BDDL初态与目标及评分代码规划，未凭轨迹指定左右手或操作顺序（N2）。",
+  "inputs/states/index.json的logs为空，所有when和success均为null，约束never也为null；atoms列出以后需新增的谓词与检查器状态日志，现阶段不得把建议字段当作已观测绑定（P8）。无轨迹可核验可见线索和精确填充比例，20%边界或遮挡若无法从画面确认，应保留观测不确定性。",
+  "初态由inputs/bddl/canning_food.literals.json:68的initial与逐项literals对齐：两只碗inside及两个not open均为真，两个real及所有filled均为假；所以四个目标状态应从起点成立。初始谓词快照没有机器人精确起始位姿，BDDL把机器人置于厨房地面，scene_objects列出的跨房间门不证明为本任务必经，故未增加路线门节点。",
+  "工具拾取边界（D2）：文本列出切肉刀，说明仅要求有效刀刃与食材接触，BDDL与success_rule均不检查刀是否在手；可移动食材接触刀刃，无法证明每条合法路线都必须拿刀，因此未设必需拿刀节点。装碗可用碗承接或舀料、刀面推料等方案，未虚构场景里未列出的勺。",
+  "评分接受范围：切丁以real丁料存在为验收，未要求完整食材或每一半全部切完；装满以粒子直径立方和严格大于内腔20%为验收，未要求视觉上满到碗沿。DAG沿用说明给出的判据，未额外增加全量切丁或满至碗沿要求。",
+  "文本说把两碗放回橱柜，但BDDL只检查最终inside，没有先取出或离柜的历史条件；允许两碗留在柜中装料，两只碗入柜节点不依赖装料节点，也不把取出碗独立成步骤（S4、D5）。",
+  "两模式共用rcb_behavior.py的BDDL目标、30步离手静置、倒地与崩溃规则；privileged/grade.py:168-174另检查重复回放一致和冻结实例匹配，standard/grade.py:29-35读服务的实时成功并处理终结及基础设施状态。这些交付或回放有效性条件不绑定语义节点；success为空，无法在本任务内验证模式附加条件。",
+  "全局松手静置由success_rule联合接受而非新节点，各目标criterion均载明该要求；局部条件允许在持碗、扶门时成立，故所有state均显式freeze_held=false。q_score=1只表示BDDL目标充分满足，尚不替代30步离手静置；filled指标阈值采用严格大于而非大于等于。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本与BDDL目标对应清楚，初始目标谓词可核实，标签和阈值均有输入证据；没有状态日志、成功视频和底层物态实现源码，条件绑定、细粒子视觉判断及典型接触方案无法用成功回放核实。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志、无参考轨迹，故所有when为null；节点集与任务文本和BDDL目标一致（开冰箱/开橱柜、两种切丁、两种装碗、两只碗入柜计数、关冰箱/关橱柜），success为null、约束为评分器的倒地与崩溃，切刀未设必需拾取步（可推食材碰固定刀刃，合理）。未发现需改内容的错误；切刀接触标签（手持工具×压/擦）略勉强，属措辞级别。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'cabinet_opened', 'steak_diced', 'pineapple_diced', 'steak_bowl_filled', 'pineapple_bowl_filled', 'bowls_in_cabinet_1', 'bowls_in_cabinet_2', 'fridge_closed', 'cabinet_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:27:58Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__canning_food/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__canning_food/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "b728664ff7016f43e0813e5eb065ee2b04348db008aca1158820815fa10dc578",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--uqn2uga.json

@@ -0,0 +1,572 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-privileged--uqn2uga",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 18476,
+   "sim_steps": 18476,
+   "final_reward": 0.2,
+   "q_score": 0.2,
+   "replay_wall_s": 5144.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-privileged--uqn2uga/replay.mp4",
+  "duration_s": 615.867,
+  "fps": 30.0,
+  "frames": 18476,
+  "sha256": "ef072af7d1eb5c86b84dc8a42edbef204abc1c18e5a12a13eb465100c9ccd898"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 85.5,
+      "log_step": 99,
+      "text_zh": "观察：视频85.0–86.5 s，机器人左夹爪拉动白色冰箱门，腕部视角露出蓝色内腔和搁板，门板明显离开闭合位置；视频96.5 s可见完整敞开的内腔。首次达到约记视频85.5 s。"
+     },
+     {
+      "t": 94.0,
+      "log_step": 104,
+      "text_zh": "观察：视频91.0–95.5 s冰箱门回摆后仍斜置，随后机器人再次从内侧推门，未见完全闭合；log step 101、104的会话读数分别仍为0.5806 rad及更大的开角，与这一段画面相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住冰箱门把手并拉门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "拉门后机器人用左夹爪从门内侧推门，进一步露出内腔。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘驶到冰箱前并调整朝向以操作门。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 63,
+      "text_zh": "观察：视频7.5–10.0 s，机器人左夹爪位于黑色橱柜把手处，门板开始向外转离柜体；视频12.5–15.0 s可见门板斜置和入口。首次开门约记视频8.0 s，5%阈值的越过时刻有约0.5 s误差。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 89,
+      "text_zh": "观察：视频40.0–50.0 s机器人继续推开门，柜内搁板入口已露出；视频614.8–615.8 s柜门仍敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住橱柜水平把手拉门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人随后以夹爪抵推门板内侧，使门摆到更大的开角。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘靠近橱柜并数次调整操作位置。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 132.0,
+      "log_step": 133,
+      "text_zh": "观察：视频128.0–136.0 s，牛排从冰箱原位离开并随机器人夹爪移出；视频196.0–204.0 s可见柜内下层的完整牛排。取出和放入碗的准备动作不等于切丁。"
+     },
+     {
+      "t": 365.5,
+      "log_step": 472,
+      "text_zh": "观察：视频363.5–367.5 s，机器人持刀从上层向下层转移，刀和夹爪在层板入口处停滞、回撤；视频384.0–389.0 s再次伸入后仍退回。log step 472列出刀—柜体及左夹爪—柜体接触，log step 476列出左臂—柜体接触，作为会话中的控制诊断佐证。"
+     },
+     {
+      "t": 613.0,
+      "log_step": 624,
+      "text_zh": "观察：视频556.0–577.0 s机器人又在下层碗前伸手、松开刀，未见牛排生成丁料；视频613.0 s下层仍可见整块红色牛排。log step 624也记录刀落在碗前的柜层板上，食材系统仅有菠萝丁。"
+     },
+     {
+      "t": 615.8,
+      "log_step": null,
+      "text_zh": "推断：结合视频全程未见牛排丁生成、末尾完整牛排以及评分器q_score=0.2，牛排切丁最终为假；此判断不是单由低分得出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪所持切肉刀在向下层牛排碗伸入的过程中抵到柜内层板；未把刀—层板接触记成刀已切到牛排。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "切牛排尝试中机器人轮式底盘多次移近、后退及侧转，携刀调整入柜姿态。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [
+     [
+      363.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 355.0,
+      "log_step": 463,
+      "text_zh": "观察：视频352.0–357.5 s，机器人持刀接近柜内上层菠萝，可见黄色半块；此时仅切成半块，不据此计切丁。"
+     },
+     {
+      "t": 363.5,
+      "log_step": 467,
+      "text_zh": "观察：视频363.5–365.0 s刀退出后可见多个分离的黄色小颗粒，视频378.0 s及614.8–615.8 s仍可见黄色丁料。生成发生于前一段局部遮挡期间，以视频363.5 s首次清楚复核为近似起点，可能晚于实际生成约数秒。"
+     },
+     {
+      "t": 615.8,
+      "log_step": null,
+      "text_zh": "推断：视频中的黄色颗粒持续保留，评分器q_score=0.2与菠萝丁存在及菠萝丁装碗两项新增目标相符，最终菠萝切丁为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持切肉刀，将刀刃伸向上层碗口处的菠萝，先切成半块，再生成丁料。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘从取刀位置返回橱柜前，携刀调整切菠萝的位置。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 200.0,
+      "log_step": 191,
+      "text_zh": "观察：视频196.0–204.0 s机器人将完整牛排送到柜内下层碗处；这是在碗内切丁的准备动作，画面没有牛排丁填充。"
+     },
+     {
+      "t": 613.0,
+      "log_step": 649,
+      "text_zh": "推断：视频613.0 s下层仍是整块红色牛排，全程未见牛排丁系统生成，因此没有任何碗能满足牛排丁体积严格超过20%的装碗条件。评分器q_score=0.2不能把完整牛排算成牛排丁装碗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪抓住完整牛排，搬至柜内下层碗并释放，准备在碗内切丁；没有实际搬运牛排丁。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘携完整牛排从冰箱移到橱柜，并调整下层碗前的位置。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [
+     [
+      363.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 310.0,
+      "log_step": 446,
+      "text_zh": "观察：视频260.0–276.0 s，机器人右夹爪从地面提起菠萝；视频280.0–288.0 s两夹爪共同持住并换手，随后左夹爪将菠萝送到柜内上层碗；视频308.0–312.0 s菠萝留在上层碗处，夹爪撤开。"
+     },
+     {
+      "t": 364.0,
+      "log_step": 467,
+      "text_zh": "观察：视频352.0–365.0 s机器人直接在上层碗处切菠萝，碗倾斜，丁料出现并有一部分散到柜层板；log step 467的会话检查报告上层碗filled=True、下层碗contains菠萝=False。画面不能独立量出20%的体积比例。"
+     },
+     {
+      "t": 615.8,
+      "log_step": null,
+      "text_zh": "推断：视频614.8–615.8 s保留上层碗及黄色丁料，牛排仍完整且柜门敞开；结合评分器q_score=0.2，可归于菠萝丁存在与纯菠萝丁装碗两项新增目标。初始已成立的两碗在柜内、门关闭及无混料条件不贡献这一新增得分，因此最终装碗为真；首次达标近似归于视频363.5 s的生成段，精确过阈值时刻不可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用右夹爪拾起菠萝，换手后用左夹爪将其送到上层碗，准备原位切丁装料。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右夹爪在菠萝换手阶段同时夹住菠萝的不同部位，随后右夹爪松开。"
+     },
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持刀在碗口处切菠萝，使丁料直接进入原本留在柜内的碗；未观察到持碗舀料。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在地面拾取、换手和向上层碗搬运菠萝时移动。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG明确两只目标碗初始均在橱柜内；视频0.0 s柜门闭合，后续开柜后的画面及视频196.0–204.0 s下层碗与牛排的位置相符。此节点从起点成立。"
+     },
+     {
+      "t": 615.8,
+      "log_step": null,
+      "text_zh": "观察：视频556.0–577.0 s机器人在下层碗前尝试伸手，视频613.0–615.8 s柜内下层仍保留牛排碗；没有出现碗随夹爪离柜的过程，至少一碗在柜内持续成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "下层碗始终留在柜内；机器人后段伸手试图移动碗，但腕部与层板遮挡接触处，无法确认夹爪是否真正夹住或推到碗，不能标成成功抓握。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载两只目标碗初始均在柜内，因此至少两碗入柜从视频0.0 s成立；不额外要求先取出再放回。"
+     },
+     {
+      "t": 355.0,
+      "log_step": 463,
+      "text_zh": "观察：视频232.0–248.0 s菠萝在上层碗口前移动，视频352.0–365.0 s持刀操作使上层碗倾斜，但碗仍留在柜内搁板；没有跨出柜口。"
+     },
+     {
+      "t": 615.8,
+      "log_step": null,
+      "text_zh": "观察：视频580.0–615.8 s柜内仍保留下层牛排碗和上层倾斜的菠萝碗；全过程未见任何目标碗被带离橱柜，保持至少两碗在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人持着的菠萝在上层碗口推进时带动碗向内移动，后来持刀操作又使碗倾斜；碗仍在柜内，没有凭此虚构重新入柜的搬放。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      85.5
+     ],
+     [
+      318.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–5.0 s机器人靠近厨房储物区域，白色冰箱门闭合，与DAG初始关闭条件相符。视频85.5–86.5 s门被拉开，此状态失去。"
+     },
+     {
+      "t": 318.0,
+      "log_step": null,
+      "text_zh": "推断：视频313.0 s冰箱仍敞开、蓝色搁板可见，视频328.0–329.0 s重新看向冰箱时已可见带黑色把手的平整白色门板，内腔不再露出。恢复关闭近似记视频318.0 s；机器人转身期间门缝离开视野，实际越过全行程5%阈值只能定位于视频313.0–329.0 s之间，不能精确到数秒。此时间来自回放前后帧，不由会话日志门角读数换算。"
+     },
+     {
+      "t": 329.0,
+      "log_step": null,
+      "text_zh": "观察：视频328.0–329.0 s可见冰箱白色门板及黑色把手，视频340.0 s、350.0 s、360.0 s、400.0 s仍为闭合外观，视频428.0 s、432.0 s也未见重新敞开的内腔；视频430.0 s附近没有新的恢复关闭动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人在冰箱旁转身、取刀和移动期间门恢复关闭，但画面没有完整显示推动门的具体机器人部位及接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在冰箱与橱柜旁转向并移动，门在这一阶段逐渐恢复关闭。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      8.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–7.0 s黑色橱柜门板处于闭合位置，视频约8.0 s被左夹爪拉开，关闭状态失去。"
+     },
+     {
+      "t": 589.0,
+      "log_step": 639,
+      "text_zh": "观察：视频580.0–601.0 s机器人左夹爪沿敞开的右侧柜门附近移动并推门，随后视频607.0–614.0 s右夹爪又在另一扇门前操作；门板均未回到闭合位置。"
+     },
+     {
+      "t": 615.8,
+      "log_step": 649,
+      "text_zh": "观察：视频614.8–615.8 s橱柜门仍大幅敞开、内腔可见，最终关闭为假；log step 649最终会话读数也报告两门开角约1.7884 rad和1.6184 rad。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人先以左夹爪抵推右侧柜门，后用右夹爪推另一扇柜门，未同时双手关门，均未关拢。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "关柜尝试中机器人轮式底盘先靠近右侧门，��横移到另一扇门前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.2
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "steak_diced",
+   "t": 365.5,
+   "log_step": 472,
+   "where": "操作中",
+   "evidence_zh": "观察：视频363.5–367.5 s，机器人完成上层菠萝操作后持刀转向下层牛排碗，刀与夹爪在柜层板入口停滞；视频384.0–389.0 s继续伸入仍未完成切割，后面多次调整和释放刀均未产生牛排丁。log step 472的会话诊断列出刀—柜体接触。视频613.0 s牛排仍完整，故首个未修复的切丁步骤为steak_diced，后续关柜失败不替换此断点。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": true,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": true,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 365.5,
+    "log_step": 472,
+    "evidence_zh": "观察：视频363.5–367.5 s机器人持刀下降时，刀和夹爪贴到柜层板入口后停住并回撤；视频384.0–389.0 s再度向下层伸入仍受柜口阻挡。log step 472列出刀—柜体及左夹爪—柜体接触，log step 476列出左臂第5连杆—柜体接触；这些会话诊断与回放中的受阻动作相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人以正确食材和刀为目标，但未能在搁板间执行到切割位姿。视频363.5–395.5 s及454.0–574.0 s显示持刀反复改向、伸入和退出；会话log step 474的目标跟踪误差约0.090 m，log step 476、502、551诊断出手臂与柜体/门接触；log step 583即使躯干到位，末端腕关节目标约-1.567 rad、实测约-0.516 rad，切割姿态仍未实现。证据支持控制执行问题，但不足以把全程失败唯一归为接触设计、逆解或反馈中的一种。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功参考视频；reward.deterministic=0，不能将会话中试验或恢复前的成功声明当成回放状态。上层碗口、刀与牛排接触区和冰箱门缝常被夹爪或柜板遮挡；菠萝丁首次生成及20%填充过阈值时刻只可近似定位，最终填充结合评分器q_score=0.2推断。冰箱恢复关闭近似记视频318.0 s；视频313.0 s仍敞开，视频328.0–329.0 s已呈闭合外观，5%阈值的实际越过只能定位于视频313.0–329.0 s的遮挡窗口；下层碗抓取和关冰箱的具体接触方式无法确认。控制诊断来自会话日志，仅用作根因佐证，未把未交付的旧试验计入节点。"
+ },
+ "summary_zh": "回放最终保留7/10个节点：两种门已打开过、菠萝切丁并满足纯菠萝丁装碗、两碗仍在柜内、冰箱约在视频318.0 s恢复关闭（实际越过阈值位于视频313.0–329.0 s之间）；牛排切丁、牛排丁装碗及橱柜关闭未达成。机器人在视频约365.5 s转向下层牛排切割时受柜层板阻挡，之后多次改姿和伸入均未修复，日志的碰撞与关节跟踪误差支持控制执行问题。没有状态日志，填充比例和冰箱闭合阈值部分遮挡，时间与终值的推断已在各节点说明。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "多数节点与断点（steak_diced、被挡/碰撞、控制）可接受，但 fridge_closed 的恢复时刻错了约100 s：视频中冰箱门在约313–329 s 已回到闭合，并非430 s；该节点的第二段区间、证据文字、gap_zh 及 summary_zh 里的“约430 s”都需改。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮指出的冰箱恢复关闭时间已改为视频约318 s，与帧一致（313 s 仍开、329 s 闭合）。节点终值与q_score=0.2（菠萝丁+纯菠萝丁装碗两项新增）相符，断点steak_diced及被挡/碰撞、控制根因有视频支持，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": "2026-10-29T11:18:48Z",
+  "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/behavior-canning-food-i00-privileged--uqn2uga/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--uqn2uga/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--uqn2uga/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--uqn2uga/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78a87d5503dd1619bfce0fa9dec1ed022540971811230456aa7f8713ffe8432b",
+   "video_sha256": "ef072af7d1eb5c86b84dc8a42edbef204abc1c18e5a12a13eb465100c9ccd898",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--nyc9fmh.json

@@ -0,0 +1,457 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--nyc9fmh",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11832,
+   "sim_steps": 11832,
+   "physics_steps": 47328,
+   "steps": 6842,
+   "elapsed_s": 3457.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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": 0.208,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.275,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--nyc9fmh/replay.mp4",
+  "duration_s": 394.4,
+  "fps": 30.0,
+  "frames": 11832,
+  "sha256": "136891b5d41e8ebb35817b66fcd3263db85cbe17d21eb0e21dd4554eee47f606"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      339,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 340,
+      "log_step": 125,
+      "text_zh": "观察：视频338–341 s白色冰箱门从贴合柜体逐渐转出，左夹爪仍夹着竖把手；视频340 s可见门板已明显偏离闭合位置，首次超过小开口的时刻约为视频339 s。"
+     },
+     {
+      "t": 374,
+      "log_step": 133,
+      "text_zh": "观察：视频367–374 s左夹爪保持握把手，机器人底盘绕行，白门大幅打开；视频393.5–394.3 s门仍张开且末帧腕部视角露出冰箱内腔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频337–350 s和364–374 s，左夹爪夹住白色冰箱竖把手，门板随手臂或机器人绕行而打开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约359–363 s机器人驾驶底盘到把手前；视频约367–374 s，左夹爪持把手时底盘绕铰链运动以开门。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 53,
+      "log_step": 40,
+      "text_zh": "观察：视频52–54 s，左夹爪拉动黑色橱柜门，门板明显转出、搁板内腔露出；此前视频45–51 s门板仍在闭合位置。首次达到时刻约为视频52.5 s。"
+     },
+     {
+      "t": 234,
+      "log_step": 94,
+      "text_zh": "观察：视频225–235 s，左夹爪把同一门板再次推开，柜内多层搁板露出；打开是锁存事件，后来回闭不撤销该事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约51–61 s、91–100 s、133–140 s、213–219 s，左夹爪围住黑色橱柜横把手，门板随左手拉动而转开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约80–86 s、103–109 s、143–164 s及225–235 s，左夹爪抵住门板并推开；不是双臂共同操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频约40–50 s及各轮开柜之间驾驶轮式底盘接近、退出并调整朝向。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "观察：视频全程机器人只巡视、操作柜门和冰箱门及尝试恢复翻倒；没有拿刀或把牛排带到刀刃的动作，也未见生成丁粒子。视频394.3 s机器人仍倾倒，左腕视角露出冰箱内完整食材。"
+     },
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0且live_matches_replay=1，排除结束时新增的real 牛排丁料目标成立；这与视频中没有切割的过程一致，不能单由零分推断动作未做。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "观察：视频全程机器人只巡视、操作柜门和冰箱门及尝试恢复翻倒；没有拿刀或把菠萝带到刀刃的动作，也未见生成丁粒子。视频394.3 s机器人仍倾倒，左腕视角露出冰箱内完整食材。"
+     },
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0且live_matches_replay=1，排除结束时新增的real 菠萝丁料目标成立；这与视频中没有切割的过程一致，不能单由零分推断动作未做。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 262,
+      "log_step": null,
+      "text_zh": "观察：视频约234–270 s和310–320 s柜内可见金属碗，机器人未取碗或运送食材；全程没有向碗内倾倒、舀入或推扫牛排丁的动作。"
+     },
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "推断：视频中没有生成或转移牛排丁，且评分器q_score=0不允许新增filled目标成立，故牛排丁装碗结束为假；不依据画面估算20%边界。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 262,
+      "log_step": null,
+      "text_zh": "观察：视频约234–270 s和310–320 s柜内可见金属碗，机器人未取碗或运送食材；全程没有向碗内倾倒、舀入或推扫菠萝丁的动作。"
+     },
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "推断：视频中没有生成或转移菠萝丁，且评分器q_score=0不允许新增filled目标成立，故菠萝丁装碗结束为假；不依据画面估算20%边界。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 262,
+      "log_step": null,
+      "text_zh": "观察：视频234–270 s黑色橱柜内不同搁板上可见金属碗，视频262 s可定位柜内碗；机器人全程未夹取、搬运或推走碗。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG明确初态两只目标碗均在橱柜内；结合打开后柜内碗仍在、全程没有碗离柜动作，至少1只碗在柜内从视频0 s持续成立。评分器q_score=0不计仍保持的初始目标，不否定此关系。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 262,
+      "log_step": null,
+      "text_zh": "观察：视频234–270 s黑色橱柜内不同搁板上可见金属碗，视频262 s可定位柜内碗；机器人全程未夹取、搬运或推走碗。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG明确初态两只目标碗均在橱柜内；结合打开后柜内碗仍在、全程没有碗离柜动作，至少2只碗在柜内从视频0 s持续成立。评分器q_score=0不计仍保持的初始目标，不否定此关系。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      339
+     ],
+     [
+      354.5,
+      367
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 338,
+      "log_step": null,
+      "text_zh": "观察：视频早期巡视和视频334–338 s白色冰箱门贴合柜体，视频339–341 s被左夹爪拉开；结合DAG初态，关闭状态从视频0 s计入。"
+     },
+     {
+      "t": 355,
+      "log_step": 127,
+      "text_zh": "观察：视频351.5–354.5 s机器人收臂，白门回转；视频355–366.5 s白门贴合，视频367–369 s再度开启。视觉估计回闭在视频354.5 s、再开在视频367 s。"
+     },
+     {
+      "t": 394.3,
+      "log_step": null,
+      "text_zh": "观察：视频393.5–394.3 s白门仍明显转出，末帧左腕视角可见冰箱内腔，结束关闭状态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：门在机器人收臂回位时回闭，接触区域被门板和机器人手臂遮挡，不能可靠区分夹爪、前臂接触或松手后的门板运动；不把收臂误标成有意握把手关门。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      52.5
+     ],
+     [
+      126.5,
+      135.5
+     ],
+     [
+      167.5,
+      225.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频45–51 s黑色橱柜门板贴合柜体，视频52–54 s随左手拉动而打开；结合DAG初态，关闭状态从视频0 s计入。"
+     },
+     {
+      "t": 131,
+      "log_step": 68,
+      "text_zh": "观察：视频约124–127 s左臂回撤后门板回到贴合位置；视频127–135 s门板保持近乎齐平，视频136–139 s再次拉开。回闭约在视频126.5 s，再开约在视频135.5 s；5%边界仅能视觉近似。"
+     },
+     {
+      "t": 170,
+      "log_step": 74,
+      "text_zh": "观察：视频166–168 s收臂时黑门回闭，视频168–224 s门板贴合；视频225–227 s左爪再次推开，视频234–270 s及393.5–394.3 s柜内搁板仍露出，未再关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：门在机器人收臂回位时回闭，接触区域被门板和机器人手臂遮挡，不能可靠区分夹爪、前臂接触或松手后的门板运动；不把收臂误标成有意握把手关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 384,
+   "log_step": 136,
+   "where": "转场",
+   "evidence_zh": "观察：视频374–380 s机器人释放冰箱把手、收臂并空手沿岛台旁移位，视频约383.5–384.5 s视野急剧向天花板倾斜，直到视频394.3 s仍未恢复。log step 136的动作是移到打开的冰箱前观察，尚无牛排或菠萝的抓取；因此可定位转场翻倒，但不能从证据唯一指定两个切丁节点中的哪一个。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 384,
+    "log_step": 137,
+    "evidence_zh": "观察：视频383.5–385 s头部与腕部视野骤然旋转、朝上，视频385–394.3 s一直明显倾斜；log step 137读取本体姿态得到上轴竖直分量0.3188，log step 155服务返回done=True、reason=\"failure: the robot fell over\"及control_steps=11832。这是轮式机器人失去支撑并翻倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 384,
+    "log_step": 136,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 27定义的goto只将目标换算为直线底盘位移、再原地转向，log step 15的base_move按预定行数发送动作，两者都未在运动途中检查障碍或倾角。log step 136依次命令机器人到(6.7,-0.6)、(8.0,-0.6)、再到(8.0,-0.75)并转向；视频379–384.5 s机器人确在岛台及开着的白门旁移动并随即翻倒，说明这段底盘运动未维持稳定支撑；没有足够接触或力数据再细分碰撞轨迹与跟踪失稳。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频。翻倒前机器人只空手移位查看冰箱，未接触牛排或菠萝，也无日志指定先取哪一种，因此断点节点保留unknown；不把已完成的开门误作失败步骤。门板5%阈值仅能按可见开口近似，收臂后回闭的直接作用端被遮挡；两只碗起点及末段在柜内的连续性结合DAG初态和全程未搬碗推断。视频可确认翻倒，但无法确认首次致倾的具体障碍接触。log step 12给出30 Hz，log step 155的11832控制步对应视频394.4 s；log step 143的11624/30≈视频387.47 s与视频387.5 s倾倒画面核对一致，仅用此控制时钟核对服务读数，没有换算agent时间。",
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": false,
+   "cabinet_closed": false
+  }
+ },
+ "summary_zh": "机器人先后打开橱柜和冰箱，两只碗始终留在柜内；未切丁、未装料，结束两门均开，DAG终值4/10（含两项开门事件及两项初始碗在柜内关系）。视频约384 s机器人在空手调整冰箱前观察位置时翻倒，底盘运动未保持稳定，服务最终判定倒地失败。无状态日志，门的阈值时刻为视觉近似，且不能确定翻倒前拟优先处理牛排还是菠萝，故具体断点节点保留unknown。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、翻倒断点（ref unknown，转场）、平衡现象与控制根因与视频和日志一致；翻倒约视频384 s，log step 137/155读数与服务判定吻合，未发现需要���动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:51:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--nyc9fmh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--nyc9fmh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c9729f8252b5c6736677b9e2d62d27447477ff9249092fd7f91285d46690f1dc",
+   "video_sha256": "136891b5d41e8ebb35817b66fcd3263db85cbe17d21eb0e21dd4554eee47f606",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,193 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "suite": "behavior-1k",
+ "base": "behavior-clean-a-trumpet-i00",
+ "title_zh": "清洁小号",
+ "summary_zh": "小号上的全部灰尘被去除，且小号离手、线速度不超过 0.05 m/s，连续满足 30 个控制步。",
+ "embodiment_zh": "两种模式均为 R1Pro 轮式移动双臂机器人，左右机械臂各配二指夹爪，使用辅助抓握；具有可动躯干、头部相机和左右腕部相机。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-clean-a-trumpet-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "cornet_clean",
+    "zh": "小号除尘",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0.9666666666666667,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部视角可见卧室木色书桌上的金黄色小号，腕部视角可辅助查看管身和喇叭口：其上全部灰尘颗粒均消失、小号未附着于任一夹爪且线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，约 1 秒）才完成；刷子本身无需松手。仍有任何灰尘、仅让刷子经过局部、或小号仍被夹持或移动均未完成，已完成后上述条件丢失则不再成立；细小颗粒或背面不可辨时须用该回合的目标谓词或成功状态确认，不能把金色反光当成灰尘。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "plan": 1,
+      "note_zh": "任一夹爪持清洁刷，以刷子擦过小号积尘区域；作用端是刷子，对象是小号上的灰尘，模拟除尘可在刷子邻近颗粒时触发，不要求可见刷毛形变或持续压力。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘支撑持刷机械臂沿书桌移动，以覆盖小号不同位置；同时移动时计此接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "另一可行思路是夹爪抓住小号，使积尘区域经过留在桌面的清洁刷，最后放下小号；此方案不要求刷子在手中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "轮式底盘支撑抓持小号的机械臂移动到清洁刷附近；同时移动时计此接触。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-22",
+     "inputs/task/standard/instruction.md:5-16",
+     "inputs/bddl/clean_a_trumpet.bddl:13-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1406-1434",
+     "inputs/oracle/replay.mp4 @ 4, 12, 24, 37 s",
+     "inputs/oracle/run.json: steps[id=38,41,43]"
+    ],
+    "conf": 6,
+    "note_zh": "仅一个整体除尘结果；灰尘颗粒不是文字要求逐个完成的计数项，不拆成逐粒节点，也不拆抓刷、接近或松手节点。BDDL 初态小号带尘，机器人与书桌同在卧室，无跨房间开门前提；不要求小号最终仍在桌上。连续 30 步窗口折为首末采样间隔 29/30 秒；无日志故不绑定条件，实际验收应优先读取原生保持计数。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座上轴的世界 z 分量小于 0.75（约偏离直立 41.4 度），或底座低于地面超过 0.03 m，连续达到 300 个控制步（10 秒）触发跌倒失败；短暂倾斜后恢复不算违规。评分器同一步先检查崩溃，再检查成功，最后检查跌倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "模拟状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、朝向、线速度或关节状态出现非有限值，任一位置坐标绝对值大于 10000 m，或底座线速度大于 100 m/s，立即判为崩溃；每 30 个控制步还检查小号等目标实体的位置是否非有限或任一坐标绝对值大于 10000 m。视频可能显示物体飞离场景或画面异常，精确触发须依据原生崩溃状态。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "cornet_clean",
+    "level": "new_code",
+    "source": "Log flags.lit:(not (covered cornet.n.01_1 dust.n.01_1)) from the BDDL goal evaluation; inputs/bddl/clean_a_trumpet.literals.json."
+   },
+   {
+    "atom": "cornet_released_and_resting",
+    "level": "new_code",
+    "source": "Log Session.status goal_objects_held, goal_objects_moving, goal_held_steps and per-frame success_rule; inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434,1543-1546."
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Log Session.status fallen after FallWatch update; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489."
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Log Session.status breakdown and end_reason; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471."
+   }
+  ]
+ },
+ "native_metrics": [],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，故按 DECISIONS.md P8，唯一节点 when、全部约束 never 和 success 均为 null；无法检查日志字段、保持窗口或成功与评分器的一致性，待补记原生谓词、静置计数和失败状态。",
+  "规则版本差异：成功参考运行 inputs/oracle/run.json 的 steps[id=41,43] 在第 1121 步最后颗粒消失时已报告 success，参考录像约 37.37 秒结束；当前 rcb_behavior.py:100-105 明示 2026-10-14 才新增松手静置 30 步。参考记录来自 2026-10-10，不能用其终止时刻证明当前静置窗口已满足；本 DAG 按当前文本及评分器写验收，后续轨迹应按运行当时规则标注（DECISIONS.md P19）。",
+  "工具拿取边界（DECISIONS.md D2）：文字只提供刷子，目标及评分器不检查刷子是否被握持；参考运行用持刷方案，但没有证据证明所有合法路线都必须拿起刷子，移动小号靠近桌面刷子也是相对运动方案，因此不建必需拿刷节点。参考运行记录显示刷子邻近灰尘即可清除，不能要求真实接触力、固定擦刷次数或固定手臂。",
+  "视觉限制：参考录像的头部画面可见金黄色小号和红色刷子，腕部画面常被刷子遮挡，细小灰尘及小号背面并非始终能辨清；全部清除应结合该回合原生 covered 谓词或成功结果确认，不能只凭刷子接近判断完成（DECISIONS.md N8）。",
+  "模式共用 rcb_behavior.py 的物理成功、跌倒与崩溃规则；privileged/grade.py:198-209 另要求两次新进程回放成功、终态哈希一致且初态匹配，standard/grade.py:29-35 读取服务的单次实时成功及有效终结。回放有效性和文件交付条件不属于世界状态节点；本文件 success 因无状态日志保持 null。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单节点语义、BDDL 初态与目标及当前评分阈值明确，成功录像支持持刷除尘方案；缺少全部状态日志，且参考成功运行使用较早验收规则，无法验证当前静置窗口和精确颗粒可见性。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "文字只描述一个步骤（清除小号上全部灰尘），DAG 单节点 cornet_clean 与之及评分器目标（not covered）一致；刷子拿起按 D2 不建必需节点，理由已写入 open_questions_zh；松手静置/低速已折入该节点 criterion 与 hold_s，约束为跌倒与崩溃（立即终止）。无状态日志，故 when/success 为 null 符合 P8，已在 open_questions_zh 说明。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['cornet_clean']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:15:42Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clean_a_trumpet/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__clean_a_trumpet/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "434c36df806947b5900ff0e99b4392688ea8344faf7b438d2bf1a613632e5fc0",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--owbhha4.json

@@ -0,0 +1,151 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--owbhha4",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1685,
+   "sim_steps": 1685,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 837.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 5055,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-trumpet-i00-privileged--owbhha4/replay.mp4",
+  "duration_s": 56.167,
+  "fps": 30.0,
+  "frames": 1685,
+  "sha256": "713f58ab51c82a080adf91985dd9fb43126ff64582a9c0b8d7fc009c1e7e4a61"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": 46,
+      "text_zh": "观察：视频 4.5–6.5 s，机器人左夹爪下降到桌面红色刷子两侧并合拢；视频 8.0–9.0 s 刷子离开原来的桌面位置，随左夹爪抬起，小号仍在桌面上。log step 46 的工具回报也列出左手附着 scrub_brush.n.01_1。"
+     },
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–54.5 s，机器人左夹爪持续持红色刷子，在小号管身、阀管和喇叭口附近多次平移、下降擦拭；例如视频 42.0 s 的头部视角与腕部视角均可见刷子贴近金色管身。小号中途被碰移，随后仍留在桌上；未见另一只夹爪抓持小号。"
+     },
+     {
+      "t": 56.133,
+      "log_step": 73,
+      "text_zh": "观察：视频 55.0、55.2、55.4、55.6、55.8、56.0 和 56.133 s，机器人持刷端在小号喇叭口附近完成最后一次下降擦拭；末帧小号留在桌面，刷子仍在左夹爪中。log step 73 记录此次保存轨迹为 1685 行，模拟器 success=True、q_score=1.0、dust=0；这是会话记录，终值另由正式 reward.success=1、all_success=1、deterministic=1 确认。"
+     },
+     {
+      "t": 56.1,
+      "log_step": 94,
+      "text_zh": "推断：正式评分器确认全部除尘成功，log step 85 与 log step 94 的两次独立新进程回放也均为 success=true、1685 个控制步且终态哈希一致；它们与视频末段喇叭口擦拭及随后结束相符。将首次完成定位在视频约 56.1 s（定位误差约 0.5 s），不把 agent 工作时钟换算为视频时钟；细小及背面灰尘受刷子遮挡，清零依赖成功判定，而非仅凭金色表面外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 8.0–56.133 s，机器人左夹爪持红色清洁刷，刷子作用端沿桌上小号的管身与喇叭口移动、下降擦拭；工具—小号接触链仅记一次。该模拟除尘可由邻近颗粒触发，画面不提供刷毛压力读数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s，机器人整体视点转向并接近书桌；视频 8.0–9.0 s 持刷后又沿桌侧移。推断：结合 log step 39 的底盘接近命令、log step 47 的持刷侧移命令及 log step 49 的 SHIFT 完成反馈，底盘在接近和持刷移动阶段支撑机械臂完成除尘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人左夹爪拿起红色刷子，沿小号管身与喇叭口擦拭，约视频 56.1 s 完成唯一的除尘节点，正式评分及两次独立回放均成功，无失败断点。规则版本差异：本次运行的 task_text 采用全部灰尘消失即成功的旧规则，DAG 的松手低速连续 30 控制步窗口为后来新增要求；按运行当时规则标为完成（P19），不声称视频验证了该新增窗口。细小灰尘和背面常被刷子遮挡，且没有状态日志，全部清零由评分器成功确认，完成时刻仅作约半秒精度的末段定位。",
+ "conf": 6,
+ "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，单节点 cornet_clean 末段（约视频 56.1 s）完成，与正式 success=1、q_score=1.0 及视频中持刷擦拭小号相符；无失败断点，接触标注与画面一致。",
+    "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": "2026-10-29T11:32:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--owbhha4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--owbhha4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b42aa77fd8bd1c258c975b522e2af85686b3b4d5a9ac0ed6de50943b8ff2d65e",
+   "video_sha256": "713f58ab51c82a080adf91985dd9fb43126ff64582a9c0b8d7fc009c1e7e4a61",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--s8nexna.json

@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--s8nexna",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2387,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 2537,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 758.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 1,
+   "agent_sim_steps": 5541,
+   "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/behavior-clean-a-trumpet-i00-privileged--s8nexna/replay.mp4",
+  "duration_s": 84.567,
+  "fps": 30.0,
+  "frames": 2537,
+  "sha256": "dfdade3f94062f03f1757a8e1789e1fd25d9dbf2652bc9f4e2fef2fd4058bdd4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.5 s，机器人左夹爪合拢在红色刷子两侧，随后刷子离开桌面并随左腕移动；小号仍在桌上，右臂未参与清洁。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–20.0 s，机器人左夹爪持刷沿小号管身移动；视频 14.0–15.5 s 小号相对桌面明显滑移、转动。视频 44.0–53.0 s 刷子继续扫过时，小号进一步转到桌边，未被另一夹爪固定。"
+     },
+     {
+      "t": 84.53,
+      "log_step": 87,
+      "text_zh": "观察：视频 78.0–80.0 s，机器人把刷子放回桌面并撤爪；视频 83.6–84.53 s 小号仍斜放桌边，没有后续清理。log step 87 的交付段输出记录 dust: 4、goal: False、goal_held_steps: 0，保存的 A1+A2 共 2387 行；log step 90 核对最终文件仍为 2387 行。评分器 reward 的 goal=0、q_score=0、goal_first_step=-1，且 video_replay_matches=1。"
+     },
+     {
+      "t": 84.53,
+      "log_step": 87,
+      "text_zh": "推断：本任务只有一个除尘目标，末态 goal=0 与交付段残留 4 颗的读数一致，故小号除尘 final=false；录像全程仅见持刷擦扫、未见重新施尘，结合交付段残尘及评分器从未记录成功，判定没有满足完整验收条件的区间。细小背面灰尘不能仅凭金色表面的反光逐颗确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 10.5–75.0 s，机器人左夹爪持红色清洁刷擦扫小号管身及喇叭口附近；工具也反复碰动小号，使其在桌上滑移、转动。刷子与小号为同一工具作用链，不重复计夹爪握刷。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.5 s，轮式底盘支撑机器人由房内起点驶向书桌，随后左臂取刷清洁。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 14.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.0–15.5 s，机器人左臂持刷擦扫时小号被碰得滑移、转动；视频 44.0–53.0 s 偏移进一步扩大，小号斜到桌边。机器人继续刷扫至视频约 75.0 s 后放回刷子，末态仍未除净；评分器 goal=0，log step 87 的交付段记录剩余 4 颗灰尘。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 14.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.0–15.5 s，左臂持刷贴近小号时，小号在桌面滑移、旋转；视频 44.0–53.0 s 刷子作用下小号再次大幅转动，最后管身伸向桌边。视频 74.0–80.0 s 机器人撤刷时未恢复小号位置或完成除尘；log step 87 的交付段仍记录 dust: 4。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 85,
+    "t": 14.5,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 85 的实际录制脚本固定刷子朝向，以颗粒位置加少量高度偏移作为刷心目标，并将横向坐标截在固定范围；未设计另一手固定小号或随曲面改变刷子朝向。视频 14.0–20.0 s 及 44.0–53.0 s 可见这种贴近擦扫反复推转自由放置的小号，后续覆盖未完成；log step 87 记录小号最终位移约 0.31 m 且仍余 4 颗。接触几何与目标支承方式不适配，足以解释擦扫中不断碰移目标；未独立验证该接触点的替代姿态。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，腕部画面常被刷子遮挡，不能视觉逐颗复核残留 4 颗的位置或精确接触力；末态未除净由评分器目标字段确认，颗粒数由交付段日志辅助。agent 在 log step 92 自述最后颗粒超出已验证的逆解范围，但缺少对应限位或不可达证明，故不标“够不着”。log step 88–89 的追加清理试验未保存进最终 2387 行文件，其小号落地不属于本次评分回放。"
+ },
+ "summary_zh": "机器人驶到书桌，左夹爪成功持刷并反复擦扫小号，最后放回刷子，但整体除尘节点始终未完成，末态为 0/1。视频约 14.5 s 起刷子反复碰移、转动小号，后续小号斜到桌边；接触几何及支承设计不适配，交付段仍余 4 颗灰尘，评分器 goal=0。细小背面灰尘无法逐颗视觉核实，后续未交付的清理试验不计入本轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "cornet_clean 未达成与评分器 goal=0、q_score=0 及交付段残留 4 颗一致；视频可见刷子反复碰移小号，被挡/碰撞与接触设计根因有帧和日志支撑，接触标签与断点合理。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": "2026-10-29T11:32:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--s8nexna/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--s8nexna/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b799664e2542e8b7f29f52de4e33357fdaf5381c3a0d360dc74816b222d02beb",
+   "video_sha256": "dfdade3f94062f03f1757a8e1789e1fd25d9dbf2652bc9f4e2fef2fd4058bdd4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,525 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "suite": "behavior-1k",
+ "base": "behavior-cleaning-up-plates-and-food-i00",
+ "title_zh": "收拾餐盘与食物",
+ "summary_zh": "两份披萨各由不同餐盘承托并放入同一厨房冰箱，两个碗放入同一厨房水槽，所有厨房冰箱关闭，全部目标物体离手且静止并共同保持约一秒。",
+ "embodiment_zh": "两种模式均使用R1Pro轮式移动双臂机器人，左右臂各配二指夹爪，具有可动躯干和轮式底盘，采用辅助抓取；头部及双腕相机提供视角。标准模式通过服务控制单次现场回合，特权模式通过同一机器人配置控制并提交动作回放。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-cleaning-up-plates-and-food-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "pizzas_on_plates_1",
+    "zh": "第1份披萨在盘",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少一份披萨与其正下方的餐盘接触并由盘承托，头部或腕部相机可见披萨贴在盘面上，随盘移动仍计入且开局已成立；两份披萨都滑离盘面或悬空脱离盘面时失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "一侧夹爪握住餐盘边缘，餐盘从下方承托披萨；按餐盘到披萨的接触链标注，不重复列握盘接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:20-21",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-37",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:3-11",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:33"
+    ],
+    "conf": 6,
+    "note_zh": "按可建立的一一配对数量计数，不指定披萨实例或固定盘号；保持原有承托关系本身不要求操作。搬运时也须实时检查，故禁用持物冻结；失去后可用夹爪将披萨重新放回盘面。"
+   },
+   {
+    "id": "pizzas_on_plates_2",
+    "zh": "第2份披萨在盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pizzas_on_plates_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "两份披萨各与正下方一个不同餐盘接触，能形成两组不共用披萨或餐盘的配对，相机可分别看见两组承托关系，随盘搬运仍计入且开局已成立；任一份离盘、悬空或两份只共用一个盘而无法配对时失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "一侧夹爪握住餐盘边缘，餐盘从下方承托披萨；按餐盘到披萨的接触链标注，不重复列握盘接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:20-21",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-37",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:13-33"
+    ],
+    "conf": 6,
+    "note_zh": "第2个计数表示至少两组不同盘的匹配，不是特定编号披萨；计数链不规定先操作哪一盘。初始保留状态按S4(a)单列；不是装入前的抓取或抬起阶段。"
+   },
+   {
+    "id": "refrigerator_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "厨房冰箱至少一扇可开门或抽屉的关节超过全行程的5%，相机可见门板或抽屉离开柜体关闭位置；门板仍贴合柜体且所有关节均未超过5%��未完成。曾打开即保留该事件，随后关门不撤销。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪夹住厨房冰箱门把手，向外拉开门板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "plan": 2,
+      "note_zh": "左或右夹爪的手指勾住厨房冰箱门把手，向外带开门板。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:9",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:33",
+     "inputs/bddl/cleaning_up_plates_and_food.scene_objects.json:33-37",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284"
+    ],
+    "conf": 6,
+    "note_zh": "解析后的目标字面量初值证明唯一厨房冰箱开局关闭；为装入披萨必须打开，结束还需恢复关闭，因此保留必经开门事件（S4(b)）。5%来自任务公开的open定义，不代表该开度已足以让披萨通过；装入另行验收。所有目标和机器人起始所在楼面均在厨房，不增加通往其他房间的门或导航节点。"
+   },
+   {
+    "id": "pizzas_in_fridge_1",
+    "zh": "第1份披萨入箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "refrigerator_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少一份披萨仍由餐盘承托并进入唯一厨房冰箱，从头部或腕部相机可见盘上披萨在箱内，且披萨包围盒中心同时处于冰箱包围盒和内部容积；若没有任何披萨满足此条件，例如均停在门外、仅越过门沿但中心仍在外或均已离盘，则失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "一侧夹爪握住餐盘边缘，餐盘从下方承托披萨；按餐盘到披萨的接触链标注，不重复列握盘接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-44",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:5-6",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "同类披萨按数量计；夹爪通常搬餐盘，由盘承托披萨。节点判定关系本身，持物期间也实时更新；全体目标物体离手、静止及30步窗口统一归整体成功，不反复加入每个节点。"
+   },
+   {
+    "id": "pizzas_in_fridge_2",
+    "zh": "第2份披萨入箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pizzas_in_fridge_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "两份披萨分别由不同餐盘承托且均进入同一个厨房冰箱，相机可见两组盘上披萨在箱内、两份披萨包围盒中心均处于冰箱包围盒和内部容积；任一份移出、中心仍在外、离盘或不能匹配不同盘时失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "plan": 1,
+      "note_zh": "一侧夹爪握住餐盘边缘，餐盘从下方承托披萨；按餐盘到披萨的接触链标注，不重复列握盘接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-44",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:13-31",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "第2份是至少两份的计数，与实例编号及左右���无关；同箱和不同盘是验收。与在盘节点重合的条件属于S4(a)允许的保留状态，不增设盘子入箱节点：评分器只直接检查披萨inside和披萨ontop盘。"
+   },
+   {
+    "id": "bowls_in_sink_1",
+    "zh": "第1个碗入水槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少一个碗的包围盒中心同时处于唯一厨房水槽包围盒和内部容积，从头部或腕部相机可见碗在水槽凹槽内；碗仅在槽沿或旁边台面不计入，槽内不再有碗时失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪夹住碗沿或碗壁，将碗送入厨房水槽。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:45-51",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:7-8",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "任一碗先进入都可；碗和披萨之间没有必需先后顺序。关系持物时也可成立，因此禁用冻结；共同松手静置由整体成功验收。"
+   },
+   {
+    "id": "bowls_in_sink_2",
+    "zh": "第2个碗入水槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bowls_in_sink_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "两个碗的包围盒中心均同时处于同一个厨房水槽包围盒和内部容积，头部俯看或腕部近看可见两碗在同一槽内；任一碗移出、停在槽沿或旁边台面而不满足此条件时失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪夹住碗沿或碗壁，将碗送入厨房水槽。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘在厨房地面滚动，支承机器人及其携带的餐盘或碗。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:45-51",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:7-8",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个相同碗按至少两个计数；同槽是第2个计数的验收，不另加汇总节点。"
+   },
+   {
+    "id": "refrigerator_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pizzas_in_fridge_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "唯一厨房冰箱的所有可开关节均离关闭端不超过全行程5%，相机可见所有门板或抽屉归位贴近柜体，开局已成立、装入披萨需打开后恢复；任一门或抽屉超过5%即失去。整体成功另须全部目标关系同时成立，全部目标物体（披萨、盘、碗、冰箱、水槽）均无夹爪附着且基座线速度不超过0.05米/秒，连续保持30个控制步（30赫兹，约1秒），联合窗口不单独计为步骤。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "左或右夹爪或掌面推厨房冰箱门板，使其回到关闭位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左或右二指夹爪握住厨房冰箱门把手，带动门板回到关闭位置。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:5",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:52-57",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:9",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:33",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "按已展开的目标和场景，本实例仅一台厨房冰箱，故一个关门节点覆盖所有冰箱；不是每扇铰接门一个节点。state从开局计入，after只记录最终装入后的恢复次序，不门控状态；握把手不冻结该状态。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "成功前，机器人基座上轴的竖直分量小于0.75（约倾斜超过41.4度），或基座低于地面超过0.03米，任一条件连续满足300个控制步（约10秒）即倒地失败；可见机身持续倾倒，短暂倾倒后及时恢复不违反。同一步先满足成功规则时按成功结束，不再触发倒地判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:96-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限数，基座任一位置分量绝对值超过10000米，或基座线速度超过100米/秒，立即失败；每30个控制步还检查目标物体位置，非有限数或任一分量绝对值超过10000米也立即失败。视频可能出现物体飞走或画面异常，但精确判定须依赖服务的崩溃记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "(ontop pizza.n.01_1 plate.n.04_2)",
+    "level": "new_code",
+    "source": "flags.lit:(ontop pizza.n.01_1 plate.n.04_2); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(ontop pizza.n.01_2 plate.n.04_1)",
+    "level": "new_code",
+    "source": "flags.lit:(ontop pizza.n.01_2 plate.n.04_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(inside pizza.n.01_1 electric_refrigerator.n.01_1)",
+    "level": "new_code",
+    "source": "flags.lit:(inside pizza.n.01_1 electric_refrigerator.n.01_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(inside pizza.n.01_2 electric_refrigerator.n.01_1)",
+    "level": "new_code",
+    "source": "flags.lit:(inside pizza.n.01_2 electric_refrigerator.n.01_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(inside bowl.n.01_2 sink.n.01_1)",
+    "level": "new_code",
+    "source": "flags.lit:(inside bowl.n.01_2 sink.n.01_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(inside bowl.n.01_1 sink.n.01_1)",
+    "level": "new_code",
+    "source": "flags.lit:(inside bowl.n.01_1 sink.n.01_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(not (open electric_refrigerator.n.01_1))",
+    "level": "new_code",
+    "source": "flags.lit:(not (open electric_refrigerator.n.01_1)); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(ontop pizza.n.01_2 plate.n.04_2)",
+    "level": "new_code",
+    "source": "flags.lit:(ontop pizza.n.01_2 plate.n.04_2); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "(ontop pizza.n.01_1 plate.n.04_1)",
+    "level": "new_code",
+    "source": "flags.lit:(ontop pizza.n.01_1 plate.n.04_1); log native BDDL predicate from inputs/bddl/cleaning_up_plates_and_food.literals.json:2-11; no state log supplied"
+   },
+   {
+    "atom": "refrigerator_open",
+    "level": "new_code",
+    "source": "proc.electric_refrigerator.n.01_1.open; log native Open state, or negate the logged closed goal literal; inputs/task/standard/instruction.md:5"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule; log Session.succeeded and RestWatch.done; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1434"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Log Session._fall.fallen with episode end reason; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Log Session.breakdown with episode end reason; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/grader/efe_behavior-files/rcb_behavior.py:1538-1553",
+    "inputs/grader/efe_behavior-files/privileged/grade.py:188-190",
+    "inputs/grader/efe_behavior-files/standard/grade.py:50"
+   ],
+   "note_zh": "挑战自带的目标进度指标；输入未给出其计算实现或独立通过阈值，不用它替代目标及松手静置联合验收。"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功参考轨迹：inputs/oracle_none.txt说明14次目录运行均未成功；没有参考解脚本，节点依据任务文本、BDDL初态及目标、冻结实例和评分代码规划，未用视频核对外观（N2、N8）。",
+  "inputs/states/index.json的logs为空，全部8个节点的when以及success、约束never均为null；atoms以new_code注明待记录的原生谓词和终止状态，不把未观察的日志字段当成已有绑定（P8）。预期初始已有两组披萨在盘及冰箱关闭，为3/8，但无日志可复核。",
+  "文本与评分口径差异：each still on its own plate可能要求始终保持初始配对；BDDL forpairs及literals.json:13-31允许两份披萨交换餐盘，且只检查当前关系，不因途中离盘而历史否决。本文件按任务公开成功条款“两份各在不同盘上”计数，离盘使实时进度下降，恢复任意合法一一配对即可重新计入，未额外强加固定盘号或全程不离盘约束（N1、N4、S4(a)）。",
+  "模式使用同一BDDL目标和Session成功规则；特权评分器还要求两次新进程回放均成功、终态哈希一致、冻结实例匹配且无崩溃（privileged/grade.py:168-174），标准模式按现场回合及结束后的最多150步静置窗口判定（standard/grade.py:29-35，sim/server.py:344-345）。这些交付与基础设施条件不构成语义步骤；无日志不能核对success与目录判决的一致性。",
+  "inside、ontop及open的底层OmniGibson实现未包含在输入源码中，几何判据采用standard/instruction.md:5的公开定义；5%为开合行程比例，不估计门角度或箱内坐标。初始关闭由literals.json:33确认，开门所需操作的具体可见外观仍无参考视频核实。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "目标、数量、初始在盘及冰箱关闭均有文本和字面量支持，必需开门与恢复关闭、计数边及共同验收有据；但没有成功轨迹或任何状态日志，所有动态绑定和视频可见判据尚未实证核对。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（在盘×2、开冰箱、入箱×2、入槽×2、关冰箱）与任务文本及BDDL目标一致，计数链、S4(a)/(b)处理、freeze_held=false、约束均符合规则；无状态日志与参考轨迹，when均为null，已在open_questions_zh说明。各criterion重复附带联合静置窗口句子属措辞，不要求修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['pizzas_on_plates_1', 'pizzas_on_plates_2', 'refrigerator_opened', 'pizzas_in_fridge_1', 'pizzas_in_fridge_2', 'bowls_in_sink_1', 'bowls_in_sink_2', 'refrigerator_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:13:44Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "ed5326056c13ca8c06e5b5462ad7e43e8a1fbd9fc3a88f2e50cefcd1a6c923f9",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--dhm6bgq.json

@@ -0,0 +1,416 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--dhm6bgq",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3240,
+   "sim_steps": 3240,
+   "physics_steps": 12960,
+   "steps": 617,
+   "elapsed_s": 6693.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2857142857142857,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 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/behavior-cleaning-up-plates-and-food-i00-standard--dhm6bgq/replay.mp4",
+  "duration_s": 108.0,
+  "fps": 30.0,
+  "frames": 3240,
+  "sha256": "25520109da84dac2a0f9637675be401aa9d7e889aaf93ff67cac7283e77010a4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的腕部视图及视频 6.0–18.0 s 的桌面视图显示两份披萨分别放在两个白色餐盘上。"
+     },
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "观察：视频 72.9–73.3 s 搬运中的一份披萨离盘，但视频 94.0 s、104.0 s 和107.97 s 仍能看见另一份披萨留在桌面餐盘上；至少一组承托关系保留到结束。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      73.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 和18.0 s，两份披萨各在不同白色餐盘上；视频 68.0–72.4 s，右手持盘上的披萨与桌上另一份披萨仍分别由盘承托。"
+     },
+     {
+      "t": 73.0,
+      "log_step": 186,
+      "text_zh": "观察：视频 72.5–72.8 s，右手餐盘倾斜，披萨滑向盘沿；视频 72.9–73.3 s 披萨翻出盘面下落，随后右手只有空盘。两组在盘关系在视频约 73.0 s 降为一组。"
+     },
+     {
+      "t": 107.4,
+      "log_step": null,
+      "text_zh": "观察：视频 98.5–107.4 s 的头部和右腕视图显示落地披萨仍在地上，多次合爪抬起都未将其带走；另一份仍在桌上，未恢复两组配对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 68.0–72.8 s，右夹爪夹持餐盘边沿，由餐盘承托披萨；视频约 73.0 s 披萨滑离盘面。此处只记录餐盘到披萨的接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 70.0–79.0 s，轮式底盘携带右手餐盘驶向冰箱。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 95.0–107.8 s，右夹爪多次靠近地上披萨并合拢、抬起，但披萨始终留在地上；近距离指尖遮挡使实际触碰方式不能确定，不能据合爪动作记为成功抓握。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 91,
+      "text_zh": "观察：视频 35.2–36.3 s 冰箱门板贴近柜体；视频约 37.0–38.1 s，机器人右夹爪拉动把手，右门明显离开关闭位置并露出门内空隙，达到开门事件；时间由视频估计，误差约0.5秒。"
+     },
+     {
+      "t": 50.5,
+      "log_step": 108,
+      "text_zh": "观察：视频 40.5–41.5 s、50.0–53.0 s，机器人继续把门推开，门内搁板清楚露出；视频 80.0–84.0 s 左臂又将门推得更开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 37.0–38.1 s、45.0–47.5 s，右夹爪合拢夹住冰��把手并拉门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 40.0–41.5 s、49.5–52.0 s 右夹爪推门，视频 80.0–84.0 s 左臂推动门板扩大开度；推门与握把拉门依次发生。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 83.0–85.0 s，机器人扩大门开度后转动底盘调整冰箱前方站位。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 73.0,
+      "log_step": 186,
+      "text_zh": "观察：视频 68.0–72.4 s，机器人右手持盘带披萨离开餐桌驶向冰箱，但视频 72.9–73.3 s 披萨已滑出盘面，未随盘进入冰箱。"
+     },
+     {
+      "t": 90.5,
+      "log_step": 215,
+      "text_zh": "观察：视频 88.0–90.5 s，机器人将空白餐盘送进冰箱搁板并松手；盘中没有披萨，不能计为盘上披萨入箱。"
+     },
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "观察：视频 94.0 s、104.0 s、107.4 s，一份披萨仍在冰箱外地上，另一份在桌上；视频 107.97 s 冰箱内可见空盘。全片未见任何盘上披萨进入箱内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 68.0–72.8 s，右夹爪夹持餐盘边沿，由餐盘承托披萨；视频约 73.0 s 披萨滑离盘面。此处只记录餐盘到披萨的接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 70.0–79.0 s，轮式底盘携带右手餐盘驶向冰箱。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 95.0–107.8 s，右夹爪多次靠近地上披萨并合拢、抬起，但披萨始终留在地上；近距离指尖遮挡使实际触碰方式不能确定，不能据合爪动作记为成功抓握。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "观察：视频 94.0 s、104.0 s 至107.97 s，一份披萨在桌上餐盘中，另一份落在冰箱外地面；机器人没有搬运桌上剩余那份，箱内仅见送入的空盘，未出现两份盘上披萨同在冰箱。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.5,
+      "log_step": 80,
+      "text_zh": "观察：视频 8.0–10.0 s，右夹爪把第一个碗从桌上提起，原处空出；视频 26.8–27.8 s 将其降低到水槽凹槽内并松开，视频 28.0 s 可见该碗留在槽内。首次入槽取视频约 27.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 30.4–31.0 s，两个碗都留在水槽凹槽中，机器人空手离开，之后未再操作水槽。"
+     },
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "推断：视频入槽并离开的连续画面与评分器 q_score=2/7、live_matches_replay=1 一致；两个新完成的目标字面量为两碗入槽，支持该节点保持至结束，初始已成立的在盘关系不占这2/7。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–10.0 s 右夹爪夹持碗沿提起第一个碗，视频 26.8–27.8 s 将它放入水槽后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–26.0 s，底盘携碗从餐桌驶到水槽前并调整距离。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.5,
+      "log_step": 80,
+      "text_zh": "观察：视频 16.0–18.0 s，左夹爪最终提起第二个碗，桌上两个碗的原处均已空出；视频 28.4–29.8 s 左臂将第二个碗降入同一水槽，视频 30.4–31.0 s 机器人双爪已退出，槽内可见两碗。持碗也可计入，首次入槽取视频约 29.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "推断：视频 31.0 s 后机器人未再返回水槽，评分器 q_score=2/7 且现场与回放匹配；与视频已完成的两个新入槽关系一致，故两碗入槽保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.0–26.0 s 左夹爪夹持第二个碗沿，右夹爪同时持第一个碗，两臂各持一碗一起运往水槽；随后右、左臂依次放碗，第二个碗由左夹爪放入。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–26.0 s，底盘同时携带左右两爪中的碗驶向水槽并停靠。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      37.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.2,
+      "log_step": null,
+      "text_zh": "观察：视频 35.2–36.3 s，机器人首次操作冰箱前，两扇门板均在关闭位置；此前视频未见冰箱操作。结合DAG给定的初始关闭状态，从视频 0.0 s 计入关闭区间。"
+     },
+     {
+      "t": 37.0,
+      "log_step": 91,
+      "text_zh": "观察：视频约 37.0 s 右门被拉开；视频 38.4–40.0 s、42.0–44.5 s 及48.0–49.5 s 虽有回摆，但腕部视图仍显示门与柜体有明显空隙，未见重新贴合关闭。"
+     },
+     {
+      "t": 107.97,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–54.0 s、80.0–94.0 s 和107.97 s 冰箱门明显敞开，箱内搁板外露，末秒未关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 73.0,
+   "log_step": 186,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 68.0–72.4 s 机器人正将右手的盘上披萨运向冰箱；视频 72.9–73.3 s 披萨从倾斜的盘中滑落。视频 88.0–90.5 s 入箱的是空盘，视频 95.0–107.8 s 的地面抓取也未带起披萨，故第一次披萨入箱的失败始终未修复；不是以后续未尝试的第二份入箱或关门作为断点。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "refrigerator_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 73.0,
+    "log_step": 186,
+    "evidence_zh": "观察：视频 72.3–72.4 s 披萨仍由右手所持餐盘承托，视频 72.5–72.8 s 披萨滑向盘沿，视频 72.9–73.3 s 翻落并与盘分离；右夹爪仍夹着餐盘，没有在目标处计划松手。这是搬运中失去披萨承托，随后视频 94.0 s、107.4 s 均见其在地上。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：log step 186 的搬运脚本在直线行驶期间重复同一组躯干和右臂关节目标 q_l4，以保持持盘姿态；log step 194 对该动作的实测诊断却显示 torso_joint1 从约0.67弧度持续偏到约−1.13弧度，末端姿态也大幅改变，而log step 191显示底座没有整体翻倒。视频 72.3–73.3 s 可直接核对到上身视角上仰、餐盘倾斜和披萨滑落，支持持盘姿态未能在底盘运动中稳定跟踪这一控制归因；不据此推定具体增益或力矩参数错误。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；开门5%阈值、碗中心进入水槽和披萨完全离盘的时刻均由视频近似判断，误差约0.5秒。视频后段未再直接拍到水槽，终态两碗入槽结合连续动作和评分器2/7推断；近距离指尖遮挡，地面披萨抓取的实际接触方式无法确定。日志诊断支持搬运姿态跟踪失稳，但不足以区分其更底层的驱动、增益或负载原因。"
+ },
+ "summary_zh": "机器人完成两个碗入水槽并打开冰箱；初始两份披萨在盘及冰箱关闭构成3/8，进度最高5/8，结束为4/8（保留一份披萨在盘、开门事件及两碗入槽）。视频约73.0 s 搬运第一盘时持盘姿态失稳，披萨滑落且始终未捡起，之后仅空盘入箱，冰箱也未关闭。无状态日志，节点时间由视频估计，终态碗关系结合评分器q_score=2/7推断；初始保留关系不计入该评分增量。",
+ "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、最终值、断点（pizzas_in_fridge_1，约73 s 披萨滑出盘）与帧一致；根因反馈控制有日志 step 186/191/194 支持（躯干 joint1 在底盘转向段从0.67偏到-1.13 rad，底座未倾倒）。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": "2026-10-29T11:34:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--dhm6bgq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--dhm6bgq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "224d432e0a6f58180b20bee72195b6df073cfbd35140e5ae74abd55d57b15194",
+   "video_sha256": "25520109da84dac2a0f9637675be401aa9d7e889aaf93ff67cac7283e77010a4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--f3ilu43.json

@@ -0,0 +1,385 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--f3ilu43",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.14285714285714285,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 21094,
+   "sim_steps": 21244,
+   "physics_steps": 84976,
+   "steps": 8313,
+   "elapsed_s": 6766.2,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.14285714285714285,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 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/behavior-cleaning-up-plates-and-food-i00-standard--f3ilu43/replay.mp4",
+  "duration_s": 708.2,
+  "fps": 10.0,
+  "frames": 7082,
+  "sha256": "d53ab6fcfa8365a6d97eba2b8fd6e588b57230978d16855b7b534d15be2cb038"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部相机可见餐桌上两份披萨各在一个不同的白盘内；视频 24.0、48.0、180.0、230.0、570.0 和 600.0 s 再次可见盘面承托披萨。"
+     },
+     {
+      "t": 610,
+      "log_step": null,
+      "text_zh": "推断：视频 610.0 s 机器人携碗离开餐桌时，两组披萨与盘仍留在桌上；其后视频 620.0–708.1 s 机器人只在厨房处理碗及转身观察，没有返回搬动披萨。因此保留从开局已有的在盘关系，腕部近景裁掉披萨的画面不视为离盘。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部相机可见餐桌上两份披萨各在一个不同的白盘内；视频 24.0、48.0、180.0、230.0、570.0 和 600.0 s 再次可见盘面承托披萨。"
+     },
+     {
+      "t": 610,
+      "log_step": null,
+      "text_zh": "推断：视频 610.0 s 机器人携碗离开餐桌时，两组披萨与盘仍留在桌上；其后视频 620.0–708.1 s 机器人只在厨房处理碗及转身观察，没有返回搬动披萨。因此保留从开局已有的在盘关系，腕部近景裁掉披萨的画面不视为离盘。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱两扇银色正面门板并列归位；视频 190.0、310.0 和 708.1 s 从不同方向看到相同闭合外观，未见箱内搁板或门板相对柜体拉开的变化。"
+     },
+     {
+      "t": 708.1,
+      "log_step": 607,
+      "text_zh": "推断：机器人全程未操作冰箱把手或门板，未观察到达到开门判据的事件。log step 607 的“door open”是 agent 对末帧的自述；视频 708.1 s 可见的是深色柜体侧面和并列的银色门板，不能据该自述记为打开。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38,
+      "log_step": 65,
+      "text_zh": "观察：视频约 32.0–94.0 s 右夹爪在近侧餐盘边缘反复下探、张开与闭合；视频 74.0 和 92.0 s 可见闭合指尖，未见盘或披萨被提离桌面。视频 96.0–118.0 s 右手转向碗。"
+     },
+     {
+      "t": 600,
+      "log_step": null,
+      "text_zh": "观察：视频 570.0、595.0 和 600.0 s 两份披萨仍各在餐桌白盘内；之后机器人只携碗前往水槽，没有披萨随手进入冰箱。"
+     },
+     {
+      "t": 708.1,
+      "log_step": null,
+      "text_zh": "推断：全段未见任何盘上披萨入箱，终态没有满足该关��；该判断来自搬运前后画面，而不是单凭 q_score。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 38.0–94.0 s 显示右二指夹爪在盘沿附近尝试闭合，但盘沿遮住接触区；无法分清指尖实际碰到餐盘还是桌面，故不把空夹记成抓握。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 600,
+      "log_step": null,
+      "text_zh": "观察：视频 595.0–610.0 s 两份披萨均留在餐桌上，右夹爪携走的是剩余的碗；没有第二份披萨的抓取或入箱动作。"
+     },
+     {
+      "t": 708.1,
+      "log_step": null,
+      "text_zh": "推断：视频全段没有一份披萨入箱，故两份均在箱内的计数也未成立。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      690.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 595,
+      "log_step": 553,
+      "text_zh": "观察：视频 595.0–610.0 s 右夹爪夹住剩余碗并将其提离餐桌，视频 620.0–680.0 s 碗随机器人移动至水槽；这是第二趟搬碗。"
+     },
+     {
+      "t": 690,
+      "log_step": 587,
+      "text_zh": "观察：视频 688.0–690.0 s 右夹爪在槽口上方松开，碗向下落入凹槽；视频 690.6–693.0 和 696.0–697.0 s 碗留在槽内、夹爪已撤离。首次入槽约为视频 690.0 s，时间误差约 0.5 s。"
+     },
+     {
+      "t": 708.1,
+      "log_step": null,
+      "text_zh": "推断：第1个计数分配给第二趟成功入槽的碗；机器人此后只转身观察，未再移出碗。评分器 q_score=1/7 与仅新增一个碗入槽一致；开局已有的两组在盘及冰箱闭合关系不计为新增得分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 595.0–688.0 s 右二指夹爪夹住第二趟碗的碗壁并持续搬运，随后张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 610.0–680.0 s 轮式底盘支承机器人及所持碗，从餐桌驶向水槽并转向对准。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 230,
+      "log_step": 308,
+      "text_zh": "观察：视频 230.0–380.0 s 右夹爪夹持第一趟碗，碗离开原桌面并随底盘运至水槽旁。"
+     },
+     {
+      "t": 386,
+      "log_step": 391,
+      "text_zh": "观察：视频 385.0–390.0 s 机器人松开第一趟碗后，碗停在水槽旁的台面上，槽内仍为空；视频 398.0–450.0 s 多次再抓未将该碗搬进槽内。"
+     },
+     {
+      "t": 470,
+      "log_step": null,
+      "text_zh": "观察：视频 463.0–465.0 s 右手撤回后槽内仍无碗，视频 466.0–490.0 s 炉前地面出现白碗；视频 708.1 s 同一白碗仍在地面上。落地的具体瞬间被近景遮挡。"
+     },
+     {
+      "t": 708.1,
+      "log_step": null,
+      "text_zh": "推断：第2个计数对应未能入槽的第一趟碗；第二趟碗在视频约 690.0 s 入槽后，仍只有一碗在槽内。评分器 q_score=1/7 也不允许两个新增碗入槽关系同时为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 230.0–384.0 s 右二指夹爪夹住第一趟碗的碗壁并搬运，随后在槽旁台面松开；之后的再抓没有可见的成功夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 240.0–380.0 s 轮式底盘承载机器人和第一趟碗，从餐桌绕行至厨房水槽。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、190.0 和 310.0 s 冰箱两扇银色正面门板均并列贴合柜体；机器人搬碗时经过，但未拉动或推开门。"
+     },
+     {
+      "t": 708.1,
+      "log_step": null,
+      "text_zh": "观察：视频 707.2–708.1 s 的最后一秒再次显示冰箱深色侧板及归位的银色正面门板，未见门离开柜体或箱内露出。"
+     },
+     {
+      "t": 708.1,
+      "log_step": 607,
+      "text_zh": "推断：从初始闭合外观及全程未发生开合动作，冰箱关闭关系持续成立。log step 607 的 agent 自述“door open”不替代门板可见状态；没有为关门执行接触动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.14285714285714285,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 38.0,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 38.0 s 起右夹爪在餐盘近缘闭合但未夹起盘，视频 74.0、92.0 s 的后续闭合也未带走盘；log step 99、104 的服务指位与力读数显示多次闭合开口接近零，仅个别尝试有单侧明显指力。视频约 96.0 s 起机器人转去抓碗，视频 595.0–610.0 s 两份披萨仍在餐桌上，因此最先尝试却始终未修复的是第1份披萨入箱，不能用后来搬碗成功替代。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 38.0,
+    "log_step": 99,
+    "evidence_zh": "观察：视频 38.0–94.0 s 右夹爪多次闭合而餐盘没有随手抬起；视频 74.0、92.0 s 指尖闭合，视频 96.0 s 右手转去碗区域，之后两份披萨与盘仍在桌上。log step 99 的多次闭合开口约为零，部分两指力均近零，另两次分别约为 3.03/-0.01 和 3.18/-0.06，未形成夹持餐盘所需的对向接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 62、65、73、78、83、89、94、100、102 记录机器人不断改变盘沿下探位置/高度并执行闭合；log step 99、104 的服务读数却反复为空闭合或近似单侧接触，视频 38.0–94.0 s 也未出现成功提盘。机器人未建立可承载餐盘的夹持，导致披萨搬运未能启动；现有画面不能进一步分清盘沿定位误差与指垫接触布局的贡献，故根因保留在控制层。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频；腕部贴近盘沿时接触区被裁切，无法确定指尖碰到餐盘还是桌面，也不足以细分抓盘失败的控制子类。第一趟碗落到地面的具体瞬间被近景遮挡，但槽旁台面、空槽与随后地面上的碗可交叉核对；第二趟碗入槽时间为视频约 690.0 s。log step 607 自述冰箱打开与视频可见的闭合门板不一致，按视频标注。"
+ },
+ "summary_zh": "两份披萨始终各留在餐桌的盘上，冰箱保持关闭；第二趟搬运的碗在视频约 690.0 s 入槽，另一只碗留在地面，最终成立4/8个节点（含开局已有的3个）。最早未修复的失败是第1份披萨入箱：视频约 38.0–94.0 s 反复抓盘没有建立有效夹持，之后未再完成搬盘。无状态日志，抓盘接触区受遮挡，具体控制子类无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频帧后，节点值（开局三个已成立、第二趟碗约690 s入槽、第一趟碗落地、冰箱全程闭合）、断点（第1份披萨入箱，右夹爪在盘沿反复闭合未提盘）和现象/根因与画面一致，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": "2026-10-29T11:35:56Z",
+  "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/behavior-cleaning-up-plates-and-food-i00-standard--f3ilu43/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--f3ilu43/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "383a887d9c6b2a3b9f9f9f6d02864b34a9bd0af9b1f0656caaf939f6e9ca4685",
+   "video_sha256": "d53ab6fcfa8365a6d97eba2b8fd6e588b57230978d16855b7b534d15be2cb038",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,397 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "suite": "behavior-1k",
+ "base": "behavior-cook-a-brisket-i00",
+ "title_zh": "烹熟牛胸肉",
+ "summary_zh": "牛胸肉烹熟并放在砧板上，平底锅在台面上，四个目标物体均离手且静止，三个目标连续30个控制步同时成立。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人：左右各一条七自由度机械臂，各配二指夹爪，采用辅助抓握，带可调躯干和全向轮式底盘；头部及左右腕部各有相机，标准模式只提供相机与本体感知，特权模式另可读取场景状态。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-cook-a-brisket-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "灰色双门冰箱中挡住牛胸肉所在隔层的门板已向外转开，露出内部白色搁架和取肉通道；门板仍贴合柜体、或仅动了一条不足以让肉通过的缝隙，均未完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪夹住冰箱门把手，沿铰链方向外拉",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在夹爪拉冰箱门时支承机器人并配合后退",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "一侧夹爪手指勾住冰箱把手，将门板带离柜体",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在手指勾拉冰箱门时支承机器人并配合后退",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/bddl/cook_a_brisket.bddl:17",
+     "inputs/oracle/run.json:1 steps[id=35]: reset step 0, Rdoor 0.0, brisket inside fridge",
+     "inputs/oracle/replay.mp4 @ 0, 10, 15 s: closed door becomes open, shelves exposed"
+    ],
+    "conf": 8,
+    "note_zh": "初始门关闭；取肉所需的开门是必经前提，非目标。只要求打开挡住牛胸肉的门，不要求双门全开或达到成功示例的135度；后续推门属于同一步的接触过程。"
+   },
+   {
+    "id": "heat_source_enabled",
+    "zh": "开启热源",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "至少一个可烹熟牛胸肉的热源已经启动：成功示例中灶台前缘开关标记由红变绿；其他路线可用烤箱、微波炉或场景内其他能烹熟肉的热源，其各自工作指示或火焰须出现，只有手指靠近开关而未启动不算完成。",
+    "step": {
+     "cat": "机构",
+     "item": "启停设备"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "一侧夹爪指尖按住灶台、烤箱或微波炉的启动开关",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人移动到所选热源开关前",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪握住所选热源的控制旋钮并转至开启位置",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人移动到所选旋钮前",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：已核实灶台初始关闭；输入未提供其余可用热源的完整初始开关、燃烧和发热状态，须核实是否均需启动。",
+    "sources": [
+     "inputs/task/privileged/instruction.md:25",
+     "inputs/bddl/cook_a_brisket.scene_objects.json:19-23,40-50,61-71",
+     "inputs/oracle/run.json:1 steps[id=35,111]: burner False at reset, True after fingertip press",
+     "inputs/oracle/replay.mp4 @ 60, 65, 68 s: burner toggle changes red to green"
+    ],
+    "conf": 6,
+    "note_zh": "合并可替代热源为一个事件，不限定烤箱或某个炉头；无需在结尾保持开启，也没有关闭热源的目标。开烤箱门、装入烤箱、使用平底锅仅属部分路线，不设必需节点。"
+   },
+   {
+    "id": "brisket_cooked",
+    "zh": "牛胸肉做熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "heat_source_enabled"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "牛胸肉的原生熟化状态成立，即历史最高温度已达到该实例自身的��熟温度，冷却后仍算完成；视频可对照热源附近肉块的材质变化，示例受热后表面变得深黑并带红色斑纹，但仅在热源旁、或仅凭肉本来呈褐色不能判熟。终验时牛胸肉、砧板、平底锅和台面均须离开辅助抓握、线速度不超过0.05米/秒，三个目标连续30个控制步同时成立。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台、烤箱或其他所选热源使牛胸肉升温变熟；机器人夹爪可先装载或持肉靠近热源",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:7,25",
+     "inputs/bddl/cook_a_brisket.bddl:18-20,31",
+     "inputs/bddl/cook_a_brisket.literals.json:3,14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105,1414-1434",
+     "inputs/oracle/run.json:1 steps[id=112]: Cooked True at 158.7 C while held",
+     "inputs/oracle/replay.mp4 @ 68-73 s: meat over burner, then darkened surface"
+    ],
+    "conf": 6,
+    "note_zh": "熟化可在持肉时成立，故关闭持物冻结；原生Cooked按历史最高温度保持，不因冷却而下降。以实例原生Cooked为准，不把默认70摄氏度或示例自述63摄氏度硬编码为统一阈值；不限制在何处加热。"
+   },
+   {
+    "id": "brisket_on_board",
+    "zh": "牛胸肉上砧板",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": true,
+    "goal": true,
+    "criterion_zh": "牛胸肉已放落在橙棕色长方形砧板上，肉与板接触且板直接在肉下方，并已松开辅助抓握；仍夹在板上方、落在砧板旁的台面或掉到地面均未完成，离手后离开砧板即失去该关系。终验时牛胸肉、砧板、平底锅和台面均须离开辅助抓握、线速度不超过0.05米/秒，三个目标连续30个控制步同时成立。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪夹住牛胸肉，将肉移到砧板上方后放落",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在夹爪携带牛胸肉移往砧板时支承机器人",
+      "plan": 1
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "夹爪持平底锅，以锅底承托牛胸肉并将肉移落到砧板",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在夹爪携带装肉平底锅移往砧板时支承机器人",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:8,24,85-91",
+     "inputs/bddl/cook_a_brisket.bddl:17,32",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434,1492-1494",
+     "inputs/oracle/replay.mp4 @ 74-77.1 s: orange board, dark meat lowered onto it",
+     "inputs/oracle/run.json:1 steps[id=114]: released, ontop board True"
+    ],
+    "conf": 8,
+    "note_zh": "开冰箱为从该初态取得牛胸肉的前提；取出、搬运和松手不另建节点。评分器不规定先烹熟再首次放板，因此与做熟之间不加顺序边；可将砧板和肉一起移近热源后加热。全局30步窗口留在成功验收，不变成放置步骤的独立节点。"
+   },
+   {
+    "id": "pan_on_counter",
+    "zh": "平底锅在台面",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": true,
+    "goal": true,
+    "criterion_zh": "黑色带柄平底锅与灰色台面接触，台面直接在锅下方，且锅未被辅助抓握；初态已成立，视频末段可见锅位于橙棕色砧板旁，离手后锅落到地面、灶台或其他表面即失去此目标。终验时牛胸肉、砧板、平底锅和台面均须离开辅助抓握、线速度不超过0.05米/秒，三个目标连续30个控制步同时成立。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "若平底锅曾被移走，一侧二指夹爪握锅柄将锅放回台面；全程留在台面时无需夹爪接触",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "若需把平底锅从别处运回台面，轮式底盘在夹爪携锅时支承机器人",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,9,24,85-91",
+     "inputs/bddl/cook_a_brisket.bddl:21,33",
+     "inputs/bddl/cook_a_brisket.literals.json:5,14",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4 @ 74-77.1 s: pan on countertop next to board",
+     "inputs/oracle/run.json:1 steps[id=114,136]: pan on counter True, pan untouched"
+    ],
+    "conf": 9,
+    "note_zh": "按S4(a)从初始即计入，允许全程不操作平底锅；若策略使用它烹饪，完成后须恢复该关系。不添加砧板留在台面的节点，因为终局未要求该关系。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座上轴的竖直分量小于0.75（倾斜约超过41.4度），或基座低于地板超过0.03米，任一状态连续300个30赫兹控制步成立时触发跌倒并终止失败；短暂倾斜后及时恢复不触发，同一步成功已成立时成功优先。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99,124-144,1394-1396,1483-1490"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩坏",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、速度或关节位置出现非有限值，机器人位置任一分量绝对值大于10000米或基座线速度大于100米/秒即失败；每30控制步还检查目标物体位置，非有限值或任一位置分量绝对值大于10000米也立即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1394-1396,1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "proc.electric_refrigerator.n.01_1.open"
+   },
+   {
+    "atom": "any_cooking_heat_on",
+    "level": "new_code",
+    "source": "proc.oven.n.01_1.toggled_on; proc_scene.burner_mdanhg_0.toggled_on; proc_scene.microwave_hjjxmi_0.toggled_on; proc_scene.charcoal_grill_crdaeu_0.heat_source_active; proc_scene.wood_fireplace_gpnsij_0.heat_source_active"
+   },
+   {
+    "atom": "brisket_cooked",
+    "level": "new_code",
+    "source": "flags.lit:(cooked brisket.n.01_1)"
+   },
+   {
+    "atom": "brisket_on_board",
+    "level": "new_code",
+    "source": "flags.lit:(ontop brisket.n.01_1 chopping_board.n.01_1); objects.brisket.n.01_1.held"
+   },
+   {
+    "atom": "pan_on_counter",
+    "level": "new_code",
+    "source": "flags.lit:(ontop frying_pan.n.01_1 countertop.n.01_1); objects.frying_pan.n.01_1.held"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule; Session.status().goal_held_steps; Session.status().goal_objects_held; Session.status().goal_objects_moving"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Session.status().fallen"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Session.status().breakdown"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空；按DECISIONS.md P8，全部when、never及success均为null，atoms仅列出未来需记录的字段，当前不得据此推断日志绑定。没有可用于reach-all或success等价性验证的状态回放。",
+  "开启热源按必经前提的默认处理保留（S2）；灶台起初关闭由成功运行的重置读数支持，但其他热源初始发热状态未完整提供，故verify_zh保留待核实。热源判据覆盖灶台、烤箱、微波炉及烧烤炉、壁炉等可用替代，不得仅绑定oven；未来须核实各设备的发热能力、开关与点火要求。",
+  "烹熟阈值尚不能定为一个温度数值：instruction.md:25只给默认70摄氏度，oracle/run.json中步骤136的代理自述该实例为63摄氏度，步骤112实测158.7摄氏度时Cooked=True；现有输入缺少该实例Cooked参数源，故采用原生Cooked判据，不用示例温度拟合阈值。",
+  "规则版本差异：成功示例的task_text没有当前离手静置规则，run.json步骤114和136表明刚释放落板即成功，视频77.2秒结束；当前rcb_behavior.py:103-105,1414-1434要求全局离手、速度不超过0.05米/秒连续30步。按DECISIONS.md P19，旧运行按当时规则判断，不能要求成功视频额外展示当前窗口。",
+  "烹熟的视觉证据有局限：示例加热前肉已呈褐色，受热后近景转为深黑红斑；外观可能还包含烧焦效果。评分器只要求Cooked，不禁止Burnt，不以通常烤肉颜色或仅靠近热源判熟；遮挡或外观不明时需原生熟化读数支持。",
+  "按DECISIONS.md D5，牛胸肉出冰箱并非独立受评结果，取出合并到后续操作；做熟与上砧板之间不加边，因为原生目标只检查同时成立，先放板再连板移近热源加热也可满足。冰箱不必在结尾关闭，热源不必在结尾关闭。",
+  "两模式共享BDDL与离手静置的物理成功规则，但特权模式还检查两次新进程回放成功、状态哈希一致和初态匹配（privileged/grade.py:168-174）��标准模式读服务端单次现场结果（standard/grade.py:29-35）。这些交付和复现条件不建世界状态节点，也不伪造未记录的判决字段。",
+  "q_score由外部评估指标聚合器提供（rcb_behavior.py:1548-1553），现有输入未含其计算公式和独立通过阈值，因此threshold为null；它不能代替三个目标与全局静置窗口。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三个目标、平底锅初始成立、冰箱初态和替代灶台路线有文字、BDDL及成功视频支持；无状态日志，全部条件尚无法绑定，其他热源初态与实例烹熟阈值未核实，且成功示例早于当前离手静置规则。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（开冰箱、开热源、烹熟、放上砧板、平底锅在台面）与说明文字和BDDL目标一致，边必要且无习惯边，无状态日志故when全为null（P8），约束为立即终止，open_questions_zh已列出文字/评分差异。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'heat_source_enabled', 'brisket_cooked', 'brisket_on_board', 'pan_on_counter']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:32:52Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "028a90941783bb8f86d5ca44578e2ba7c68ced6e3327d9b3dbb8772c3b84b727",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--qvlbjhg.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-privileged--qvlbjhg",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 8927,
+   "sim_steps": 8927,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 3102.1,
+   "replay_timeout_s": 5663.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 1,
+   "agent_sim_steps": 27051,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-privileged--qvlbjhg/replay.mp4",
+  "duration_s": 297.567,
+  "fps": 30.0,
+  "frames": 8927,
+  "sha256": "42cd7735d646725c7e593d597f1fc18865bf53c38ed160814a254a60cb82a349"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 灰色双门冰箱关闭；视频 6.0–12.0 s 机器人右夹爪夹住右门把手并向外拉门。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 97,
+      "text_zh": "观察：视频 13.5–14.5 s 门板向外转开，白色搁架及取肉通道露出，视频 16.0–18.0 s 开口进一步扩大；首次完成约记视频 14.0 s，误差约0.5秒。log step 97 的记录前缀脚本使用右夹爪拉门并随后移动底盘，与视频动作一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–18.0 s 机器人右侧二指夹爪夹住冰箱右门把手，沿铰链方向外拉；随后松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人先驱动轮式底盘接近冰箱，开门后继续移位；视频 18.0–30.0 s 可见底盘移动使相机相对门口后退及横移。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      218.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 218.5,
+      "log_step": null,
+      "text_zh": "观察：视频 216.0–218.0 s 机器人右夹爪指尖靠近并压住灶台前缘红色开关标记；视频 218.5 s 标记变绿，视频 219.0–223.0 s 继续保持绿色，表明灶台热源已启动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 217.0–219.0 s 机器人右夹爪以指尖按压灶台开关，标记由红变绿；没有握住或旋转旋钮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 205.0–216.0 s 机器人驱动轮式底盘从冰箱前移动到灶台开关前。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [
+     [
+      285.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 285.4,
+      "log_step": null,
+      "text_zh": "观察：视频 272.5–284.0 s 牛胸肉随机器人左夹爪离开冰箱并移向已开启的灶台；视频 285.3 s 肉仍呈褐色，视频 285.4 s 起表面转为深黑并带红斑，至视频 297.53 s 保持该外观。对照 oracle 视频 71.0–73.0 s 可见相同的受热后材质变化；oracle 仅用于外观对照。"
+     },
+     {
+      "t": 285.8,
+      "log_step": 285,
+      "text_zh": "观察：log step 285 在最终交付轨迹的修正取肉、加热段记录原生 Cooked=True，log step 287 保存8927个动作；log step 328 的新进程回放同样成功且最终状态哈希一致。"
+     },
+     {
+      "t": 285.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频 285.4 s 的材质变化、交付段原生熟化读数和评分器 success=1，熟化首次成立约记视频 285.4 s，精度约0.5秒；无逐帧状态日志，不能从外观确定精确温度或更早跨过熟化阈值的控制步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 266.0–285.4 s 机器人左夹爪夹住牛胸肉，将肉从搁架取出并持在灶台热源附近加热；热源完成升温，未使用平底锅承托肉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 272.5–284.0 s 机器人驱动轮式底盘，左夹爪携肉从冰箱移到灶台。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [
+     [
+      297.53,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 238.0,
+      "log_step": null,
+      "text_zh": "观察：视频 235.0–241.0 s 机器人首次到砧板前时左夹爪为空，橙棕色砧板上没有牛胸肉；视频 255.0–265.0 s 机器人再次返回冰箱，视频 266.0–272.5 s 才夹住肉并将其带离搁架，因此早先的空手放置动作不记完成。"
+     },
+     {
+      "t": 297.53,
+      "log_step": 287,
+      "text_zh": "观察：视频 294.5–297.5 s 机器人左夹爪将黑红色牛胸肉降到橙棕色砧板上方；视频 297.533 s 的末帧肉块相对板面向下落，板在肉下方。log step 287 记录交付段在 sim_steps=8924 时尚未成功，随后执行松开左夹爪，到 sim_steps=8927 判成功并保存；log step 328 的交付文件回放同样 success=true。"
+     },
+     {
+      "t": 297.53,
+      "log_step": null,
+      "text_zh": "推断：肉上板约记视频 297.53 s，最终为真；末帧夹爪仍遮挡部分接触区域，离手细节由交付脚本的松手动作、末帧落下运动与成功判定共同支持。本次旧规则在目标关系成立即结束，按P19不额外要求当前DAG的连续30控制步静置窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 266.0–297.53 s 机器人左侧二指夹爪夹住牛胸肉，先取出并携带，烹熟后移到砧板上方下降，末帧开始松手落板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 155.0–172.0 s 的搁架近景中，机器人左夹爪接触并推拨肉块，肉仍在原搁架上移动；这段取肉尝试未把肉带到砧板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人驱动轮式底盘完成取肉位置调整及携肉搬运；视频 287.0–295.0 s 左夹爪携熟肉从灶台移向砧板。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 task_text 明确初态平底锅在台面；视频 234.0–241.0 s 看到黑色带柄平底锅位于橙棕色砧板左侧的灰色台面，机器人两夹爪均未夹持锅。"
+     },
+     {
+      "t": 297.53,
+      "log_step": null,
+      "text_zh": "推断：完整视频粗查未见机器人搬动平底锅，后段所见位置与初态描述一致，评分器最终 success=1；因此平底锅在台面从视频 0.0 s 至视频结束持续成立。初始及末尾视野未完整展示锅底接触，持续性结合初态、途中画面和终局判定判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在开冰箱后多次取肉未果，先空手开启灶台并到过砧板，再返回冰箱成功取肉，最终完成全部5个节点；平底锅保持在台面，牛胸肉于约视频 285.4 s 熟化、视频 297.53 s 落板，评分器 success=1、q_score=1.0。规则版本差异：本次任务文字和交付日志显示目标关系成立后立即成功，松手后仅3个控制步即结束，按P19不套用当前DAG的连续30步离手静置要求。无状态日志，熟化首次时刻依材质变化估计，末帧落板与松手细节结合交付段日志及成功回放确认，精确温度和静止持续时间无法直接观测。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "各节点时间与帧一致：冰箱门约14 s打开，灶台标记约218.5 s变绿，肉约285.4 s变深黑，末帧肉在砧板上；评分器success=1，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": "2026-10-29T11:00:35Z",
+  "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/behavior-cook-a-brisket-i00-privileged--qvlbjhg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--qvlbjhg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f3dc50f9b29491072637cabad69b26d5f13a9583aefc67e8fb35310f40bafe6f",
+   "video_sha256": "42cd7735d646725c7e593d597f1fc18865bf53c38ed160814a254a60cb82a349",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--gvyku8p.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--gvyku8p",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2749,
+   "sim_steps": 2749,
+   "physics_steps": 10996,
+   "steps": 2749,
+   "elapsed_s": 531.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 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/behavior-cook-a-brisket-i00-standard--gvyku8p/replay.mp4",
+  "duration_s": 91.633,
+  "fps": 30.0,
+  "frames": 2749,
+  "sha256": "9def141e0243630a554b71fc52fa1fc71c283678bb7c732c90e66de78cd82ab7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱双门闭合；视频 4–27 s 的多次厨房视角及视频 82.0–84.0 s 腕部视角仍未出现向外转开的冰箱门板或白色内部搁架，夹爪没有伸向门把手。"
+     },
+     {
+      "t": 84.5,
+      "log_step": 61,
+      "text_zh": "观察：视频 3–84.5 s 机器人反复转向扫视厨房与客厅，随后侧翻；log step 61 实际运行的是分八个方向拍照的 survey 脚本。该现场探查没有进入拉门操作，开冰箱未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–84.5 s 机器人以轮式底盘移动、转向扫视厨房，进行开冰箱取肉前的现场探查；未见夹爪接触冰箱门或把手。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0、18.0、21.0 s 的厨房视角中，灶台前缘标记仍为红色；机器人没有把夹爪移向任何热源的开关，也没有装载或点火动作。对照 oracle 视频 65.0–68.0 s，可见灶台启动后标记转绿，本次未出现该变化。"
+     },
+     {
+      "t": 91.5,
+      "log_step": 68,
+      "text_zh": "推断：本次整段视频只有底盘移动与转向，随后倒地，未出现设备启动过程；log step 68 的服务状态确认该单局已因跌倒终止，开启热源未完成。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18,
+      "log_step": null,
+      "text_zh": "观察：视频 0–91.5 s 未见机器人从冰箱取出肉块或将其送到热源，灶台在视频 18.0 s 仍显示红色标记。任务初态说明牛胸肉为生肉且位于冰箱内，视频中冰箱未被打开。"
+     },
+     {
+      "t": 91.5,
+      "log_step": null,
+      "text_zh": "推断：生肉未被取出、未出现加热过程，且 inputs/run.json 的 reward.q_score=0.0、live_matches_replay=1，排除了原先不成立的熟化目标在终态成立；平底锅在台面为初始目标，不计入该 q_score。故做熟节点全程未达成，终态为假。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0、12.0、17.0 s 可见橙棕色砧板上没有牛胸肉，黑色平底锅位于其旁；机器人夹爪未夹取或搬运肉块。"
+     },
+     {
+      "t": 91.5,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有开冰箱、取肉或向砧板放肉过程，reward.q_score=0.0 也排除了这个初态不成立的目标在终态成立；因此肉上砧板未达成。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0、5.0、12.0、17.0 s 的头部视角可见黑色带柄平底锅放在橙棕色砧板旁的灰色台面上，未被夹爪抓住。"
+     },
+     {
+      "t": 46,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0、41.0、45.0–46.0、50.0 s 的回扫视角再次显示锅仍在原台面、砧板旁；整段视频未见机器人伸手操作平底锅。"
+     },
+     {
+      "t": 91.5,
+      "log_step": null,
+      "text_zh": "推断：任务明确给定锅初始在台面，后续可见视角中位置保持不变，机器人转离厨房后未与锅交互，故保留从视频 0.0 s 到结束的初始关系；reward.q_score=0.0 不否定这个初态已成立的目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 84.5,
+   "log_step": 61,
+   "where": "探索",
+   "evidence_zh": "观察：视频 3–84.0 s 机器人实际以底盘反复转向扫视厨房、客厅，未抓住冰箱门把手；视频 55.0 s 头部视角已明显倾斜，视频 72.0–83.0 s 持续可见侧倾与摆动，视频 85.0–91.6 s 头部视角保持约侧转九十度。log step 61 在本次单局实际执行八方向拍照的 survey，log step 68 的服务状态为 control_steps=2749、done=true、reason=\"failure: the robot fell over\"。推断：这次现场探查在拉门前因失衡终止，断点归首个取肉前提“打开冰箱”，位置为探索；视频 84.5 s 仅作后期倒地画面的导航锚点，不表示倾斜开始。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 84.5,
+    "log_step": 68,
+    "evidence_zh": "观察：视频 55.0 s 头部视角中的门框、墙面已明显侧倾，视频 62.0、66.0、69.0 s 及视频 72.0–83.0 s 的逐秒画面持续可见侧倾与摆动；视频 85.0–91.6 s 头部视角保持约侧转九十度，未恢复。log step 68 的 benchmark 服务报告 control_steps=2749、done=true、reason=\"failure: the robot fell over\"。task/task_dag.json 的 robot_fallen 判据要求基座倾斜越界或低于地板的异常状态连续保持300个30赫兹控制步。推断：视频 84.5 s 仅作后期倒地画面的导航锚点，不是首次倾斜或首次越过跌倒阈值的时刻；没有基座姿态日志，不能精确定位越界起点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 84.5,
+    "log_step": 59,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 35 的服务规格说明 base_yaw 是每个30 Hz控制步都施加的增量；log step 56 的实测标定与此一致。log step 59 的实际 drive 代码却把 clip(剩余角误差,±vps) 原样写入整段所有行，log step 61 以 vps=0.05、chunk=0.4 调用，每段12步累计可转0.6 rad，未按段长缩小临近目标时的增量。推断：剩余误差小于整段转角时会过冲、反向纠正，与视频 4–84.0 s 反复转向和倾斜相符，最终失衡；这是底盘反馈回路的实现问题。agent 在 log step 82 亦自述其 drive 回路振荡后跌倒，但该自述仅作补充。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也无牛胸肉原生熟化读数；冰箱内肉块全程不可见，熟化和放板终态结合初态、未开门/未取肉的画面及 q_score=0.0 推断。末帧不直接显示平底锅，保留关系依据先前反复可见的位置及全程无操作。视频 84.5 s 仅为后期倒地画面的近似锚点，未从 agent 时间或墙钟时间换算；无法精确重建底盘倾角和受力，也不能把该锚点视为首次倾斜或越界起点。"
+ },
+ "summary_zh": "本次评分视频中机器人仅进行底盘标定和转向扫视，未打开冰箱、启动热源、烹熟或放置牛胸肉；平底锅保留初始台面关系，终态为1/5节点。机器人在打开冰箱前的现场探索中持续转向，视频 55.0 s 已明显倾斜，视频 85.0–91.6 s 保持倒地视角，服务确认跌倒失败；实际代码支持底盘反馈回路按整段重复施加转角而过冲的归因。无状态日志，肉的熟化终态和末段锅的位置部分依赖评分总量与动作连续性推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（仅平底锅初始成立，final=1/5）、断点（fridge_opened·探索）、平衡现象和反馈控制根因均有视频与日志支持（survey 的 drive 把 clip(误差,±0.05)写入整段12步，0.785 rad 的转角会在±0.6 rad 间来回振荡；服务读数 control_steps=2749、done、跌倒）。唯一需要改的是倾斜起点的描述：��面倾斜并非始于视频 84 s。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮复核：节点值（仅平底锅初始成立，final=1/5）、断点（fridge_opened·探索）、平衡现象与反馈控制根因均有视频与日志支持；上轮倾斜起点问题已修正，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": "2026-10-29T11:20:46Z",
+  "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/behavior-cook-a-brisket-i00-standard--gvyku8p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--gvyku8p/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--gvyku8p/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--gvyku8p/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9617adab1e5b3100365e5bb04f8343173a68cdd0fc11215e8d56141bd35fad90",
+   "video_sha256": "9def141e0243630a554b71fc52fa1fc71c283678bb7c732c90e66de78cd82ab7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,547 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/cook_bacon",
+ "suite": "behavior-1k",
+ "base": "behavior-cook-bacon-i00",
+ "title_zh": "烹饪六片培根",
+ "summary_zh": "六片培根全部做熟且冰箱关闭，六片及冰箱均离手、线速度不超过0.05米/秒，联合连续保持30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro移动双臂机器人：四关节躯干、左右各七关节机械臂，各臂末端为二指平行夹爪，使用辅助抓持；全向轮式底盘，头部及双腕相机。特权模式提交重放轨迹，标准模式实时控制同一机器人。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-cook-bacon-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "厨房高柜式冰箱的门板向外转开，露出低层架上的托盘及培根；以原生Open为准，至少一个开合关节超过从关闭到全开的5%即为打开，门板仍贴合柜体时未完成。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪握住冰箱门把手向外拉。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人从厨房初始位置驶到冰箱前。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "一侧夹爪手指勾住冰箱门把手拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人驶到冰箱前，使夹爪能够勾住门把手。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,27",
+     "inputs/bddl/cook_bacon.bddl:15-44",
+     "inputs/bddl/cook_bacon.literals.json:22",
+     "inputs/oracle/run.json: steps 35, 43-98; inputs/oracle/replay.mp4 @ 50-80 s"
+    ],
+    "conf": 7,
+    "note_zh": "六片生培根在冰箱内的托盘上，初始目标位串0000001证实冰箱关闭；该打开事件与关上冰箱的初态失分相抵，不限定用哪只手。机器人与目标都在厨房，不增加跨房间门或导航节点。"
+   },
+   {
+    "id": "heat_enabled",
+    "zh": "热源已开启",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "至少一个能给培根加热的热源处于激活状态：成功录像的灶台控制按钮旁绿灯亮，也可由其他可用加热设备的开启指示或原生热源状态确认；只触碰按钮而设备未启动不算，已开启的热源可从初态满足。",
+    "step": {
+     "cat": "机构",
+     "item": "启停设备"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "一侧二指夹爪的指端按住灶台或其他加热设备的开关按钮使设备开启。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘将机器人载到所选热源的控制件前。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪抓住具有旋钮或拨杆的热源控制件并将其切到开启。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人接近所选热源的旋钮或拨杆。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：输入只给物体位姿和目标初值，没有灶台及所有替代热源的开关、余热初态；后续应核实是否已有可直接使用的热源。",
+    "sources": [
+     "inputs/task/privileged/instruction.md:28",
+     "inputs/bddl/cook_bacon.scene_objects.json: objects (burner, oven, microwave, charcoal_grill, gas_fireplace, sauna_heater)",
+     "inputs/oracle/run.json: steps 38-45; inputs/oracle/replay.mp4 @ 175-180 s"
+    ],
+    "conf": 5,
+    "note_zh": "烹饪所需的热源准备步骤，不固定为成功录像使用的灶台，不要求设备最后仍开启；与开冰箱无先后关系，不能把特定按钮、煎锅或热源选择当作必经路线。"
+   },
+   {
+    "id": "bacon_cooked_1",
+    "zh": "第1片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened",
+     "heat_enabled"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少1片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕���或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少1片计数，任意实例均可，不是固定编号1；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持物冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "bacon_cooked_2",
+    "zh": "第2片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bacon_cooked_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少2片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕部或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少2片计数，任意实例均可，不是固定编号2；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持物冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "bacon_cooked_3",
+    "zh": "第3片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bacon_cooked_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少3片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕部或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少3片计数，任意实例均可，不是固定编号3；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持���冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "bacon_cooked_4",
+    "zh": "第4片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bacon_cooked_3"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少4片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕部或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少4片计数，任意实例均可，不是固定编号4；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持物冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "bacon_cooked_5",
+    "zh": "第5片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bacon_cooked_4"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少5片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕部或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少5片计数，任意实例均可，不是固定编号5；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持物冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "bacon_cooked_6",
+    "zh": "第6片培根熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bacon_cooked_5"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "六片培根中至少6片的原生Cooked状态为真，即曾达到该片的烹饪温度（任务说明给出的默认值为70摄氏度）；腕部或头部视角可跟踪粉红生培根在热源附近变为熟肉外观，只搬到灶边、仍为生肉不算。做熟后冷却、掉落或被夹持都不撤销Cooked；全任务最终还须六片全熟、冰箱关闭，六片及冰箱均脱离辅助抓持且线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：灶台或其他热源使培根升温做熟；机器人夹爪此前可搬运托盘或单片培根，也可在加热时仍持物，烹饪结果不限定直接抓持方式。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-28",
+     "inputs/bddl/cook_bacon.bddl:5,21-38,47-55",
+     "inputs/bddl/cook_bacon.literals.json:2-22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 203, 242, 253-265; inputs/oracle/replay.mp4 @ 180-353 s"
+    ],
+    "conf": 6,
+    "note_zh": "按熟的片数至少6片计数，任意实例均可，不是固定编号6；相邻计数边只表示数量递增，可同时完成多片。Cooked可在持物时成立，故禁用持物冻结；共同的释放、静置及保持窗属于success，不逐片重复施加，也不把托盘出冰箱或培根放进煎锅另列为步骤。"
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "冰箱所有开合关节均回到各自行程距关闭端5%以内，门板基本贴合柜体、内腔不再敞露；初态即成立，任一门板再次打开超过5%即失去，重新合拢后恢复，镜头看不到门时不能只凭机器人已离开判断。最终与六片全熟同时成立，并让六片及冰箱均脱离辅助抓持、线速度不超过0.05米/秒，联合连续30控制步（1秒）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "一侧夹爪或指侧推动冰箱门板回到柜体。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "需要重新接近冰箱时，轮式底盘承载机器人到冰箱门前。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一侧二指夹爪握住冰箱门把手带动门板合拢。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人接近冰箱把手以完成关门。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6-8,27",
+     "inputs/bddl/cook_bacon.bddl:53-55",
+     "inputs/bddl/cook_bacon.literals.json:9,22",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434",
+     "inputs/oracle/run.json: steps 263-265; inputs/oracle/replay.mp4 @ 335-353 s"
+    ],
+    "conf": 7,
+    "note_zh": "state从初态计分，开门时下降、合门时恢复；after仅记录最后一次关门在开门之后，不门控初态。取出培根后可以先关门再烹饪，不设置依赖做熟的边；夹持门把手期间也应实时判断几何开合。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人基座局部向上轴的世界z分量小于0.75（偏离竖直约41.4度），或基座低于地面超过0.03米，任一条件连续300个控制步（10秒）触发Falling并终止失败；短时倾斜后及时恢复不构成该失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99,124-144,1483-1489",
+     "inputs/task/standard/instruction.md:21-24"
+    ]
+   },
+   {
+    "id": "sim_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节状态出现非有限值，基座任一位置分量绝对值超过10000米或线速度模超过100米/秒，或每30控制步检查的目标物体位置出现非有限值/任一分量绝对值超过10000米，触发breakdown即终止失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "Log native Open(electric_refrigerator.n.01_1) as proc.electric_refrigerator.n.01_1.open; inputs/task/privileged/instruction.md:27."
+   },
+   {
+    "atom": "active_heat_source",
+    "level": "new_code",
+    "source": "Log HeatSourceOrSink activation and ToggledOn for every usable scene heat source, including stove.n.01_1 and scene oven, microwave, grill, fireplace and sauna heater; inputs/bddl/cook_bacon.scene_objects.json; initial activation and residual heat also needed."
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "Log native flags.success_rule and goal held/released/moving counters from inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434; goal objects are six bacon slices and refrigerator."
+   },
+   {
+    "atom": "fallen",
+    "level": "new_code",
+    "source": "Log native flags.fallen from FallWatch in inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489."
+   },
+   {
+    "atom": "sim_breakdown",
+    "level": "new_code",
+    "source": "Log native breakdown and reason from inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471."
+   },
+   {
+    "atom": "bacon_cooked_1",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_1) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   },
+   {
+    "atom": "bacon_cooked_2",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_2) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   },
+   {
+    "atom": "bacon_cooked_3",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_3) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   },
+   {
+    "atom": "bacon_cooked_4",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_4) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   },
+   {
+    "atom": "bacon_cooked_5",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_5) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   },
+   {
+    "atom": "bacon_cooked_6",
+    "level": "new_code",
+    "source": "Log native flags.lit:(cooked bacon.n.01_6) from inputs/bddl/cook_bacon.literals.json; count true Cooked predicates across all six instances with atleast k."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空；按暂行DECISIONS.md P8，全部节点when及success、约束never均为null，atoms仅说明未来需要记录的原生状态，不能把拟记录字段当作已有日志。熟的逐片数量、原生温度阈值及释放静置窗无法做状态回放核验；录像画质及遮挡也可能无法逐片辨认熟肉变化。",
+  "热源已开启是默认保留的烹饪前置状态，允许任何可用热源，不限成功录像使用的灶台；BDDL和instance.json均未给出热源开关及余热初态，是否能从初态直接满足仍待核实，已标verify_zh（DECISIONS.md S2）。文本给出的70摄氏度是默认烹饪阈值，输入未附逐片实例的温度配置，不据此另拟温度条件。",
+  "成功录像所对应run.json的task_text要求目标一成立即结束，steps 265也报告该旧版成功；当前输入的instruction及rcb_behavior.py则新增全体目标物体释放、速度不超过0.05米/秒并保持30控制步。DAG按当前规则描述共同验收，不能用该旧版成功证明当前释放静置要求已满足（DECISIONS.md P19）；六片做熟及关门的语义目标相同。",
+  "两模式的物理目标、释放静置和倒地规则相同；特权grade.py:168-174另要求两次新进程重放均成功、终态哈希一致、初始实例匹配，标准grade.py:29-35采用已终结实时回合结果。这些交付及重放有效性条件不属于世界状态节点，不能写入语义when或用未记录的外部评分结果代替success。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六片按数量计数及冰箱开合有文本、BDDL和成功录像支持，依赖不强加烹饪与关门的先后；但没有状态日志，熟态的视频判读有限，替代热源初态未核实，且唯一成功录像使用旧版验收规则。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点集合与任务文本一致：打开冰箱、热源开启（做熟的必要前置，已标verify_zh）、六片计数做熟（atleast 1..6）、关上冰箱；目标集合等于BDDL目标（六片Cooked且冰箱非Open）。无日志，按P8 when/success为null并在open_questions_zh说明。边均为物理必要，fridge_closed从初态计分，冰箱门把手/托盘搬运等动作未单列。标签与contact符合分类定义。未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'heat_enabled', 'bacon_cooked_1', 'bacon_cooked_2', 'bacon_cooked_3', 'bacon_cooked_4', 'bacon_cooked_5', 'bacon_cooked_6', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:14:31Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_bacon/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_bacon/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "89a6a69bf61adfce6bd4ee5f8979480c56f46a1e44649f5ba59a05df4a537d00",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--wegwqxn.json

@@ -0,0 +1,473 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--wegwqxn",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 10597,
+   "sim_steps": 10597,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 5217.8,
+   "replay_timeout_s": 6498.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 11.276,
+   "peak_memory_gb": 9.397,
+   "peak_processes": 23,
+   "peak_disk_gb": 1.505,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-bacon-i00-privileged--wegwqxn/replay.mp4",
+  "duration_s": 353.233,
+  "fps": 30.0,
+  "frames": 10597,
+  "sha256": "e0bcad0399318dab368dd895fc2cb007b3845fc30950671d4e9203a72362d7d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 9,
+  "final": 9,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.5,
+      "log_step": 55,
+      "text_zh": "观察：视频 26–30 s 左夹爪在冰箱门把手处调整，视频 30.5–34 s 拉动后门板与柜体间的开口增大；视频 54–68 s 可见门已向外摆开，视频 89–95 s 内腔及层架明确敞露。"
+     },
+     {
+      "t": 31.5,
+      "log_step": 59,
+      "text_zh": "推断：将首次超过开门阈值的时刻近似标在视频 31.5 s（约有1秒误差）；log step 55 的 Open=True、门角0.3099及 log step 59 的左手持冰箱并继续沿弧拉门，与该段录像一致。打开是事件，后续门角回落不取消已发生的打开事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 30.5–68 s，左二指夹爪夹住冰箱门把手并向外牵引门板；视频 85–93 s 右夹爪又接近门板将开口扩大，两臂并非共同夹持同一处。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 10–22 s 底盘驶到冰箱前，后续开门期间短距离移位给门板让出空间。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": 42,
+      "text_zh": "观察：视频 6.0 s 灶台按钮为红色；视频 6.25–6.75 s 机器人右夹爪指端压住按钮，指示由红转绿，视频 7.0 s 夹爪抬离后绿灯保持；log step 42 的同一开机动作输出 TOGGLED True。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 6.25–6.75 s，机器人右夹爪闭合后的指端按灶台开关。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–4 s，轮式底盘载机器人接近灶台。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      173.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "观察：视频 103–108 s 托盘离开冰箱下层架，随后右夹爪持托盘运输；视频 170–173.5 s 右手将仍载有培根的托盘移到亮绿灯的灶台热源附近并降低，视频 174–184 s 保持在该处加热。"
+     },
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "推断：该轮完成前三片，故至少1片熟近似记在视频 173.0 s（同批计数，转换顺序不可辨，时刻误差约2秒）。log step 198 至203 属于最终保存分支，记录运输后托盘保留三片、加热后这三片 Cooked=True；录像中的本轮加热及后来三次单片回收与之相符，最终评分器 success=1、q_score=1 又确认六片均熟，未用会话内被重置的旧尝试计分。"
+     },
+     {
+      "t": 191.5,
+      "log_step": 208,
+      "text_zh": "推断：最终分支 log step 208 的控制步5749，按 log step 35 的30 Hz及视频30 fps得5749/30=视频191.63 s；视频 190–195 s 机器人已结束首轮加热并转向地面回收，与该状态检查相符。此处只核对控制步时钟，���将agent工作时间换成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 103–184 s，右夹爪持托盘，托盘从下方承托培根，机器人搬运并将其送到灶台加热；此接触链按托盘与培根的托举记一次。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 108–170 s，轮式底盘在右手持托盘期间转向并驶向灶台。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      173.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "观察：视频 103–108 s 托盘离开冰箱下层架，随后右夹爪持托盘运输；视频 170–173.5 s 右手将仍载有培根的托盘移到亮绿灯的灶台热源附近并降低，视频 174–184 s 保持在该处加热。"
+     },
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "推断：该轮完成前三片，故至少2片熟近似记在视频 173.0 s（同批计数，转换顺序不可辨，时刻误差约2秒）。log step 198 至203 属于最终保存分支，记录运输后托盘保留三片、加热后这三片 Cooked=True；录像中的本轮加热及后来三次单片回收与之相符，最终评分器 success=1、q_score=1 又确认六片均熟，未用会话内被重置的旧尝试计分。"
+     },
+     {
+      "t": 191.5,
+      "log_step": 208,
+      "text_zh": "推断：最终分支 log step 208 的控制步5749，按 log step 35 的30 Hz及视频30 fps得5749/30=视频191.63 s；视频 190–195 s 机器人已结束首轮加热并转向地面回收，与该状态检查相符。此处只核对控制步时钟，未将agent工作时间换成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 103–184 s，右夹爪持托盘，托盘从下方承托培根，机器人搬运并将其送到灶台加热；此接触链按托盘与培根的托举记一次。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 108–170 s，轮式底盘在右手持托盘期间转向并驶向灶台。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      173.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "观察：视频 103–108 s 托盘离开冰箱下层架，随后右夹爪持托盘运输；视频 170–173.5 s 右手将仍载有培根的托盘移到亮绿灯的灶台热源附近并降低，视频 174–184 s 保持在该处加热。"
+     },
+     {
+      "t": 173.0,
+      "log_step": 203,
+      "text_zh": "推断：该轮完成前三片，故至少3片熟近似记在视频 173.0 s（同批计数，转换顺序不可辨，时刻误差约2秒）。log step 198 至203 属于最终保存分支，记录运输后托盘保留三片、加热后这三片 Cooked=True；录像中的本轮加热及后来三次单片回收与之相符，最终评分器 success=1、q_score=1 又确认六片均熟，未用会话内被重置的旧尝试计分。"
+     },
+     {
+      "t": 191.5,
+      "log_step": 208,
+      "text_zh": "推断：最终分支 log step 208 的控制步5749，按 log step 35 的30 Hz及视频30 fps得5749/30=视频191.63 s；视频 190–195 s 机器人已结束首轮加热并转向地面回收，与该状态检查相符。此处只核对控制步时钟，未将agent工作时间换成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 103–184 s，右夹爪持托盘，托盘从下方承托培根，机器人搬运并将其送到灶台加热；此接触链按托盘与培根的托举记一次。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 108–170 s，轮式底盘在右手持托盘期间转向并驶向灶台。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      274.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 274.0,
+      "log_step": 242,
+      "text_zh": "观察：视频 260–267 s 机器人在地面附近操作，随后转回灶台；视频 271–274 s 右夹爪移到热源上方，视频 274–277 s 保持一片培根在灶台附近加热，随后张爪并撤回。"
+     },
+     {
+      "t": 274.0,
+      "log_step": 242,
+      "text_zh": "推断：本轮使熟的数量至少达到4片，首次达成近似锚定视频 274.0 s，误差约2秒；培根薄片被夹爪及托盘遮挡，无法直接读出原生Cooked的转换帧。log step 234、236 记录右手从侧面回收先前掉落的培根，log step 240、242 在最终分支记录加热后四片Cooked=True；视频中同次取回、升高手臂、在热源附近停留���释放的顺序相符。"
+     },
+     {
+      "t": 353.2,
+      "log_step": 265,
+      "text_zh": "推断：评分器对交付录像对应的10597步重放给出success=1、all_success=1、q_score=1，且没有看到培根未熟的直接反证，因此终值为真；Cooked按本次任务规则做熟后持续成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 274.0 s 附近：右二指夹爪回收并夹持一片培根，送到热源附近加热后释放；此前左爪也曾夹起同一片但未在热源处完成加热，后来右手完成回收。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在低位拾取位置与灶台之间行驶、转向，并在携带该片培根时移动底盘。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      318.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 318.0,
+      "log_step": 254,
+      "text_zh": "观察：视频 291–299 s 左夹爪低位取回培根并抬起；视频 300–307 s 右夹爪另一次低位尝试未见携物抬起；视频 316–320 s 左手将取回的一片送到灶台附近停留，视频 321–323 s 松开并撤回。"
+     },
+     {
+      "t": 318.0,
+      "log_step": 254,
+      "text_zh": "推断：本轮使熟的数量至少达到5片，首次达成近似锚定视频 318.0 s，误差约2秒；培根薄片被夹爪及托盘遮挡，无法直接读出原生Cooked的转换帧。log step 245、250 记录左手取回一片而右手未取到另一片；log step 254 的最终分支检查为五片Cooked=True，与录像中这轮只增加一次单片加热相符。"
+     },
+     {
+      "t": 353.2,
+      "log_step": 265,
+      "text_zh": "推断：评分器对交付录像对应的10597步重放给出success=1、all_success=1、q_score=1，且没有看到培根未熟的直接反证，因此终值为真；Cooked按本次任务规则做熟后持续成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 318.0 s 附近：左二指夹爪从地面夹起一片培根，搬到热源附近加热；另一只手的低位尝试没有带起下一片，未计双臂共同持物。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在低位拾取位置与灶台之间行驶、转向，并在携带该片培根时移动底盘。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      340.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 340.5,
+      "log_step": 262,
+      "text_zh": "观察：视频 329–334 s 左夹爪再次下降到地面后带物抬起；视频 338–340 s 左手将最后一片送向灶台，视频 340–341 s 保持在热源附近，视频 342–344 s 释放并撤回。"
+     },
+     {
+      "t": 340.5,
+      "log_step": 262,
+      "text_zh": "推断：本轮使熟的数量至少达到6片，首次达成近似锚定视频 340.5 s，误差约2秒；培根薄片被夹爪及托盘遮挡，无法直接读出原生Cooked的转换帧。log step 255、259 的最终分支记录左手回收最后一片，log step 262 检查六片Cooked全为True；评分器all_success=1、deterministic=1及q_score=1确认交付重放六片均熟。"
+     },
+     {
+      "t": 353.2,
+      "log_step": 265,
+      "text_zh": "推断：评分器对交付录像对应的10597步重放给出success=1、all_success=1、q_score=1，且没有看到培根未熟的直接反证，因此终值为真；Cooked按本次任务规则做熟后持续成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 340.5 s 附近：左二指夹爪从地面夹起最后一片培根，搬到热源附近加热后释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在低位拾取位置与灶台之间行驶、转向，并在携带该片培根时移动底盘。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      31.5
+     ],
+     [
+      353.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–22 s 机器人先驶到灶台再靠近冰箱；视频 20–26 s 冰箱门板贴合柜体，尚未敞露内腔。"
+     },
+     {
+      "t": 31.5,
+      "log_step": 55,
+      "text_zh": "推断：关门条件初态成立，视频 31.5 s 左右随首次拉开门失去（开合阈值定位约有1秒误差）；已检查视频 32–108 s 的门角回落及再次扩大，未见门板重新贴合柜体，视频 110–344 s 机器人持托盘运输并在灶台及地面回收培根，没有另外关门。"
+     },
+     {
+      "t": 353.2,
+      "log_step": 265,
+      "text_zh": "观察：视频 345–348 s 机器人驶回冰箱，腕部视图可见敞开的白色门板内面；视频 349–353.2 s 门板相对腕部相机转动，最终右腕视图被白色门面遮住，主视图朝向厨房吧台，不能直接量出最终门缝。"
+     },
+     {
+      "t": 353.2,
+      "log_step": 265,
+      "text_zh": "推断：最终关门近似锚定视频 353.2 s（录像结束，约0.5秒定位误差）；log step 255、264、265 的保存分支中右手沿弧推门，最终门角0.0700且success=True、sim_steps=10597，评分器又确认同长交付重放success=1、all_success=1、deterministic=1。因此最终按本次原生阈值判关闭，而非仅凭机器人离开判断；10597/30=视频353.233 s与片长一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 349–353.2 s 的关门操作中，右腕相机被门面填满，实际手指接触点全程遮挡，不能可靠区分推门的指侧及其他接触细节；不据脚本计划直接认定抓握或推压。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 345–348 s，轮式底盘从灶台驶回冰箱旁以进行关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人开启灶台、打开冰箱并取出培根托盘，运输中散落的培根随后回收，先加热三片再逐片补足至六片，最后关门；评分器确认交付重放成功，九个节点终值均为真。依P19按本次旧版规则（六片Cooked且冰箱关闭即结束）标注，不将DAG当前版本额外要求的全体释放、低速静置并连续30控制步保持追溯用于否定本次成功。没有状态日志，熟态转换帧及最后关门的精确阈值、接触点受画质与遮挡限制；熟的数量结合最终保存分支及评分器判定，时间用对应加热段的近似视频锚点。",
+ "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，九个节点终值为真与评分器 q_score=1 一致；起止锚点与帧（灶台绿灯 6–7 s、173 s 托盘在亮灯灶台旁、353 s 机器人已离开冰箱）相符，未发现需要改动的内容。最终关门的时间受画面遮挡限制，但已由评分器成功结果界定。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:35:43Z",
+  "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/behavior-cook-bacon-i00-privileged--wegwqxn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--wegwqxn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "02c15526f01cc6ee588bc537643790172ab9c3fe0663a6ebf19410b31b430fa2",
+   "video_sha256": "e0bcad0399318dab368dd895fc2cb007b3845fc30950671d4e9203a72362d7d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--quuh38t.json

@@ -0,0 +1,372 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--quuh38t",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 7604,
+   "sim_steps": 7604,
+   "physics_steps": 30416,
+   "steps": 7604,
+   "elapsed_s": 8618.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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": 0.417,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.157,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-bacon-i00-standard--quuh38t/replay.mp4",
+  "duration_s": 253.467,
+  "fps": 30.0,
+  "frames": 7604,
+  "sha256": "835a4827f4ad3114b56e61042525caa42147d7f432d7b0be72ae619d9e293e79"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.5,
+      "log_step": 228,
+      "text_zh": "观察：视频 49.5–50.3 s 白色高柜门贴合柜体，机器人围绕该高柜观察时于视频约 50.5 s 倾倒；log step 228 的实时机器人服务返回基座向上轴分量从 0.868 降至 0.349。"
+     },
+     {
+      "t": 150.5,
+      "log_step": 418,
+      "text_zh": "观察：视频 148.4–151.4 s 左夹爪靠近白色冰箱门面、合拢并撤回，门板未随夹爪转开；视频 153.5–154.2 s 再次沿门面移动后，门仍贴合。成功参考视频 90 s 可清楚看见同一白色冰箱打开后露出的层架，本回合没有出现这种开门变化。"
+     },
+     {
+      "t": 194,
+      "log_step": 431,
+      "text_zh": "观察：视频约 189–196 s 左夹爪多次向门边和门面伸出后空爪退出，未见把手被夹住或门板外转；log step 431 记录四次合爪后的左夹爪开度均为 0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 39–51 s、77–100 s 及后续重试中，轮式底盘承载机器人驶近冰箱并调整位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "推断：视频 150.5–151.4 s 左夹爪指端抵向白色门面后回撤，视频 153.5–154.2 s 又沿门面擦过；结合腕部与头部前后画面判断为单面顶压、擦碰，没有可确认的包夹把手。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 63.5,
+      "log_step": 280,
+      "text_zh": "观察：视频约 60.5–64.5 s、67.5–74 s 机器人用左夹爪在灶台按钮排上方下探、合爪和扫动，灶台红色指示一直未变为绿色；视频约 71–72 s 煎锅被碰离灶台并掉到地上。成功参考视频 175 s、180 s 同一灶台的开启指示为绿色。"
+     },
+     {
+      "t": 74,
+      "log_step": 306,
+      "text_zh": "推断：视频 74 s 灶台仍为红灯；完整回合的粗检及灶台操作段密检未见其他加热设备启动，冰箱旁烤箱及台上微波炉可见时也未出现开启指示，因此将本次热源准备判为未完成。所有替代热源的原生初态没有状态日志可核验。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 53–55 s 轮式底盘将机器人载回灶台前。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 70.5–72 s 左夹爪横过炉面并碰动煎锅，锅随后掉到地上；没有稳定夹持煎锅的画面。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 63–64.5 s、70.5–74 s 左夹爪在灶台按钮排附近下探，但指端与按钮间的微小接触被夹爪和台面遮挡，不能确认是否实际压到或夹住按钮。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第1片计数节点为假。Cooked 达成后不可撤销，结合全程没有取出、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第2片计数节点为假。Cooked 达成后不可撤销，结合全程没有取出、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第3片计数节点为假。Cooked 达成后不可撤销，结合全程没有取出、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第4片计数节点为假。Cooked 达成后不可撤销，结合全程没有取出、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第5片计数节点为假。Cooked 达成后不可撤销，结合全程没有取出、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 与本回合 task_text 记载六片生培根初始在冰箱内；视频 0 s 白色高柜冰箱关闭，完整回合粗检及开门重试段密检未见门打开、培根离开冰箱或被移到热源。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，六片 Cooked 均为新增目标，初始已成立的冰箱关闭不计入该分数，因此终态熟片数为 0，第6片计数节点为假。Cooked 达成后不可撤销，结合全程没有取��、加热培根的画面，该节点没有成立区间；视频 253.43 s 是已检查的末帧锚点，逐片肉色被关闭的冰箱遮挡。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 白色高柜冰箱门与柜体贴合，初态关闭；视频 49.5–50.3 s 及 148.4–154.2 s 的近景仍显示贴合的门板，没有露出内腔层架。"
+     },
+     {
+      "t": 194,
+      "log_step": 431,
+      "text_zh": "观察：视频约 189–196 s 多次门边合爪后，白色冰箱门未外转；机器人随后转向厨房和餐桌区域，视频 243.5–253.43 s 倾倒期间没有再操作冰箱。"
+     },
+     {
+      "t": 253.43,
+      "log_step": null,
+      "text_zh": "推断：结合门板每次可见时均关闭、未见开门事件且后续未再接触冰箱，将关闭状态连续保留到终态；末帧本身没有完整显示门板，不能单靠机器人离开来判断。q_score=0 不否定这个从初态保持的目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 50.5,
+   "log_step": 228,
+   "where": "探索",
+   "evidence_zh": "观察：视频 49.5–50.3 s 机器人在白色冰箱及相邻黑色电器前观察，视频约 50.5 s 机体倾倒。推断：log step 198–228 对应寻找、接近和观察冰箱的工作；虽然后来扶正并转去操作灶台，冰箱门始终未打开，后续视频 148.4–154.2 s、189–196 s 的门边重试也没有补成这一步，因此断点保留在打开冰箱。视频约 243.5 s 最终再次倾倒，log step 450 的实时服务以 failure: the robot fell over 结束回合。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 50.5,
+    "log_step": 228,
+    "evidence_zh": "观察：视频约 50.5–52.5 s 机器人观察冰箱时整个视野剧烈翻转，随后才恢复直立；log step 228 实时服务返回向上轴分量 0.349。视频 243.5 s 再次明显倾倒，至已检查的末帧视频 253.43 s 仍歪倒在餐桌、椅子区域；log step 450 确认回合因倒地终止。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 150.5,
+    "log_step": 412,
+    "evidence_zh": "观察：视频 148.4–151.4 s 左夹爪在门板前靠近、合拢后空爪撤回，视频 153.5–154.2 s 又沿门面动作，门板始终未随动；视频约 189–196 s 后续重试也没有夹住把手。推断：机器人虽有擦碰门面的动作，但开门所需的夹持或勾住把手的接触没有建立；log step 412、431 的闭爪开度读数支持这一判断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 412 的控制脚本给门前目标 TCP [7.80,-1.55,1.45] 后只执行 12 个控制步，就进入固定时序合爪；实时本体读数实际为 [7.855,-1.31,1.589]，距目标约 0.28 米，脚本仍继续闭爪。视频 148.4–151.4 s 显示夹爪未形成开门抓持。log step 448 读到机体向上轴分量 0.42 后只继续给躯干恢复目标，没有使底盘脱离倾倒姿态，视频 243.5–253.43 s 一直歪倒直至服务终止；末端到位和机体姿态误差均没有得到有效闭环纠正。"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志，无法读取冰箱关节角、逐片 Cooked、温度或真实接触对；培根全程被关闭的冰箱遮挡，六片终态由评分总量结合未取出、未加热的画面限定。热源原生初态未提供，未开启的判断依据可见灶台、烤箱和微波炉指示及未操作其他设备；灶台按钮与指端的细小接触不能确认。冰箱末帧被视野遮挡，关闭区间据前后门板可见状态与后续动作连续推断；更早的厨房环视和倾倒无法唯一归属某个节点，断点锚定在已明确寻找冰箱时的失败。"
+ },
+ "summary_zh": "评分回合只保留了初态的冰箱关闭，开冰箱、开启热源及六片培根做熟均未达成，终态为 1/9；q_score=0 不计初始已成立的闭门目标。机器人在视频约 50.5 s 观察冰箱时倾倒，扶正后多次门边空夹仍未开门，视频约 243.5 s 再次倾倒并终止；控制脚本在末端尚未到位时合爪，姿态恢复也未奏效。没有状态日志，逐片熟态、微小接触和全部替代热源初态存在观测缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽检视频帧（20/45/50/55/64/73/100/150/190/245 s）未发现与标注矛盾之处：冰箱未打开、灶台未启动、培根未取出，终态 1/9 与 q_score=0 一致；断点、现象与根因有日志和画面支持。",
+    "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": "2026-10-29T11:38:25Z",
+  "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/behavior-cook-bacon-i00-standard--quuh38t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--quuh38t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a2d21c3627b3b0e1c8c8a55962b8e25acf554c13145b0743a479801896a159da",
+   "video_sha256": "835a4827f4ad3114b56e61042525caa42147d7f432d7b0be72ae619d9e293e79",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,494 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/make_gift_bags_for_baby_showers",
+ "suite": "behavior-1k",
+ "base": "behavior-make-gift-bags-for-baby-showers-i00",
+ "title_zh": "制作迎婴礼品袋",
+ "summary_zh": "两只纸袋放在茶几上，每袋各装一个玩具骰子和一片威化饼；当前规则还要求全部目标松手且静置1秒，成功示例按目标关系成立即结束的旧规则评分。",
+ "embodiment_zh": "两种模式均为R1Pro移动双臂机器人，左右臂各装二指夹爪，具有可动躯干及全向轮式底盘，采用辅助抓取；特权模式控制本地仿真，标准模式通过服务控制同一类机器人。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-make-gift-bags-for-baby-showers-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "wafer_drawer_opened",
+    "zh": "打开抽屉",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "电视下方木柜中装有两片威化饼的上层抽屉被拉出，前板离开柜体，头部或腕部视角可见内腔形成足以取出威化饼的开口；仅夹住抽屉边沿、前板仍贴合柜体时未完成。开过后即计入，不要求结束时仍开着。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪夹住木柜上层抽屉的前沿，向外拉开抽屉。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "plan": 2,
+      "note_zh": "夹爪手指勾住木柜上层抽屉的上沿，向外拉开抽屉。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "bddl/make_gift_bags_for_baby_showers.bddl:18-19",
+     "oracle/run.json:1 steps[id=15] all drawer joints near zero before actions; j_link_5=0.000038911 m",
+     "oracle/run.json:1 steps[id=59] link_5 drawer collision geometry; steps[id=96] generated trajectory opens same drawer",
+     "oracle/replay.mp4 @ 61-79 s"
+    ],
+    "conf": 6,
+    "note_zh": "威化饼初始在关闭抽屉内：示例动作前查询六个抽屉关节均接近零，柜体碰撞几何包围上层抽屉。按必经前置默认加入；不要求示例的推回再猛拉、满行程或固定左手，不另设取出威化饼节点。袋子和骰子的目标无需等此步骤。"
+   },
+   {
+    "id": "sacks_on_table_1",
+    "zh": "第1只袋上茶几",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "棕色开口纸袋的底部接触沙发前木色茶几桌面，茶几在袋子正下方；早餐桌上的袋子、悬在茶几上方尚未接触桌面的袋子或落在地上的袋子不计，至少1只不同纸袋符合上述茶几支承关系；符合关系的袋子数降到1只以下即失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握纸袋，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与纸袋，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:31-34",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 20-29 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。装袋可以在搬袋上茶几之前或之后，没有跨种类顺序。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   },
+   {
+    "id": "sacks_on_table_2",
+    "zh": "第2只袋上茶几",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "sacks_on_table_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "棕色开口纸袋的底部接触沙发前��色茶几桌面，茶几在袋子正下方；早餐桌上的袋子、悬在茶几上方尚未接触桌面的袋子或落在地上的袋子不计，至少2只不同纸袋符合上述茶几支承关系；符合关系的袋子数降到2只以下即失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握纸袋，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与纸袋，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:31-34",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 20-29 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。装袋可以在搬袋上茶几之前或之后，没有跨种类顺序。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   },
+   {
+    "id": "dice_in_sacks_1",
+    "zh": "第1个骰子入袋",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "带绿色面的浅色玩具骰子进入棕色纸袋内腔，其包围盒中心位于袋子的包围盒及内部容积内；仅在袋口上方、靠着袋外壁或落在袋旁桌面不计，至少1个玩具骰子在任意一只目标纸袋中；两个玩具骰子都不在袋内时失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握玩具骰子，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与玩具骰子，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:35-39",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 40-49 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。第2件采用不同物品与不同纸袋的一一匹配，第一件可为任一实例；不要求纸袋已经在茶几上。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   },
+   {
+    "id": "dice_in_sacks_2",
+    "zh": "第2个骰子入袋",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "dice_in_sacks_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "带绿色面的浅色玩具骰子进入棕色纸袋内腔，其包围盒中心位于袋子的包围盒及内部容积内；仅在袋口上方、靠着袋外壁或落在袋旁桌面不计，两个不同玩具骰子分别在两只不同纸袋内，允许任意配对；两件都在同一只袋中不算，任一件离袋或配对不再成立即失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握玩具骰子，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与玩具骰子，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:35-39",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 40-49 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。第2件采用不同物品与不同纸袋的一一匹配，第一件可为任一实例；不要求纸袋已经在茶几上。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   },
+   {
+    "id": "wafers_in_sacks_1",
+    "zh": "第1片威化入袋",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "wafer_drawer_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "白色长条包装、带红边的威化饼进入棕色纸袋内腔，其包围盒中心位于袋子的包围盒及内部容积内；包装可露出袋口，不能仅凭露出部分判为未入袋，仍悬在袋口上方或落在袋外则不计，至少1个威化饼在任意一只目标纸袋中；两个威化饼都不在袋内时失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握威化饼，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与威化饼，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:40-44",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 117.8-119.87 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。第2件采用不同物品与不同纸袋的一一匹配，第一件可为任一实例；不要求纸袋已经在茶几上。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   },
+   {
+    "id": "wafers_in_sacks_2",
+    "zh": "第2片威化入袋",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "wafers_in_sacks_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "白色长条包装、带红边的威化饼进入棕色纸袋内腔，其包围盒中心位于袋子的包围盒及内部容积内；包装可露出袋口，不能仅凭露出部分判为未入袋，仍悬在袋口上方或落在袋外则不计，两个不同威化饼分别在两只不同纸袋内，允许任意配对；两件都在同一只袋中不算，任一件离袋或配对不再成立即失去本步；单步按关系计数，持物本身不屏蔽关系的成立或丢失。当前规则的最终联合验收另要求六件物品及茶几均未被夹爪持有、线速度不超过0.05米/秒，六个目标关系同时连续保持30个控制步（1秒）；此窗口属于整体成功，不单独增加节点。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓握威化饼，搬到目标位置；不固定手别。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机械臂与威化饼，在取物处和目标处之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:4-9",
+     "task/standard/instruction.md:6-7",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/make_gift_bags_for_baby_showers.bddl:40-44",
+     "task/privileged/instruction.md:34-36",
+     "grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "oracle/replay.mp4 @ 117.8-119.87 s"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量累计，不按实例身份标注；第2件只以第1件为计数前序。第2件采用不同物品与不同纸袋的一一匹配，第一件可为任一实例；不要求纸袋已经在茶几上。各节点只评价目标关系，因此显式关闭持物冻结；全体松手、静置和1秒联合窗口放在整体成功判据中，当前无日志故success为null。示例中两臂各拿一件，不把两件之间的协作误作每件都须双臂。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人底座高度低于地面0.03米以上，或底座向上轴的竖直分量小于0.75（偏离竖直约41.4度以上），任一条件连续达到300个控制步（10秒）即触发倒地失败；短暂倾斜后在窗口结束前恢复不触发；同一步先满足成功窗口时，评分器先判成功，不再触发倒地失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:96-98",
+     "grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "每控制步检查机器人位置、姿态、关节位置或底座线速度含非有限值，底座任一坐标绝对值超过10000米，或底座线速度范数超过100米/秒；每30个控制步还检查任一目标物位置非有限或任一坐标绝对值超过10000米，发现即失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "goal_literal_0",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop sack.n.01_2 coffee_table.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[0]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_1",
+    "level": "new_code",
+    "source": "Log flags.lit:(ontop sack.n.01_1 coffee_table.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[1]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_2",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside toy_dice.n.01_1 sack.n.01_2) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[2]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_3",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside toy_dice.n.01_2 sack.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[3]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_4",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside wafer.n.02_2 sack.n.01_2) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[4]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_5",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside wafer.n.02_1 sack.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[5]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_6",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside wafer.n.02_1 sack.n.01_2) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[6]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_7",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside wafer.n.02_2 sack.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[7]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_8",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside toy_dice.n.01_2 sack.n.01_2) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[8]. No state log is supplied."
+   },
+   {
+    "atom": "goal_literal_9",
+    "level": "new_code",
+    "source": "Log flags.lit:(inside toy_dice.n.01_1 sack.n.01_1) from the native BDDL predicate; bddl/make_gift_bags_for_baby_showers.literals.json literals[9]. No state log is supplied."
+   },
+   {
+    "atom": "wafer_drawer_accessible",
+    "level": "new_code",
+    "source": "Log cabinet.n.01_1 j_link_5 joint position and drawer access geometry (dyn.wafer_drawer_accessible); oracle/run.json:1 steps[id=15,59]. No numeric opening threshold is established by the supplied grader."
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "Log flags.success_rule from Session.succeeded / RestWatch.done; rcb_behavior.py:147-164,1414-1434. This includes all goal relations, all goal objects released and speed <=0.05 m/s for 30 consecutive control steps."
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Log flags.fallen from FallWatch.fallen; rcb_behavior.py:124-144,1483-1489."
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Log flags.breakdown from Session.breakdown; rcb_behavior.py:1437-1471."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "source": "grader/efe_behavior-files/rcb_behavior.py:1538-1555; oracle/run.json:1 reward.q_score=1.0"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，没有任何逐帧状态日志；遵循DECISIONS.md P8，全部7个节点的when、两项约束的never及success均为null，不能开展日志上的达成率或评分一致性验证。atoms列出需记录的原生目标谓词和过程状态，不声称这些字段已存在。",
+  "规则版本差异：oracle/run.json:1的task_text明说目标关系同时成立即结束，steps[id=96,98]及reward显示3597控制步成功；当前instruction与rcb_behavior.py:100-105,1414-1434增加松手、线速度不超过0.05米/秒及30步窗口。视频119.9秒随威化饼进入袋中即结束，不能用它验证当前静置窗口；按DECISIONS.md P19，后续标注该旧运行时应使用其执行时规则，不把新增窗口追溯作失败。",
+  "同类物品和两组forpairs采用数量步骤及可交换一一匹配（暂行：DECISIONS.md N4）：第1件为任意合法单对，第2件必须为不同物品分别进入不同纸袋；不绑定示例使用的具体配对。",
+  "抽屉前置按DECISIONS.md S2与规则3默认加入：oracle/run.json:1 steps[id=15]动作前关节接近零，steps[id=59]显示上层抽屉碰撞几何，两片威化饼在其内。缺少独立场景关节文件和可直接绑定的开度阈值，采用视频中可取物开口判据，不将示例0.2006米的满行程设为必达阈值。",
+  "六个目标节点采用裸目标关系，freeze_held=false；全体释放、静置与30步确认是跨节点联合验收，记录在节点视频判据及整体success的说明中，不建松手等待节点（DECISIONS.md S1，DYNSPEC.md §9.1）。",
+  "两种模式共用世界目标、倒地及崩溃规则；特权评分器另验证两次重放全部成功、确定性及初始实例一致性（privileged/grade.py:168-174），标准评分器读实时单次episode结果（standard/grade.py:26-35）。这些是交付或有效性检查，不增设语义步骤或绑定未记录的评分结论。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六个目标步骤直接来自两种模式一致的文本与BDDL，计数和配对明确；成功视频支持初态、抽屉前置与视觉判据。缺少全部状态日志、抽屉开度阈值和当前静置规则的成功示例，故日志绑定及最终联合验收未能验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志，所有when为null符合P8。节点集合与指令一致：打开抽屉（威化饼在柜内的必经前置，S2）、两只纸袋上茶几、两骰子入袋、两威化饼入袋，按数量步骤编号1..2；成功条件与BDDL目标逐项对应，倒地/崩溃约束为评分器失败条件；松手静置窗口未建节点，旧规则差异已列入open_questions_zh。标签与边未见错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['wafer_drawer_opened', 'sacks_on_table_1', 'sacks_on_table_2', 'dice_in_sacks_1', 'dice_in_sacks_2', 'wafers_in_sacks_1', 'wafers_in_sacks_2']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:27:52Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__make_gift_bags_for_baby_showers/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__make_gift_bags_for_baby_showers/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "26e5d727321ab0cf565420247e85ef830a03d31be21a4557c7b24f0c365ca84a",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--idrzshb.json

@@ -0,0 +1,431 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-gift-bags-for-baby-showers-i00-privileged--idrzshb",
+ "taskKey": "behavior-1k/make_gift_bags_for_baby_showers",
+ "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3597,
+   "sim_steps": 3597,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1163.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 2,
+   "agent_sim_steps": 10791,
+   "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/behavior-make-gift-bags-for-baby-showers-i00-privileged--idrzshb/replay.mp4",
+  "duration_s": 119.9,
+  "fps": 30.0,
+  "frames": 3597,
+  "sha256": "647eba8bcb44b60a6699f92f78a861b7b7b82bda53db25c1d61c6406658d0090"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "wafer_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": null,
+      "text_zh": "观察：视频 61.0–64.5 s，机器人左夹爪贴近并夹住电视下木柜上层抽屉前沿，前板此时基本贴合柜体。"
+     },
+     {
+      "t": 66.5,
+      "log_step": null,
+      "text_zh": "观察：视频 65.5–68.0 s，机器人左臂向外拉，抽屉前板逐渐离开柜体；视频 66.5 s 可见内腔及白色威化包装，视频 67.5 s 开口进一步增大，已可从前上方取物。首次满足可取物开口的时刻约为视频 66.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 75.0,
+      "log_step": null,
+      "text_zh": "观察：视频 69.0–78.0 s，机器人仍抓着抽屉前沿，先将抽屉推回一部分再拉出；打开节点为事件，后续推回不撤销已达成记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 61.0–78.0 s，机器人左二指夹爪夹住上层抽屉的前沿，向外拉开，随后保持夹持推回一部分并再次拉出；右夹爪悬在旁边，未见其参与夹持抽屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 50.0–57.0 s，机器人空手从茶几返回木柜前，轮式底盘在移动时承载机械臂并调整抽屉操作位置；视频 61.0–78.0 s 主要由左臂操作抽屉。"
+     }
+    ]
+   },
+   "sacks_on_table_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s，两只纸袋都在白色早餐桌上，沙发前茶几上尚无目标纸袋。"
+     },
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–19.0 s，机器人先后用左右夹爪各夹起一袋；视频 18.0 s 两袋均已离开早餐桌，随后随机器人底盘一起移向茶几。本计数对应左夹爪所搬的一袋。"
+     },
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–29.0 s，机器人将两袋逐渐下放至茶几桌面；视频 28.5 s 两袋底部已落到桌面高度，视频 29.2–31.0 s 夹爪松开并抬起，两袋留在桌面。两袋近乎同时着桌，计数节点共用约视频 28.5 s 的达成锚点，接触时刻受遮挡影响约有0.5秒误差。"
+     },
+     {
+      "t": 119.867,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–50.0 s 及视频 114.0–119.867 s，机器人向茶几上的两袋装物，两袋一直留在桌面，未见再被提起或掉落。"
+     },
+     {
+      "t": 119.867,
+      "log_step": 98,
+      "text_zh": "推断：评分器 reward.success=1、q_score=1.0，且末尾画面与两袋留在茶几上一致，因此最终支承关系为真；数量节点按至少一袋／至少两袋计，不绑定原始实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.0–19.0 s，机器人左二指夹爪夹住一只纸袋的袋壁上沿���提起并在底盘移动时持续持袋；视频 26.0–31.0 s 将该袋下放到茶几后松开。两臂各搬一袋，本节点的一袋由单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   },
+   "sacks_on_table_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s，两只纸袋都在白色早餐桌上，沙发前茶几上尚无目标纸袋。"
+     },
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–19.0 s，机器人先后用左右夹爪各夹起一袋；视频 18.0 s 两袋均已离开早餐桌，随后随机器人底盘一起移向茶几。本计数对应右夹爪所搬的一袋。"
+     },
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–29.0 s，机器人将两袋逐渐下放至茶几桌面；视频 28.5 s 两袋底部已落到桌面高度，视频 29.2–31.0 s 夹爪松开并抬起，两袋留在桌面。两袋近乎同时着桌，计数节点共用约视频 28.5 s 的达成锚点，接触时刻受遮挡影响约有0.5秒误差。"
+     },
+     {
+      "t": 119.867,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–50.0 s 及视频 114.0–119.867 s，机器人向茶几上的两袋装物，两袋一直留在桌面，未见再被提起或掉落。"
+     },
+     {
+      "t": 119.867,
+      "log_step": 98,
+      "text_zh": "推断：评分器 reward.success=1、q_score=1.0，且末尾画面与两袋留在茶几上一致，因此最终支承关系为真；数量节点按至少一袋／至少两袋计，不绑定原始实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.0–19.0 s，机器人右二指夹爪夹住一只纸袋的袋壁上沿，提起并在底盘移动时持续持袋；视频 26.0–31.0 s 将该袋下放到茶几后松开。两臂各搬一袋，本节点的一袋由单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   },
+   "dice_in_sacks_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–37.0 s，两个浅色绿色面骰子尚在木柜顶面；视频 38.0–42.0 s 左右夹爪各夹住一个并抬离柜面，骰子随手移向茶几。"
+     },
+     {
+      "t": 47.2,
+      "log_step": null,
+      "text_zh": "观察：视频 46.8–47.1 s，两枚骰子仍在机器人夹爪之间、位于不同纸袋的袋口附近；视频 47.2 s 上方腕部画面的骰子先下落，视频 47.3 s 下方腕部画面的骰子也落入另一袋口，视频 47.4–47.6 s 夹爪间都已无骰子。第1个计数锚点取视频 47.2 s，袋壁遮挡内腔，约有0.2秒误差。"
+     },
+     {
+      "t": 119.867,
+      "log_step": 98,
+      "text_zh": "推断：落下方向均穿过各自袋口，后续未见骰子落在袋外或再取出；评分器 reward.success=1、q_score=1.0，最终两个不同骰子分别在两袋内，因此两个计数节点最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 38.0–42.0 s，机器人左二指夹爪从两侧夹住一枚玩具骰子并提起；视频 42.0–47.3 s 随底盘搬至茶几，将骰子对准一只纸袋后张爪释放。另一夹爪搬另一枚骰子，本计数的一枚由单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   },
+   "dice_in_sacks_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–37.0 s，两个浅色绿色面骰子尚在木柜顶面；视频 38.0–42.0 s 左右夹爪各夹住一个并抬离柜面，骰子随手移向茶几。"
+     },
+     {
+      "t": 47.3,
+      "log_step": null,
+      "text_zh": "观察：视频 46.8–47.1 s，两枚骰子仍在机器人夹爪之间、位于不同纸袋的袋口附近；视频 47.2 s 上方腕部画面的骰子先下落，视频 47.3 s 下方腕部画面的骰子也落入另一袋口，视频 47.4–47.6 s 夹爪间都已无骰子。第2个计数锚点取视频 47.3 s，袋壁遮挡内腔，约有0.2秒误差。"
+     },
+     {
+      "t": 119.867,
+      "log_step": 98,
+      "text_zh": "推断：落下方向均穿过各自袋口，后续未见骰子落在袋外或再取出；评分器 reward.success=1、q_score=1.0，最终两个不同骰子分别在两袋内，因此两个计数节点最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 38.0–42.0 s，机器人右二指夹爪从两侧夹住一枚玩具骰子并提起；视频 42.0–47.3 s 随底盘搬至茶几，将骰子对准一只纸袋后张爪释放。另一夹爪搬另一枚骰子，本计数的一枚由单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   },
+   "wafers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      119.83,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78.0–84.0 s，机器人左夹爪取出第一片威化，腕部画面可见包装离开抽屉并随手抬起；视频 97.0–102.0 s，机器人右夹爪也取出另一片，抽屉内不再见原来两片并排的包装；视频 102.0–114.0 s 两片分别保持在左右夹爪中随底盘移向茶几。本计数对应左夹爪所持的一片。"
+     },
+     {
+      "t": 119.7,
+      "log_step": null,
+      "text_zh": "观察：视频 117.5–119.7 s，两片白色红边威化包装竖直位于不同袋口上方，腕部画面显示包装仍夹在手指之间，此时不能计为入袋。"
+     },
+     {
+      "t": 119.867,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 119.733–119.867 s，机器人张开夹爪，左右腕部视角的包装先后向下离开手指，主视角显示它们朝两只纸袋的袋口下降；截至视频 119.867 s，包装不再保持原来夹在腕前的高度，视频随即结束，袋壁和机械臂遮住包装中心及袋内落点。"
+     },
+     {
+      "t": 119.83,
+      "log_step": 98,
+      "text_zh": "推断：视频末尾下落方向与两袋袋口对齐，且评分器 reward.success=1、q_score=1.0；log step 96 记录交付生成过程3597控制步成功，log step 98 对3597动作文件重放也成功且状态哈希一致。依照本次目标关系成立即结束的规则，第1片威化计入袋内，首次达成约视频 119.83 s，先后及准确谓词触发时刻受遮挡影响约有0.1秒误差；最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住威化包装前端，将其从抽屉内提起；视频 102.0–114.0 s 持物随底盘行驶至茶几，随后转为竖直姿态对准一只纸袋，视频 119.733–119.867 s 张爪释放。每片由各自单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   },
+   "wafers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      119.87,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78.0–84.0 s，机器人左夹爪取出第一片威化，腕部画面可见包装离开抽屉并随手抬起；视频 97.0–102.0 s，机器人右夹爪也取出另一片，抽屉内不再见原来两片并排的包装；视频 102.0–114.0 s 两片分别保持在左右夹爪中随底盘移向茶几。本计数对应右夹爪所持的一片。"
+     },
+     {
+      "t": 119.7,
+      "log_step": null,
+      "text_zh": "观察：视频 117.5–119.7 s，两片白色红边威化包装竖直位于不同袋口上方，腕部画面显示包装仍夹在手指之间，此时不能计为入袋。"
+     },
+     {
+      "t": 119.867,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 119.733–119.867 s，机器人张开夹爪，左右腕部视角的包装先后向下离开手指，主视角显示它们朝两只纸袋的袋口下降；截至视频 119.867 s，包装不再保持原来夹在腕前的高度，视频随即结束，袋壁和机械臂遮住包装中心及袋内落点。"
+     },
+     {
+      "t": 119.87,
+      "log_step": 98,
+      "text_zh": "推断：视频末尾下落方向与两袋袋口对齐，且评分器 reward.success=1、q_score=1.0；log step 96 记录交付生成过程3597控制步成功，log step 98 对3597动作文件重放也成功且状态哈希一致。依照本次目标关系成立即结束的规则，第2片威化计入袋内，首次达成约视频 119.87 s，先后及准确谓词触发时刻受遮挡影响约有0.1秒误差；最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住威化包装前端，将其从抽屉内提起；视频 102.0–114.0 s 持物随底盘行驶至茶几，随后转为竖直姿态对准一只纸袋，视频 119.733–119.867 s 张爪释放。每片由各自单夹爪夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在本步取物及搬运期间移动，承载机械臂和所持物品。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人将两袋搬上茶几、分别装入两枚骰子，拉开威化抽屉后取出两片威化并在视频末尾释放入袋，七个节点最终均成立，评分器成功且确定性重放通过（log step 98）。规则版本差异：本次 task_text 及交付重放按六个目标关系同时成立即成功，视频约119.9 s随威化下落结束；依照DAG的P19说明，不追溯要求新版全体松手静置1秒窗口。没有逐帧状态日志或独立成功参照视频，袋内落点被袋壁与机械臂遮挡，威化最终关系由末尾下落画面结合评分器成功结论推定，操作时刻存在约0.1–0.5秒误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，七个节点均为真，时间与评分器 success=1、q_score=1.0 一致；抽屉打开约66.5 s、威化在末尾释放，抽样帧未发现矛盾。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:50:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--idrzshb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--idrzshb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "702f405716e900e723ea70d1c6638c8c0af7f068c551034e273f4d45a157df3b",
+   "video_sha256": "647eba8bcb44b60a6699f92f78a861b7b7b82bda53db25c1d61c6406658d0090",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr.json

@@ -0,0 +1,425 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr",
+ "taskKey": "behavior-1k/make_gift_bags_for_baby_showers",
+ "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 5748,
+   "sim_steps": 5748,
+   "fallen": 0,
+   "final_reward": 0.6666666666666666,
+   "q_score": 0.6666666666666666,
+   "replay_wall_s": 1465.0,
+   "replay_timeout_s": 4074.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 43,
+   "agent_resets": 4,
+   "agent_sim_steps": 77384,
+   "agent_records": 7,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr/replay.mp4",
+  "duration_s": 191.6,
+  "fps": 30.0,
+  "frames": 5748,
+  "sha256": "0e03cb7e15b1669b3af889359358650d41331227746ff37a1c97073fc352d562"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "wafer_drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      148.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 150.0,
+      "log_step": null,
+      "text_zh": "观察：视频 145.0–147.0 s 抽屉前板仍闭合；视频约 148.5 s 机器人右夹爪拉动后首次出现开口，视频 149.0–151.5 s 腕部视角清楚可见抽屉内腔及两片红白威化包装，随后右夹爪夹起其中一片。首次打开时间约为视频 148.5 s（误差约0.5秒）；此节点按打开事件锁存，不要求终态保持打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 147.0–150.0 s，机器人右二指夹爪在抽屉前沿闭合并向后拉动前板；视频约 148.5 s 起可见开口，随后张爪退出。"
+     }
+    ]
+   },
+   "sacks_on_table_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–18.0 s，机器人右夹爪夹住早餐桌上的一只棕色纸袋并提走；视频 18.0 s 早餐桌上还剩另一只袋。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–32.5 s，机器人将第一只纸袋移到沙发前茶几上，降低并张开右夹爪；视频约 30.0 s 袋底已由茶几支承，随后夹爪退出而袋子留在桌面。"
+     },
+     {
+      "t": 187.5,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–187.5 s，两只纸袋均仍立在茶几上，未再被搬离；已检查视频 190.5–191.56 s 的末尾，机器人停住，没有进一步取袋动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住第一只纸袋，从早餐桌提起，放到茶几后张爪退出；视频 12.0–32.5 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–26.0 s，轮式底盘承载机器人及右爪持有的纸袋，从早餐桌驶向茶几。"
+     }
+    ]
+   },
+   "sacks_on_table_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      65.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–54.0 s，机器人右爪取走早餐桌上剩下的纸袋；视频 54.0 s 该袋随机器人搬运，原桌面已无这两只纸袋。"
+     },
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 63.0–68.5 s，机器人在茶几上降低第二只纸袋并松开右夹爪；视频约 65.5 s 第二只袋已落在桌面，视频 67.0–68.5 s 夹爪退开，两只袋均留在茶几上。"
+     },
+     {
+      "t": 187.5,
+      "log_step": 453,
+      "text_zh": "观察：视频 174.0–187.5 s 可见两只袋持续由茶几支承；log step 453 的5748步交付生成记录也报告两项 Sack OnTop 为 True，与视频及最终评分一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人用右二指夹爪抓住并搬运剩下的纸袋，在茶几桌面张爪释放；视频 45.0–68.5 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 51.0–61.0 s，底盘带着右爪持有的第二只纸袋返回茶几。"
+     }
+    ]
+   },
+   "dice_in_sacks_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      120.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78.0 s 玩具骰子仍在木柜顶面；视频 81.0–84.0 s 左腕视角显示绿色面的骰子被左二指夹爪夹住，随后随机器人离开木柜。"
+     },
+     {
+      "t": 120.0,
+      "log_step": null,
+      "text_zh": "观察：视频 117.0–119.5 s，机器人左爪持骰子对准第一只袋口；视频 120.0–121.5 s 左爪已张开且为空，骰子下降到纸袋内，右爪此时仍为空。"
+     },
+     {
+      "t": 191.56,
+      "log_step": 453,
+      "text_zh": "推断：视频 120.0 s 后没有从第一只袋取骰子的动作；log step 453 报告 Dice 1 in Sack 1=True，且该记录保存的5748步与本次视频帧数、评分器 n_actions 一致，终态入袋关系保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 81.0–119.5 s，机器人左二指夹爪夹住并搬运骰子，在第一只袋口上方张爪投放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 110.0–117.0 s，底盘载着左爪所持骰子从木柜驶到茶几。"
+     }
+    ]
+   },
+   "dice_in_sacks_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      176.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 162.0,
+      "log_step": null,
+      "text_zh": "观察：视频 159.0–162.0 s，机器人左爪从柜顶夹起另一只骰子，视频 162.0 s 左腕视角可见绿色面的骰子夹在两指之间；右爪同时持有一片威化，但两爪分别处理不同物品。"
+     },
+     {
+      "t": 176.0,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–175.5 s 左爪把第二只骰子移到另一只纸袋的开口上方并张开；视频 176.0 s 左腕视角直接看见绿色骰子已落入该袋内，左爪为空。"
+     },
+     {
+      "t": 191.56,
+      "log_step": 453,
+      "text_zh": "推断：视频 176.0–191.56 s 没有再取走骰子；log step 453 报告 Dice 1 in Sack 1=True、Dice 2 in Sack 2=True，两只不同骰子分别进入不同纸袋，与评分器 q_score=4/6 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第二只骰子，从柜顶提起后在另一只袋口张爪释放；视频 162.0–176.0 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 163.0–174.0 s，底盘载着左爪所持骰子驶向茶几。"
+     }
+    ]
+   },
+   "wafers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 105.5,
+      "log_step": null,
+      "text_zh": "观察：视频 97.0–104.0 s 右腕视角显示抽屉前板，没有可见的威化包装或可取物内腔；视频 101.0–111.0 s 左爪仍持骰子，右爪为空。推断：这些画面不足以确认发生过一次取威化尝试，不能据此认定抓取失败。"
+     },
+     {
+      "t": 154.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 148.5 s 抽屉形成开口，视频 149.5–151.5 s 两片威化包装均在抽屉里；视频 152.0–154.5 s 机器人右爪夹起其中一片并带离，另一片仍留在抽屉。"
+     },
+     {
+      "t": 186.5,
+      "log_step": null,
+      "text_zh": "观察：视频 185.0–187.5 s 右夹爪张开后，这片威化斜靠在纸袋外侧，包装中段在袋口外侧而非落入内腔，视频 187.75 s 右爪已经退出。"
+     },
+     {
+      "t": 191.56,
+      "log_step": 453,
+      "text_zh": "推断：评分器 q_score=0.6666666666666666，即6项目标关系中4项成立；本次视频已确认两袋上茶几、两骰子分别入袋，故终态没有任一威化入袋。log step 453 的5748步交付生成记录同样报告两片威化对两袋的 Inside 均为 False；视频 190.5–191.56 s 无补救操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 152.0–185.25 s，机器人右二指夹爪夹住从抽屉取出的威化包装，运到茶几后张爪释放；视频只确认这一片威化被取出并尝试入袋，按数量步骤归入第1片威化入袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 163.0–174.0 s，底盘在右爪持威化、左爪持骰子的情况下驶向茶几；两臂各自处理不同物品。"
+     }
+    ]
+   },
+   "wafers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 152.5,
+      "log_step": null,
+      "text_zh": "观察：视频 149.5–151.5 s 两片威化仍在抽屉内；视频 152.0–154.5 s 机器人右二指夹爪夹住其中一片并带离，另一片仍留在抽屉。推断：这一取放尝试归入第1片威化入袋，不能凭原计划的物品编号将它视为第2个计数步骤已被操作。"
+     },
+     {
+      "t": 185.5,
+      "log_step": null,
+      "text_zh": "观察：视频 182.5–185.25 s，右爪持威化靠近另一只纸袋；视频 185.5 s 右爪打开，威化中段位于袋口外侧，视频 186.0–187.5 s 包装斜靠袋外，没有形成入袋关系。"
+     },
+     {
+      "t": 191.56,
+      "log_step": 453,
+      "text_zh": "推断：全程未出现两片威化分别进入两只袋的状态。视频 149.5–151.5 s 两片均仍在抽屉，此后只取出一片且投放在袋外；最终 q_score=4/6 已被两袋和两骰子的关系占满，因此本节点终态为 False；log step 453 的交付生成检查一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.6666666666666666,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wafers_in_sacks_1",
+   "t": 185.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 152.0–154.5 s 机器人右爪取出一片威化并带往茶几；视频 185.5 s 松爪时包装位于纸袋开口外侧，视频 186.0–187.5 s 仍斜靠袋外，直至视频 191.56 s 未见补救。评分器 q_score=4/6，已由两袋上桌及两骰子入袋占满，故没有威化入袋；首个未修复步骤是第1片威化入袋，失败锚点为这次袋外投放。"
+  },
+  "unmet": {
+   "sacks_on_table_1": true,
+   "sacks_on_table_2": true,
+   "dice_in_sacks_1": true,
+   "dice_in_sacks_2": true,
+   "wafers_in_sacks_1": false,
+   "wafers_in_sacks_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 185.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 152.0–154.5 s 机器人右爪确实取出一片威化；视频 185.5 s 张爪时，威化包装中段在纸袋开口外侧，视频 186.0–187.5 s 包装斜靠袋外，右爪随后退出。投放没有进入目标内腔，之后未见修正。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 152.0–154.5 s 机器人右爪已成功夹起威化并带离抽屉，视频 182.5–185.5 s 将其送向纸袋，却在视频 185.5–187.5 s 于袋口外侧释放并留下包装；证据支持威化投放控制失败。log step 453 的生成记录保存5748步轨迹并报告两片威化对两袋的 Inside 均为 False，评分器也报告 n_actions=5748、q_score=4/6，与视频结果一致。没有足够证据进一步区分接触几何、逆解或跟踪问题。",
+    "source_zh": "视频 / 日志 / 评分器字段"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；抽屉首次形成可取物开口及纸袋触桌时刻按画面估计，误差约0.5秒。视频 97.0–111.0 s 未显示威化被操作，不能从右爪为空推断此前发生了取威化失败；已删除相应现象。威化包围盒中心不能从图像精确测量，终态采用视频与评分器4/6总数共同判定。log step 453 中间有截断，后续 log step 472–508 为单独测试，不能用其自述结果替代本次交付视频；根因只保留控制大类，具体控制子因无法确定。"
+ },
+ "summary_zh": "评分轨迹完成打开抽屉、两只纸袋上茶几及两个骰子分别入袋，终态为5/7个节点，原生目标得分4/6；抽屉首次可见打开约在视频 148.5 s。首个未修复断点是第1片威化入袋：视频确认取出的一片威化在视频约 185.5 s 于袋口外侧松开，两片威化均未形成入袋关系，仅保留位姿不准及控制根因。无状态日志，物体中心和具体控制子因不能精确核实，置信度保持7；后续会话测试不计入交付进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "抽屉打开节点时间错：视频 100 s 时抽屉仍关闭、机器人左爪持骰子驶离，真正拉开在约 148.5 s。由此“首次取威化空爪撤回”的现象（没建立接触）及断点证据均无依据。其余节点与 4/6 评分一致。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间与 q_score=4/6 一致：抽��约 148.5 s 打开，威化在约 185.5 s 被投放到袋口外（视频 187 s 帧可见威化斜出袋外），断点在 wafers_in_sacks_1，位姿不准与控制根因有证据支持，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": "2026-10-29T11:21:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--umjfkkr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bcb9aa1fcb2759eea934f1d67107bfe687fc4b7dafd3b26e315ff3497e327217",
+   "video_sha256": "0e03cb7e15b1669b3af889359358650d41331227746ff37a1c97073fc352d562",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,409 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/organizing_school_stuff",
+ "suite": "behavior-1k",
+ "base": "behavior-organizing-school-stuff-i00",
+ "title_zh": "整理学习用品",
+ "summary_zh": "文件夹、书、铅笔、钢笔和计算器均在手提包内，手提包在床上，所有目标物体脱离夹爪且静止，六项关系共同保持约一秒。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动操作机器人，双臂各7自由度、各配二指夹爪，带可调躯干和全向轮式底盘，使用辅助抓取；头部及左右腕部各有相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-organizing-school-stuff-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "folder_in_carryall",
+    "zh": "文件夹入包",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "扁平文件夹离开床面后进入红褐色敞口手提包，腕部近景可见薄片落在两条提手之间；允许上缘露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪夹住文件夹，将其送入手提包；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送文件夹到手提包时支承机器人并移动；可先移动手提包改变装包位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:32",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。"
+   },
+   {
+    "id": "book_in_carryall",
+    "zh": "书本入包",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "床上的书本进入红褐色敞口手提包，近景可见带封面和书页厚度的矩形物件落在包口两提手之间；允许书本部分露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪夹住书本，将其送入手提包；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送书本到手提包时支承机器人并移动；可先移动手提包改变装包位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:33",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。"
+   },
+   {
+    "id": "pencil_in_carryall",
+    "zh": "铅笔入包",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "床上的黄色细长铅笔进入红褐色敞口手提包，腕部近景可跟踪其从夹爪下方落入包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪夹住铅笔，将其送入手提包；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送铅笔到手提包时支承机器人并移动；可先移动手提包改变装包位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:34",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。"
+   },
+   {
+    "id": "pen_in_carryall",
+    "zh": "钢笔入包",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "地板上的细长钢笔进入红褐色敞口手提包，腕部近景可跟踪其横放进包口；不能仅因钢笔在原处消失就认定入包，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪夹住钢笔，将其送入手提包；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送钢笔到手提包时支承机器人并移动；可先移动手提包改变装包位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:35",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。"
+   },
+   {
+    "id": "calculator_in_carryall",
+    "zh": "计算器入包",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "带液晶显示屏和按键的计算器进入红褐色敞口手提包，腕部近景可见其竖向插在包口两提手之间；允许上部露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪夹住计算器，将其送入手提包；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送计算器到手提包时支承机器人并移动；可先移动手提���改变装包位置。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:36",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:0-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。"
+   },
+   {
+    "id": "carryall_on_bed",
+    "zh": "手提包上床",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部视角中红褐色敞口手提包由地板移到白色床垫上，包底与床接触且床在包正下方，床不在包上方；只悬在床上空、落在床边地板或后来滑落均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一手臂的二指夹爪抓住手提包的提手或包沿，搬到床面；不限定左右手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在搬送手提包到床面期间支承机器人并移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/bddl/organizing_school_stuff.bddl:23-37",
+     "inputs/task/privileged/instruction.md:4-28",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "inputs/oracle/replay.mp4:90-107.23s"
+    ],
+    "conf": 6,
+    "freeze_held": false,
+    "note_zh": "包上床与五件用品入包没有物理上必要的先后关系。抓取、抬起、转身和松手不单列节点；统一释放、静置窗口属于总成功验收。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人底座的上轴竖直分量小于0.75（倾斜超过约41.4度），或底座高度低于场景地板超过0.03米，连续300个控制步（10秒）触发跌倒失败；短暂倾倒未满窗口不触发，且同一步成功先于跌倒判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位姿、线速度或关节位置出现非有限数，底座任一位置分量绝对值超过10000米或线速度模长超过100米/秒；或者每30控制步检测到目标物体位置非有限或任一位置分量绝对值超过10000米。异常触发后立即失败，录像异常飞散只能提示，确证需要服务状态。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "flags.lit:(inside folder.n.02_1 carryall.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (inside folder.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.lit:(inside book.n.02_1 carryall.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (inside book.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.lit:(inside pencil.n.01_1 carryall.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (inside pencil.n.01_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.lit:(inside pen.n.01_1 carryall.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (inside pen.n.01_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.lit:(inside calculator.n.02_1 carryall.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (inside calculator.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.lit:(ontop carryall.n.01_1 bed.n.01_1)",
+    "level": "new_code",
+    "source": "Log per-frame native BDDL literal (ontop carryall.n.01_1 bed.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)."
+   },
+   {
+    "atom": "flags.success_rule",
+    "level": "new_code",
+    "source": "Log Session.succeeded and RestWatch.run; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1434. Includes all six literals, no assisted grasp of any goal object, speed <= 0.05 m/s for all seven named goal objects, 30 consecutive control steps."
+   },
+   {
+    "atom": "flags.fallen",
+    "level": "new_code",
+    "source": "Log Session._fall.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489."
+   },
+   {
+    "atom": "flags.breakdown",
+    "level": "new_code",
+    "source": "Log Session.breakdown is not None; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json为空，没有可核实的逐帧字段；依据暂行P8，六个节点的when、两项约束的never及success均为null。atoms中的字段仅说明后续需记录的原生量，未用未验证字段绑定；共同释放、静置和30步窗口由各节点的criterion_zh及总成功说明承载。",
+  "两模式的场景实例和物理成功规则相同；特权模式评分器要求两次新进程回放都成功且末态哈希一致，标准模式评判单次实时场景并在必要时追加静置。交付有效性、回放一致性和基础设施检查不建世界状态步骤（inputs/grader/efe_behavior-files/privileged/grade.py:151-174；inputs/grader/efe_behavior-files/standard/grade.py:25-35；inputs/grader/efe_behavior-files/sim/server.py:344-345）。",
+  "成功录像的腕部视角可见用品送入包口，但包壁、提手和其他用品会遮住内部；无法只靠最终一帧核实每件物品的包围盒中心与内部容积关系或0.05米/秒速度。按评分器保留精确标准，不把物体完全没入包口或特定竖放姿态作为要求（暂行N8）。",
+  "初态BDDL和literals.json的initial=000000确认六项关系均不成立。录像首帧机器人已在卧室、手提包已敞口，无跨房间的必经门或开包步骤；其余卧室相邻滑门不属于任务必经路线。",
+  "共同释放、静置及连续30步是跨六步的总成功验收，节点只表示目标关系并设置freeze_held=false，hold_s=0；不将搬动已装物品的包本身误判为独立释放步骤（S1、S17及暂行D17）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六步均直接来自指令，六项目标与评分器逐项对应，初态与无序依赖已核实，并参考完整成功录像；但无状态日志，包内遮挡使容纳、速度和共同保持窗口不能独立数值验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六步（五件用品入包＋手提包上床）与指令和BDDL目标逐项对应，无多余/缺失节点，无习惯边；无状态日志，按暂行P8各节点when与success为null，约束为评分器的跌倒/崩溃失败条件，标签与conf合理。无需改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['folder_in_carryall', 'book_in_carryall', 'pencil_in_carryall', 'pen_in_carryall', 'calculator_in_carryall', 'carryall_on_bed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:15:57Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__organizing_school_stuff/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__organizing_school_stuff/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "9073adef197ae61a1bddc663dc77190dc31fdff588ddf25089325e27d968d3ee",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--cydlakz.json

@@ -0,0 +1,387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-organizing-school-stuff-i00-privileged--cydlakz",
+ "taskKey": "behavior-1k/organizing_school_stuff",
+ "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3217,
+   "sim_steps": 3217,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1487.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 2,
+   "agent_sim_steps": 20918,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-school-stuff-i00-privileged--cydlakz/replay.mp4",
+  "duration_s": 107.233,
+  "fps": 30.0,
+  "frames": 3217,
+  "sha256": "754fb8c1723a754020aa3c584a2384c9d6774b2e53bb7e0aafee4a2eb4b25b36"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "folder_in_carryall": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–7.5 s，机器人左侧腕部视角可见二指夹住蓝色文件夹的角部；文件夹随左臂抬离白色床面并被搬向地板上的敞口手提包。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–12.5 s，左爪将文件夹竖向送入红褐色手提包的两提手之间，随后松开；视频 13.5–14.0 s 的腕部视角可见蓝色薄片留在包内。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "推断：由视频 10.5–11.5 s 的下降和入包过程，将容纳关系起点近似标为视频 11.0 s，误差约 0.5 s；后续装包和搬包画面未见文件夹掉出。"
+     },
+     {
+      "t": 107.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、q_score=1.0；结合本段评分视频可见的入包过程，确认该目标关系在视频末态成立。包壁遮挡使物品中心的精确位置不能由末帧独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住文件夹角部，抬起、搬送并竖放进包，随后松爪；视频 3.5–13.0 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–3.0 s 机器人底盘驶近床边，视频 7.5–10.0 s 持文件夹转向手提包，移动期间由轮式底盘承重。"
+     }
+    ]
+   },
+   "book_in_carryall": {
+    "method": "visual",
+    "intervals": [
+     [
+      95.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.0,
+      "log_step": null,
+      "text_zh": "观察：视频 71.5–75.0 s，机器人右爪夹住床上蓝色书本边角并抬起；右腕近景显示有厚度的蓝色封面矩形物件，头部画面中原床面书本位置变空。左爪仍夹持铅笔。"
+     },
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "观察：视频 93.0–94.5 s 右爪将蓝色书本送向手提包，视频 95.0 s 右腕画面中书本已离开两指，头部画面可见蓝色书本留在包内；视频 96.5–97.5 s 的腕部视角可见包内蓝色矩形物件。"
+     },
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "推断：由视频 94.5–95.0 s 的释放前后画面，将书本入包起点近似标为视频 95.0 s，误差约 0.5 s；视频 106.3–107.2 s 书本仍竖立于床上的手提包中。"
+     },
+     {
+      "t": 107.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、q_score=1.0；结合本段评分视频可见的入包过程，确认该目标关系在视频末态成立。包壁遮挡使物品中心的精确位置不能由末帧独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂二指夹爪夹住书本边角，抬离床面、搬送并送入包后松开；左爪在搬运期间另持铅笔，先将铅笔��入。视频 71.5–75.0 s、93.0–97.5 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 75.0–88.0 s，机器人底盘在右爪持书本、左爪持铅笔时离开床侧并返回包前，移动期间由底盘承重。"
+     }
+    ]
+   },
+   "pencil_in_carryall": {
+    "method": "visual",
+    "intervals": [
+     [
+      90.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 66.0 s 黄色铅笔仍横躺在床上；视频 66.5–69.0 s，机器人左爪夹住笔身并抬起，床上原铅笔位置变空，左腕近景可见黄色笔身被两指夹持。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 88.5–89.5 s 左爪将铅笔降入包口，视频 90.0 s 两指张开，铅笔留在文件夹旁的包内；视频 90.5–91.5 s 左爪撤开，右爪仍持书本。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "推断：根据视频 89.5–90.0 s 的释放及包内留存画面，将铅笔入包起点近似标为视频 90.0 s，误差约 0.5 s；后续小物体被遮挡，未见其掉出。"
+     },
+     {
+      "t": 107.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、q_score=1.0；结合本段评分视频可见的入包过程，确认该目标关系在视频末态成立。包壁遮挡使物品中心的精确位置不能由末帧独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住铅笔笔身，抬离床面、搬送并送入包后松开；右爪同期另持书本。视频 67.0–69.0 s、88.5–91.5 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 75.0–88.0 s，机器人底盘在左爪持铅笔、右爪持书本时离开床侧并返回手提包，移动期间由底盘承重。"
+     }
+    ]
+   },
+   "pen_in_carryall": {
+    "method": "visual",
+    "intervals": [
+     [
+      46.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 23.0–25.5 s，机器人右爪在地板处合拢夹住细长钢笔；视频 25.5–28.5 s 钢笔随右爪上升，右腕近景可见笔身位于两指之间，原地板位置不再留有钢笔。左爪同时另持计算器。"
+     },
+     {
+      "t": 46.5,
+      "log_step": null,
+      "text_zh": "观察：视频 45.5–47.5 s，机器人右爪把钢笔降到手提包口，右腕近景可见浅色笔身横在蓝色文件夹前方、两提手之间；视频 48.0–48.5 s 右爪张开并撤离包口。"
+     },
+     {
+      "t": 46.5,
+      "log_step": null,
+      "text_zh": "推断：依据视频 46.0–47.0 s 的送入过程，将钢笔入包起点近似标为视频 46.5 s，误差约 0.5 s；此后钢笔被包壁和其他用品遮挡，未见掉出。"
+     },
+     {
+      "t": 107.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、q_score=1.0；结合本段评分视频可见的入包过程，确认该目标关系在视频末态成立。包壁遮挡使物品中心的精确位置不能由末帧独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂二指夹爪夹住钢笔，携带返回并横放进手提包后松开；左爪同期另持计算器。视频 23.0–28.5 s、45.5–48.5 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 26.0–45.0 s 机器人底盘在双手分别持钢笔和计算器时转向、平移返回手提包，车轮移动并支承机器人。"
+     }
+    ]
+   },
+   "calculator_in_carryall": {
+    "method": "visual",
+    "intervals": [
+     [
+      51.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–21.5 s，机器人左爪夹住地板上带显示屏和按键的计算器，计算器随左爪抬起；视频 27.0–45.0 s 左腕近景持续显示被夹持的计算器，机器人将其带回包前。"
+     },
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.5–50.5 s，左爪携计算器向包口下降；视频 51.0 s 左腕画面中计算器已离开两指，头部画面可见其在包口与蓝色文件夹并列，随后左爪撤离。"
+     },
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "推断：由视频 50.5–51.5 s 的释放前后画面，将计算器入包起点近似标为视频 51.0 s，误差约 0.5 s；后续未见计算器掉出。"
+     },
+     {
+      "t": 107.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、q_score=1.0；结合本段评分视频可见的入包过程，确认该目标关系在视频末态成立。包壁遮挡使物品中心的精确位置不能由末帧独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住计算器边角，保持夹持搬送并竖向放入包口后松开；右爪曾同期另持钢笔。视频 18.5–21.5 s、49.5–52.5 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 26.0–45.0 s，机器人底盘在左爪持计算器、右爪持钢笔时转向并平移回包前，承担机器人及持物的支撑。"
+     }
+    ]
+   },
+   "carryall_on_bed": {
+    "method": "visual",
+    "intervals": [
+     [
+      106.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 100.0,
+      "log_step": null,
+      "text_zh": "观察：视频 97.0–100.0 s 手提包仍在地板上，机器人左爪降到红褐色提手处并合拢；视频 100.0–105.5 s 提手被夹在左爪两指间，装有用品的包随左臂抬起，机器人转向白色床垫。"
+     },
+     {
+      "t": 106.3,
+      "log_step": null,
+      "text_zh": "观察：视频 106.0–106.3 s 机器人将手提包下放，包底到达白色床垫；视频 106.3–107.2 s 包直立留在床垫上，未见滑落，视频 107.2 s 左腕近景可见两指已张开。"
+     },
+     {
+      "t": 106.3,
+      "log_step": null,
+      "text_zh": "推断：将包底与床面的接触起点近似标为视频 106.3 s，误差约 0.3 s。inputs/run.json 的评分器 success=1、all_success=1、q_score=1.0 确认末态六项目标及共同释放静置验收通过，视频未见与该结果矛盾的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住红褐色手提包的提手，将整包提离地板并搬至床面后张开；视频 100.0–107.2 s 可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 104.0–106.0 s，机器人底盘在左爪携带装好用品的手提包时转向并驶近床边，移动期间支承机器人与所持手提包。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分视频中，机器人依次将文件夹、钢笔、计算器、铅笔和书本装入手提包，再将整包从地板搬到床上，六个节点最终全部成立。视频 106.3–107.2 s 显示包留在床垫上，评分器 success=1、all_success=1、deterministic=1、q_score=1.0，未见未修复的失败。没有逐帧状态日志，包内遮挡使精确中心位置、速度和共同静置窗口不能独立数值核实；节点起点取视觉近似，末态结合评分器成功结果确认，日志中的早期测试和重置未计入本段进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点的入包/上床时间与视频帧一致（误差在约1 s内），评分器 success=1、q_score=1.0，无失败，failure 为 null 合理；接触标签（抓握+底盘支撑）与画面相符。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": "2026-10-29T11:34:06Z",
+  "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/behavior-organizing-school-stuff-i00-privileged--cydlakz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--cydlakz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5921073cb5949f08da34f9d930c6896f6b68a307e357b56029db5e8743476cf4",
+   "video_sha256": "754fb8c1723a754020aa3c584a2384c9d6774b2e53bb7e0aafee4a2eb4b25b36",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--flyqutm.json

@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-organizing-school-stuff-i00-privileged--flyqutm",
+ "taskKey": "behavior-1k/organizing_school_stuff",
+ "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2872,
+   "sim_steps": 2872,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1421.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 18,
+   "agent_sim_steps": 60,
+   "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/behavior-organizing-school-stuff-i00-privileged--flyqutm/replay.mp4",
+  "duration_s": 95.733,
+  "fps": 30.0,
+  "frames": 2872,
+  "sha256": "4a59de27f205326b5300c1ff9030c10a120350c1a6a7708272a9ff5ea8656123"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "folder_in_carryall": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "观察：本次视频从开始至视频 95.6 s 未出现夹爪搬运扁平文件夹或将其插入手提包的动作；床边末段没有文件夹随夹爪移动或到包口放入的过程。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ]
+   },
+   "book_in_carryall": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 73.5,
+      "log_step": null,
+      "text_zh": "观察：视频 67.5–73.5 s 蓝色书本仍留在床面；整段视频未见书本被夹爪带起并送入手提包，最后视频 95.0–95.6 s 夹爪也未持书。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ]
+   },
+   "pencil_in_carryall": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 67,
+      "log_step": null,
+      "text_zh": "观察：视频 66.5–67.5 s 右腕画面可见黄色铅笔和蓝色书本仍在白色床面。视频 68–95.6 s 机器人在床边调整左臂并合爪，所查看腕部画面没有铅笔随夹爪离开床面的过程，也没有前往手提包的投放过程。"
+     },
+     {
+      "t": 95.6,
+      "log_step": 300,
+      "text_zh": "推断：log step 288 的流水线按钢笔、计算器、铅笔、书本、文件夹、手提包顺序执行；log step 298 报告本次最终尝试钢笔阶段失败，log step 300 和 303 确认交付的是 2872 行部分轨迹。视频中钢笔尝试后移向计算器、再到床边连续两轮调臂直至结束，与只交付到铅笔阶段的过程相符；不把会话更早轮次的书本抓取计入本次。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 68–95.6 s 左臂在床边调整并合爪，关键末端区域被床沿和机器人自身遮住，未见夹持铅笔，不能确认是否与铅笔实际接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人以轮式底盘承重移动到该用品的抓取位置；本次未携该用品行驶。"
+     }
+    ]
+   },
+   "pen_in_carryall": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–12.5 s 左腕画面可见地上的银白色钢笔；左夹爪合拢后撤开，钢笔仍留在地板上。视频 21–22 s、33–34 s 再次合爪也��带走钢笔，随后机器人移向计算器；之后未返回完成钢笔入包。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 11.1–12.3 s 左夹爪两指在钢笔末端两侧合拢，钢笔仍在地板；视频 21–22 s、33–34 s 合爪偏在钢笔旁。腕部投影不能确定第一次是否实触、是否仅压碰，未见形成可带起钢笔的抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人以轮式底盘承重移动到该用品的抓取位置；本次未携该用品行驶。"
+     }
+    ]
+   },
+   "calculator_in_carryall": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38–49 s 左腕画面持续可见计算器，左夹爪在其旁边调整并合拢；视频 49 s 计算器仍在地板上，视频 50–61 s 夹爪离开时没有携带计算器，也没有到包口投放。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 40–49 s 左夹爪接近计算器并在边缘附近合拢，但计算器没有离地；相机深度和接触点不足以确定两指是否夹住或仅压碰计算器。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人以轮式底盘承重移动到该用品的抓取位置；本次未携该用品行驶。"
+     }
+    ]
+   },
+   "carryall_on_bed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、36.5–37.5 s、63–67 s 可见红褐色手提包仍在床旁地板上；机器人随后在床边调臂，直至视频 95.6 s 都未见抓住手提包、搬运或放到床面的动作。"
+     },
+     {
+      "t": 95.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务 DAG 初态六项关系均为假；结合本次视频没有任何用品送入包口、没有搬包上床的过程，六个节点末态均为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_in_carryall",
+   "t": 12.5,
+   "log_step": 298,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.1–12.3 s 机器人左夹爪在地板钢笔末端附近闭合，视频 12.5 s 撤开后钢笔仍在原处；视频 21–22 s、33–34 s 两次重试也未将它带起，随后转去计算器且不再修复。log step 298 的最终尝试输出亦报告 PEN False；这是本次最早未修复的步骤。"
+  },
+  "unmet": {
+   "folder_in_carryall": false,
+   "book_in_carryall": false,
+   "pencil_in_carryall": false,
+   "pen_in_carryall": false,
+   "calculator_in_carryall": false,
+   "carryall_on_bed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 12.5,
+    "log_step": 298,
+    "evidence_zh": "观察：视频 10.5–13 s 左夹爪靠近、闭合并离开时，钢笔始终留在地板；视频 21–22 s、33–34 s 重试后同样空爪离开，未建立搬运所需的有效抓取接触。这里不把可能的轻触等同于成功夹持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 11–12.5 s 合爪未带起钢笔，视频 21–22 s 和33–34 s 重试时夹爪闭合位置偏离钢笔；log step 298 属于最终尝试，输出 PEN False，随后计算器抓取的 td errs 为 0.048、0.0678 且 in_hand False。log step 259、288 的脚本在有限轮末端纠偏后继续闭爪，支持抓取执行及末端控制未到位；证据不足以区分逆解、反馈跟踪和接触设计的贡献。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；腕部投影不能确定钢笔、计算器尝试中是否发生轻触及接触力，床边铅笔尝试的末端还被床沿和机体遮挡，故三项实际操作接触保留未知，并记录可见的底盘移动。末态六项为假同时受评分器总分及无搬运入包过程支持；log step 303 所述躯干下垂是 agent 对会话调试的解释，未作为本次已证实的具体��因。交付为部分流水线，不将更早会话的抓取、跌倒或后续未交付动作移入本次。"
+ },
+ "summary_zh": "本次交付回放未达到六个目标关系中的任何一个，评分器 q_score=0；机器人反复抓取地上钢笔、计算器后移至床边继续尝试，未发生用品入包或搬包上床。最早未修复的断点是钢笔入包：左夹爪闭合后未带起钢笔，视频与最终尝试日志支持控制执行失败。没有状态日志，细微接触及床边末端被遮挡，无法细分控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点末态为假与评分器 q_score=0 及视频一致；钢笔在视频 11–13 s 合爪后仍留在地板，断点为 pen_in_carryall 合理；现象与根因有视频和 log step 298 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": "2026-10-29T11:33:50Z",
+  "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/behavior-organizing-school-stuff-i00-privileged--flyqutm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--flyqutm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5af5d5010db2656fe63b48e14e2abbbb604afc97e5aa96e9325f8c4b1ff37e2e",
+   "video_sha256": "4a59de27f205326b5300c1ff9030c10a120350c1a6a7708272a9ff5ea8656123",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,367 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "suite": "behavior-1k",
+ "base": "behavior-put-together-a-basic-pruning-kit-i00",
+ "title_zh": "组装基础修剪工具套装",
+ "summary_zh": "修枝剪和大剪刀均装入车库地板上的工具箱且箱盖关闭；当前规则另要求所有目标物体松手静止连续30步，所给成功录像使用目标关系成立即成功的旧规则。",
+ "embodiment_zh": "两模式均为R1Pro轮式双臂移动操作机器人，左右臂各配二指夹爪，带可动躯干、全向移动底盘及头部和双腕相机；夹爪采用辅助抓取。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-put-together-a-basic-pruning-kit-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "toolbox_on_floor",
+    "zh": "工具箱留地上",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "红色工具箱箱体接触车库灰色地板，地板在箱体正下方；开局即成立，箱体被抬离地面或放到其他支承物上即失去，重新落地可恢复。当前评分还要求四项目标关系同时成立、所有目标物体均未附着夹爪且线速度不大于0.05米/秒，连续30个控制步（30赫兹）；这是跨步骤的联合成功验收，不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "机器人夹爪无需碰触工具箱来保持其落地；开关箱盖时避免带起箱体。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/privileged/instruction.md:28",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:12-17",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:22",
+     "inputs/bddl/put_together_a_basic_pruning_kit.literals.json:16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "S4(a)：可保持的初始目标独立计步，不能并入剪具入箱，也不是历史否决约束；保持时没有操作接触。关闭状态与落地状态使初始进度为2/5；若需恢复落地，可用夹爪放回地板。freeze_held=false，握住箱体不能掩盖离地。"
+   },
+   {
+    "id": "toolbox_opened",
+    "zh": "打开工具箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部相机可见红色工具箱盖从箱体上转开，露出可装入剪具的箱内空间；盖仍贴合箱沿、内腔仍被挡住时未完成。对应open谓词为真，即至少一个可开关关节越过从关闭到全开的5%行程；不要求完全打开到某个录像角度。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓住工具箱盖把手或盖沿，沿铰链方向翻开。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "任一侧夹爪手指勾住工具箱盖把手或盖沿，将盖翻开。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:29",
+     "inputs/bddl/put_together_a_basic_pruning_kit.literals.json:16",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:23-26",
+     "inputs/oracle/run.json:1（步骤25与成功录像的初始闭盖及随后开盖）"
+    ],
+    "conf": 6,
+    "note_zh": "初始闭盖由initial=1001及录像核实；两件剪具装入的必要前提。抓盖、抬手及沿铰链运动不另建节点，不要求特定手、角度或绕行路线。机器人与目标物均始于车库，无额外必经房门步骤。"
+   },
+   {
+    "id": "pruner_in_toolbox",
+    "zh": "修枝剪入箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "toolbox_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "细长修枝剪从车库地板移到红色工具箱内，头部或腕部视角可见它落在箱内而非箱外地板或箱沿外侧；按inside谓词，其轴对齐包围盒中心须同时处于箱体包围盒及内部容积，离开内腔即失去，不能要求整件完全低于箱沿。当前评分还要求四项目标关系同时成立、所有目标物体均未附着夹爪且线速度不大于0.05米/秒，连续30个控制步（30赫兹）；这是跨步骤的联合成功验收，不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪夹持修枝剪，搬到工具箱内。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及夹持修枝剪的机械臂，在车库内移动到工具箱。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/privileged/instruction.md:27",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:13",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:23",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/oracle/replay.mp4（约96秒可见箱内修枝剪）"
+    ],
+    "conf": 6,
+    "note_zh": "修枝剪与大剪刀是不同类别，各一步、彼此无先后边；它们是被收纳的目标，不是必须拿起使用的辅助工具。此节点按容纳关系实时计数，松手和静置统一留在跨步骤success，故freeze_held=false。"
+   },
+   {
+    "id": "shears_in_toolbox",
+    "zh": "大剪刀入箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "toolbox_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "另一件带两条长刃的大剪刀从地板移入红色工具箱，腕部或头部视角可见它与修枝剪同处箱内而非仍夹在箱外；按inside谓词，其轴对齐包围盒中心须同时处于箱体包围盒及内部容积，中心离开内腔即失去，不能仅凭越过箱口判断。当前评分还要求四项目标关系同时成立、所有目标物体均未附着夹爪且线速度不大于0.05米/秒，连续30个控制步（30赫兹）；这是跨步骤的联合成功验收，不另计步骤。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪夹持大剪刀，将其放入工具箱。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人及夹持大剪刀的机械臂，从大剪刀所在处移动到工具箱。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/privileged/instruction.md:27",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:14",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:24",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/oracle/replay.mp4（约112至128秒可见两件工具入箱）"
+    ],
+    "conf": 6,
+    "note_zh": "独立于修枝剪的固定类别目标，没有任意配对或同类计数。此节点按容纳关系实时计数，联合松手静置在success，故freeze_held=false；不把抓取、运输、松手另算步骤。"
+   },
+   {
+    "id": "toolbox_closed",
+    "zh": "关上工具箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pruner_in_toolbox",
+     "shears_in_toolbox"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "红色箱盖转回覆盖箱口、贴近箱沿，箱内工具被盖住；not open要求每个可开关关节均不超过全行程的5%，不另要求未受评的锁扣动作，盖再次明显掀开即失去。开局即成立，开箱后下降，最后装好两件剪具后恢复；当前评分还要求四项目标关系同时成立、所有目标物体均未附着夹爪且线速度不大于0.05米/秒，连续30个控制步（30赫兹）；这是跨步骤的联合成功验收，不另计步骤。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一侧二指夹爪抓住工具箱盖沿或把手，沿铰链弧线合盖。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一侧张开的夹爪推动工具箱盖，沿铰链方向合上箱盖。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:9",
+     "inputs/task/privileged/instruction.md:29",
+     "inputs/bddl/put_together_a_basic_pruning_kit.bddl:25-27",
+     "inputs/bddl/put_together_a_basic_pruning_kit.literals.json:16",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435",
+     "inputs/oracle/replay.mp4（末段腕部视角可见红色箱盖回落）"
+    ],
+    "conf": 6,
+    "note_zh": "S4(b)：恢复初始闭盖关系，mode=state，after只记录最后合盖在装入之后，不门控开局计数。freeze_held=false，握盖操作期间仍应反映开闭；30步联合验收在success，不对本节点单独加保持时间。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器���基座上轴的世界竖直分量低于0.75（倾斜约超过41.4度），或基座低于地板超过0.03米，任一情况连续300个控制步（10秒）后触发跌倒失败；短暂倾斜不等于违规。同一步成功优先于跌倒检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1490"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节状态出现非有限数，机器人任一位置坐标绝对值大于10000米或基座线速度大于100米/秒，或目标物体位置非有限或任一坐标绝对值大于10000米时触发失败；机器人每控制步检查，目标物体每30步检查。仅凭相机转斜不能确认此约束，需运行日志的breakdown记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1469"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "toolbox_on_floor",
+    "level": "new_code",
+    "source": "flags.lit:(ontop toolbox.n.01_1 floor.n.01_1); inputs/bddl/put_together_a_basic_pruning_kit.bddl:22; no state log supplied"
+   },
+   {
+    "atom": "pruner_inside_toolbox",
+    "level": "new_code",
+    "source": "flags.lit:(inside pruner.n.02_1 toolbox.n.01_1); inputs/bddl/put_together_a_basic_pruning_kit.bddl:23; no state log supplied"
+   },
+   {
+    "atom": "shears_inside_toolbox",
+    "level": "new_code",
+    "source": "flags.lit:(inside shears.n.01_1 toolbox.n.01_1); inputs/bddl/put_together_a_basic_pruning_kit.bddl:24; no state log supplied"
+   },
+   {
+    "atom": "toolbox_closed",
+    "level": "new_code",
+    "source": "flags.lit:(not (open toolbox.n.01_1)); inputs/bddl/put_together_a_basic_pruning_kit.bddl:25-27; no state log supplied"
+   },
+   {
+    "atom": "toolbox_open",
+    "level": "new_code",
+    "source": "proc.toolbox.n.01_1.open; inputs/task/privileged/instruction.md:29; no state log supplied"
+   },
+   {
+    "atom": "joint_success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule plus goal_held_steps, goal_objects_held and goal_objects_moving; inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435; no state log supplied"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Session.status().fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1490; no state log supplied"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Session.status().breakdown; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1469; no state log supplied"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空：按P8所有节点when、约束never及success均为null；atoms列出未来应记录的谓词和检查器字段，不把未提供的日志字段当作已验证绑定。没有可计入证据一致性统计的状态回放。",
+  "评分版本差异：inputs/oracle/run.json:1的task_text明确称目标成立即终止，reward中无当前goal/release/rest字段；当前rcb_behavior.py:103-105、1414-1435增加30步联合松手静置，不能据此否认旧规则下的成功。按P19，逐轨迹使用执行时规则；此DAG的几何目标保持相同，当前联合验收仅在适用版本判定。",
+  "两模式的世界状态成功规则相同；privileged评分器grade.py:163-174还检查两次新进程回放均成功、末态散列一致及初态匹配，standard/grade.py:25-36读取服务实时结果并检查终结与基础设施状态。这些交付、复现和基础设施条件不能作为语义节点或未记录的世界状态success原子。",
+  "“工具箱留在地板上”按评分器的终态ontop目标与S4(a)建可恢复state节点：代码没有把短暂离地设为历史否决，故不增设禁止离地约束。初始1001意味着落地与闭盖从零时刻计入2/5，开盖事件抵消必需开盖造成的闭盖状态下降。",
+  "无日志条件下难以从遮挡、近距离腕部视角精确确认包围盒中心、5%关节阈值和0.05米/秒；按评分器定义及相机可见线索判断，不用录像估计新的阈值。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "五个步骤、四个目标及初始1001有文本、BDDL和成功录像支持，边仅保留开箱先于装入及最终合盖；缺少状态日志且成功录像与当前联合验收版本不同，无法自动核验精确谓词与保持窗口。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无状态日志，按P8全部when/never/success为null；节点集合（工具箱落地、打开、剪枝剪入箱、大剪刀入箱、关箱）与文本一致，边合理，约束为评分器失败条件，版本差异已列入open_questions_zh。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['toolbox_on_floor', 'toolbox_opened', 'pruner_in_toolbox', 'shears_in_toolbox', 'toolbox_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:12:53Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__put_together_a_basic_pruning_kit/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__put_together_a_basic_pruning_kit/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "d5ab7540b93486367648549c0cb53f962904a77c6938ceb77d7daab5bcb32188",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--yfjyhkh.json

@@ -0,0 +1,307 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--yfjyhkh",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 5734,
+   "sim_steps": 5734,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1540.8,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 6,
+   "agent_sim_steps": 39685,
+   "agent_records": 6,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--yfjyhkh/replay.mp4",
+  "duration_s": 191.133,
+  "fps": 30.0,
+  "frames": 5734,
+  "sha256": "56aa67970a6da2c85f6484a38dfa0cbb50d920462d1ebf5677bfd142311a52ff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      166.5
+     ],
+     [
+      176.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱闭盖放在车库灰色地板上；视频 9.0–162.0 s 的开盖、装工具及多次合盖操作中，箱体主要仍由地板承托。"
+     },
+     {
+      "t": 169,
+      "log_step": 234,
+      "text_zh": "观察：视频 165.5–174.5 s 左臂转腕时工具箱随之抬高、倾斜，头部视角中箱体被带向机器人上方；log step 234 记录同一交付续段箱体位置高度为0.315米，随后 log step 235 的脚本执行下降0.12米。"
+     },
+     {
+      "t": 176,
+      "log_step": null,
+      "text_zh": "推断：结合视频 165.5–178.5 s 的抬箱、下放过程，将箱体离地估为视频 166.5–176.0 s；箱底接触区被箱盖和机器人遮挡，两个边界约有1–2秒不确定性。"
+     },
+     {
+      "t": 191.1,
+      "log_step": 240,
+      "text_zh": "推断：视频 190.9–191.1 s 左夹爪松开、箱盖合拢，未见箱体继续悬挂；log step 240 的同一交付续段末态读数为 ONTOP True，inputs/run.json 的最终 success=1 也要求工具箱接触地板，因此末态落地成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 165.5–178.5 s 左二指夹爪夹住箱盖边缘，转腕带起箱体后再下放；作用经铰链传到箱体。开局落地无需操作。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0 s 箱盖仍覆盖箱口，视频 15.5–17.2 s 左夹爪夹着黑色把手抬盖，红色内腔逐渐露出，视频 18.0–19.0 s 已明显打开；首次达到开盖阈值估为视频 16.0 s，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.0–19.0 s 左二指夹爪夹住工具箱盖的黑色把手，带动盖绕铰链翻开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–9.0 s 机器人底盘驶向地板上的工具箱并停靠，承载机械臂完成开盖接近。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–34.0 s 修枝剪从原先地板位置离开，视频 34.0 s 左腕视角可见红柄修枝剪夹在左二指之间，随后随底盘返回工具箱。"
+     },
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–55.5 s 左夹爪将竖着的修枝剪降入红箱内腔，视频 56.0–58.0 s 松爪后修枝剪在箱底倒平，夹爪离开；按允许持物时成立的容纳关系，首次入箱估为视频 55.0 s，误差约0.5秒。"
+     },
+     {
+      "t": 191.1,
+      "log_step": 240,
+      "text_zh": "推断：视频 58.0 s 后未见修枝剪被取出或甩到箱外；末段箱内受遮挡，log step 240 记录同一交付末态 INS True True，且最终评分 success=1、q_score=1.0，因此修枝剪入箱关系最终成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 32.0–56.0 s 左���指夹爪夹住红柄修枝剪，将其从地板举起并放入箱内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 34.0–48.0 s 底盘载着左手中的修枝剪行驶回工具箱旁。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      87.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 78,
+      "log_step": null,
+      "text_zh": "观察：视频 66.0 s 地板上可见黑色双环柄大剪刀，视频 68.0 s 左夹爪靠近；视频 78.0–82.0 s 左腕视角可见两条长刃及双环柄随左手升起、运输，原地板位置已空。"
+     },
+     {
+      "t": 87,
+      "log_step": null,
+      "text_zh": "观察：视频 85.0–87.5 s 左夹爪将大剪刀降入工具箱；视频 88.0–90.5 s 双环柄和银色刀刃已横落在红色内腔中，左爪退开。首次容纳关系估为视频 87.0 s，误差约0.5秒。"
+     },
+     {
+      "t": 191.1,
+      "log_step": 240,
+      "text_zh": "推断：后续合盖过程中未见大剪刀掉出；视频 190.9–191.1 s 箱盖闭合遮住内容物，log step 240 的同一交付末态记录两件工具 INS True True，最终评分 success=1 支持大剪刀仍在箱内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 68.0–88.0 s 左二指夹爪夹持带双环柄的大剪刀，举离地板、运输并降入工具箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 78.0–84.0 s 底盘载着左手夹持的大剪刀从拾取处驶回工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      16.0
+     ],
+     [
+      191.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–13.0 s 红色工具箱盖覆盖箱口，开局闭盖关系成立；视频 15.5–17.2 s 箱盖打开，闭盖关系在约视频 16.0 s 失去。"
+     },
+     {
+      "t": 130,
+      "log_step": null,
+      "text_zh": "观察：视频 94.0–162.0 s 左夹爪多次接近、夹住箱盖边缘并转腕，箱体与盖一起移动；内腔持续可见，这些动作尚未完成闭盖。"
+     },
+     {
+      "t": 191.0,
+      "log_step": 240,
+      "text_zh": "观察：视频 190.6–190.9 s 左爪松开，视频 190.95–191.07 s 箱盖回落覆盖箱口，黑色把手在盖外，内腔被盖住；最终闭盖约在视频 191.0 s。log step 240 的交付续段读数 LID 约为0，log step 242 保存5734条动作并报告 success=True；最终评分也为成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 98.0–190.6 s 左二指夹爪多次夹住箱盖边缘，转腕尝试合盖；最后松开夹爪，箱盖回落闭合。右夹爪未参与稳箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 137.0–150.0 s 左爪暂时离盖，底盘重新靠近工具箱，随后左爪再次接近并夹住箱盖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人打开工具箱，用左夹爪依次装入修枝剪和大剪刀，末段经转腕、下放、松爪后箱盖在视频约191.0 s 合拢，最终五个节点全部达成，评分 success=1、q_score=1.0。推断：合盖时箱体曾短暂离地后恢复，工具未见掉出；无状态日志，箱底与内容物存在遮挡，离地及复落地边界约有1–2秒不确定性，精确包围盒中心及关节阈值也只能近似判断。观察：本次 task_text 使用四项目标关系成立即终止的旧规则，因此按P19接受该成功，不追加DAG所述新版30步联合松手静置验收；oracle就是本次运行，没有独立成功录像可作对照。",
+ "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，五个节点终值与评分 success=1、q_score=1.0 一致；时间与证据文字符合视频和 log，未发现需要修改的错误。离地区间受遮挡，已标注为推断。",
+    "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": "2026-10-29T11:31:20Z",
+  "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/behavior-put-together-a-basic-pruning-kit-i00-privileged--yfjyhkh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--yfjyhkh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1608e9bc75ab600088cd9567ad5ef0b110caec3d31a0d2d036b9cd5d2ed50fee",
+   "video_sha256": "56aa67970a6da2c85f6484a38dfa0cbb50d920462d1ebf5677bfd142311a52ff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--nycg5ao.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--nycg5ao",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2249,
+   "sim_steps": 2249,
+   "physics_steps": 8996,
+   "steps": 2199,
+   "elapsed_s": 799.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 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/behavior-put-together-a-basic-pruning-kit-i00-standard--nycg5ao/replay.mp4",
+  "duration_s": 74.967,
+  "fps": 30.0,
+  "frames": 2249,
+  "sha256": "73dd7e29cfa4d573b66a1155fdbbdf837d0fe105156c69fee1885152ead2d975"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱放在灰色车库地板上，视频 7.5、22.5、42.5、52.5、61.5 s 再次可见箱体仍落地；机器人没有抬箱动作。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "推断：视频 61.5 s 后机器人在红车前部附近翻倒，视频 74.9 s 的末帧未显示工具箱被带起；结合此前未触箱的巡查过程，落地关系保持到结束。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、7.5、22.5、42.5、52.5 s 所见工具箱盖均盖合，没有转开露出内腔；全片机器人仅移动、转向和改变观察姿态，未见夹爪开盖。成功参考的参考视频 45.0、60.0 s 可见箱盖掀开及内腔，本次未出现该线索。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "推断：视频末段机器人侧倒后没有返回工具箱；结合视频中无开盖过程，打开事件未达成。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0、37.5、40.0 s 的头部或腕部视角仍可见地板上的红柄剪具；机器人未将剪具夹起并搬向工具箱，箱盖也未打开。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "推断：视频全程无修枝剪从原处离地并进入箱内的过程；评分器 reward.q_score=0.0、live_matches_replay=1 也排除末态新增的修枝剪入箱目标。初始落地与闭盖关系不增加该分数，不能据零分否认它们。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–62.5 s 的巡查中，两夹爪未携带可见剪具，也没有剪具越过箱口进入内腔的过程；可见工具箱始终闭盖。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "推断：视频 64.0–74.9 s 机器人在红车附近侧倒，未执行大剪刀搬运；结合全片没有入箱动作及评分器 reward.q_score=0.0、live_matches_replay=1，大剪刀入箱末态为假。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 箱盖覆盖箱口，黑色提手位于盖上；视频 7.5、22.5、42.5、52.5、61.5 s 仍呈同一闭盖外形，未见箱盖转开或夹爪操作。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "推断：视频末段机器人在远离箱体的红车前部附近侧倒，未���箱盖，因此初始闭盖关系持续至结束；该状态节点不受两件剪具入箱前置边门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 64.5,
+   "log_step": 140,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0.0–62.5 s 机器人在车库内多次转向和移动观察，未操作箱盖或搬运剪具；视频约 64.0–65.5 s 两腕相机紧邻红车，头部视角骤然朝向天花板并翻斜，视频 70.0–74.9 s 持续侧倒。log step 132 的 survey.py 与 log step 133 的调用显示此时执行按航点移动并旋转采集图像的通用巡查；log step 140、142 的服务结果为 failure: the robot fell over。推断：失败发生在物体操作前的场景探索，证据无法将该段巡查唯一归入开箱、修枝剪入箱或大剪刀入箱节点，故节点记 unknown。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 64.5,
+    "log_step": 142,
+    "evidence_zh": "观察：视频约 64.5 s 相机画面急剧翻斜，视频 69.5–74.9 s 车轮与墙面在头部视角中横转近直角，机器人未恢复直立；log step 142 的机器人服务状态报告 done=true、reason=\"failure: the robot fell over\"、control_steps=2249，读取本体姿态计算的倾角约 93.6°。这是本次单局实时运行的结束状态，reward.live_matches_replay=1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 103 中 agent 编写的 drive_to 循环只按当前位置与航点距离更新每步位移，读取的基座高度和姿态未用于中止，没有障碍距离、卡住或倾斜保护；log step 132 的实际巡查脚本直接调用该函数。log step 147 输出的巡查记录显示，机器人在第四个航点附近反复移动后距目标仍约 1.7–2.1 米，控制器继续发送位移，直到服务报告跌倒；视频约 64.0–69.5 s 可见机器人紧邻红车且反复翻斜。推断：底盘已不能正常接近航点时，控制器未依据运动受阻和姿态失稳反馈停止或退让，导致失稳持续；不从事后修订但未执行的 gen.py 推断恢复成功。"
+   }
+  ],
+  "gap_zh": "无状态日志，不能直接核验车身与底盘的接触对、精确碰撞部位及失稳瞬间的动力学；因此只标可确认的平衡现象，不额外判定碰撞现象。通用巡查未进入具体物体操作，不能确定翻倒时正为哪一个 DAG 节点工作，断点 ref 留 unknown；各节点均无可归属的操作尝试，故不将巡查底盘接触臆配到其 contact_actual。末帧工具箱不可见，其落地与闭盖末态由此前多次可见且从未被机器人操作的连续过程推断。"
+ },
+ "summary_zh": "本次评分轨迹仅保留“工具箱留地上”和“关上工具箱”两项初始状态，最终为 2/5；没有开箱或剪具入箱，评分器 q_score=0.0 与这两项初始关系保持并不矛盾。机器人在通用场景巡查中于视频约 64.5 s 翻倒，底盘控制循环缺少受阻与倾斜后的中止反馈，之后未恢复；巡查未能唯一归属具体 DAG 节点，断点记 unknown／探索。无状态日志且末帧遮挡工具箱；本次 task_text 使用目标成立即结束的旧规则，按执行时版本判断，不追加 DAG 所述新版联合松手静置验收。",
+ "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（2/5，仅初始落地与闭盖保持）、断点 unknown/探索、平衡现象与反馈控制根因均与视频和 log 一致，未发现需要改内容的错误。",
+    "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": "2026-10-29T11:30:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--nycg5ao/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--nycg5ao/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e98182c41603814aae0ed97119c999590f362acc9986a9896f10be893e3a58b3",
+   "video_sha256": "73dd7e29cfa4d573b66a1155fdbbdf837d0fe105156c69fee1885152ead2d975",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,314 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/rearrange_your_room",
+ "suite": "behavior-1k",
+ "base": "behavior-rearrange-your-room-i00",
+ "title_zh": "重新布置卧室",
+ "summary_zh": "纸巾盒放在任一指定台柜上，两只枕头一床一个放在两床上，全部目标物松手并以不超过0.05 m/s静置连续30控制步。",
+ "embodiment_zh": "privileged与standard均为R1Pro移动双臂机器人：左右各七关节机械臂与二指平行夹爪，四关节躯干及全向轮式底盘，采用辅助抓取；头部和左右腕部相机。两模式的感知及控制接口不同，实体和物理成功规则相同。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-rearrange-your-room-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "tissue_on_stand",
+    "zh": "纸巾盒上台",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "纸巾盒从扶手椅移到四个指定台柜中的任一个台面上，与台面接触且台面直接在它下方，已经离手、线速度不超过0.05 m/s；录像中是露出白色纸巾的小盒落在柜面，目标可为床边矮柜或电视下的长台，留在椅上、悬在台面上方或落到地上均不成立。盒子失去台面承托即失去此步；最终还须与两枕头上床一起满足全部目标物松手静置连续30控制步的联合验收。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住纸巾盒并搬放。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带夹爪所持的纸巾盒移动到目标家具旁。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪分别抓住同一个纸巾盒的两侧，协同搬放。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带双爪所持的纸巾盒移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-10",
+     "inputs/bddl/rearrange_your_room.bddl:29-32",
+     "inputs/bddl/rearrange_your_room.literals.json:2-10",
+     "inputs/bddl/rearrange_your_room.literals.json:54",
+     "inputs/oracle/replay.mp4:114-120.7s",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "四个stand目标任选其一，不能把目标限于录像选用的长台；纸巾盒与枕头放置之间无必需顺序。节点只要求本物体放妥，联合窗口置于成功验收，故hold_s为0；放置须离手，沿用持物冻结默认值。 最终三项关系须同时成立，且所有目标范围物体（纸巾盒、两枕头、两床、四台柜）均未被夹持、线速度不超过0.05 m/s，连续30个30 Hz控制步；该联合窗口属于成功验收，不另列节点。"
+   },
+   {
+    "id": "pillows_on_beds_1",
+    "zh": "第1个枕头上床",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "两只浅色矩形枕头中至少一只已离手、线速度不超过0.05 m/s，并与任一张床的床面接触且床在其正下方；头部或腕部视角可见原在地毯上的枕头落在白色床面上，悬在床上方或仍在地毯上不成立。没有任何枕头再由床面承托即失去此步；最终还须与另一个枕头及纸巾盒一起满足全部目标物松手静置连续30控制步的联合验收。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住一个枕头并搬放。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带夹爪所持的一个枕头移动到目标家具旁。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪分别抓住同一个一个枕头的两侧，协同搬放。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带双爪所持的一个枕头移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-10",
+     "inputs/bddl/rearrange_your_room.bddl:15-20",
+     "inputs/bddl/rearrange_your_room.bddl:33-37",
+     "inputs/bddl/rearrange_your_room.literals.json:4-7",
+     "inputs/bddl/rearrange_your_room.literals.json:54",
+     "inputs/oracle/replay.mp4:24-40s",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "两只枕头可互换，按达成床面关系的数量计数，不锁定实例或床号；第1个指当前至少一个放妥，非永久记录首次成功搬运。节点只验收本次放妥，联合30控制步不分摊到各节点；放置须离手，沿用持物冻结默认值。 最终三项关系须同时成立，且所有目标范围物体（纸巾盒、两枕头、两床、四台柜）均未被夹持、线速度不超过0.05 m/s，连续30个30 Hz控制步；该联合窗口属于成功验收，不另列节点。"
+   },
+   {
+    "id": "pillows_on_beds_2",
+    "zh": "第2个枕头上床",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pillows_on_beds_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "两只浅色矩形枕头均已离手、线速度各不超过0.05 m/s，分别由两张不同的白色床面直接接触承托，一床一个；头部视角转向两床时应各见一只枕头，两只挤在同一床、其中一只还在地毯上或悬空均不成立。任一枕头离开其床面而不能维持两枕头与两床的一一匹配即失去此步；最终还须与纸巾盒上台一起满足全部目标物松手静置连续30控制步的联合验收。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住另一个枕头并搬放。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带夹爪所持的另一个枕头移动到目标家具旁。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪分别抓住同一个另一个枕头的两侧，协同搬放。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘经地面支撑，携带双爪所持的另一个枕头移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-10",
+     "inputs/bddl/rearrange_your_room.bddl:33-37",
+     "inputs/bddl/rearrange_your_room.literals.json:12-52",
+     "inputs/bddl/rearrange_your_room.literals.json:54",
+     "inputs/oracle/replay.mp4:72-80s",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435"
+    ],
+    "conf": 6,
+    "note_zh": "按最大一一匹配计数，接受枕头1/床1与枕头2/床2，或交换配对；不能仅统计两只枕头在任一床上而漏掉不同床要求。after只表达第2个计数蕴含第1个，不指定先放哪个实例；放置须离手，沿用持物冻结默认值。 最终三项关系须同时成立，且所有目标范围物体（纸巾盒、两枕头、两床、四台柜）均未被夹持、线速度不超过0.05 m/s，连续30个30 Hz控制步；该联合窗口属于成功验收，不另列节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "底座高度低于地板0.03 m，或底座向上轴的世界z分量小于0.75（倾斜超过约41.4度），连续300个30 Hz控制步即判跌倒并结束；短暂倾斜后在10 s内恢复不触发。相机持续倒斜或沉入地板是可见线索，精确阈值须记录底座姿态和计数；同一步达到成功时，评分器先判成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1399",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态失常",
+    "never": null,
+    "criterion_zh": "每控制步检查机器人位置、四元数、线速度、关节位置是否有限；机器人任一位置分量绝对值超过10000 m或底座线速度模超过100 m/s亦触发失败。每30控制步另查目标物位置非有限或任一分量绝对值超过10000 m；画面飞散仅为线索，需原始状态或服务的breakdown报告确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "tissue_on_stand_released_resting",
+    "level": "new_code",
+    "source": "待记录四个纸巾盒ontop目标谓词：inputs/bddl/rearrange_your_room.literals.json索引0、5、6、7，以及纸巾盒的assisted-grasp附着状态和原生线速度；当前无状态日志。"
+   },
+   {
+    "atom": "pillow_bed_matching_count",
+    "level": "new_code",
+    "source": "待记录inputs/bddl/rearrange_your_room.literals.json索引1、2、3、4的原生ontop谓词、每只枕头的assisted-grasp附着状态和线速度；计算满足本地松手静置条件的最大一一匹配数，供第1/2个计数使用。"
+   },
+   {
+    "atom": "joint_success_rule",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1435；待记录flags.success_rule或RestWatch.done、goal_held_steps及全部目标物held/moving，本任务无日志故success=null。"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144；待记录FallWatch.fallen及底座高度、up_z和连续控制步计数。"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471；待记录原生breakdown状态及原因。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，所有when、约束never及success均为null，不能进行状态绑定或复现一致性检验；节点由录像判定，atoms列出需补记的原生谓词与状态（DECISIONS.md P8）。",
+  "参考成功运行存在规则版本差异：inputs/oracle/run.json的task_text写目标一成立即结束，reward.success=1且q_score=1，但reward.deterministic=0；当前privileged/grade.py:168-174要求两次成功、末态一致、初态有效且无breakdown，rcb_behavior.py:103-105另要求松手静置30控制步。oracle仅用于目标几何和可见线索，不能证明当前联合窗口及交付复现要求通过（DECISIONS.md S3、P19）。",
+  "两模式共用物理成功规则，但privileged对两次新进程回放及末态一致性验收，standard对现场回合及最多5 s末尾静置验收；这些交付/基础设施条件不充当世界状态节点，无日志时success保持null。来源：inputs/grader/efe_behavior-files/privileged/grade.py:168-174，standard/grade.py:28-35。",
+  "两枕头按任意一一配对的第1/2个计数处理（DECISIONS.md N4）；第2步要求占据不同床而非简单对四条ontop谓词求和。",
+  "当前联合静置检查覆盖目标量词中的所有台柜和两张床，不只三件搬动物；本地放置节点只要求相应搬动物离手且速度不超过0.05 m/s，全部目标物的联合30控制步验收由success承担（无日志，在各criterion及note中明示）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三项语义放置、任意配对、初态和必要计数边均由文本及BDDL确认，成功录像给出床面与台柜的可见线索；无任何状态日志，参考运行又使用较早验收版本，无法验证当前条件及联合静置窗口。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个目标步（纸巾盒上台、第1/2个枕头上床，后者要求不同床的一一匹配）与文本、BDDL目标一致；联合30步松手静置验收放入成功说明而不列节点，约束为跌倒与仿真失常，均取自评分器。无状态日志故when/success为null并已在open_questions_zh说明。仅有笔误（'同一个一个枕头'）属措辞。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['tissue_on_stand', 'pillows_on_beds_1', 'pillows_on_beds_2']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:12:27Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__rearrange_your_room/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__rearrange_your_room/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "d964d354d260034a41de72d2ac096009708919207335d7a319ee9f9af15bd7d5",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--wkprftf.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-rearrange-your-room-i00-privileged--wkprftf",
+ "taskKey": "behavior-1k/rearrange_your_room",
+ "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2039,
+   "sim_steps": 2039,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 670.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 8,
+   "agent_sim_steps": 8241,
+   "agent_records": 4,
+   "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/behavior-rearrange-your-room-i00-privileged--wkprftf/replay.mp4",
+  "duration_s": 67.967,
+  "fps": 30.0,
+  "frames": 2039,
+  "sha256": "917fa5af8d3f52b34b70c47d8d1df92bcd7e1ed98fecad3c597a2cfa85b96fc7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "tissue_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0–55.0 s，露出白色纸巾的盒子在窗边黑色扶手椅座面，机器人左爪向其下降；视频 56.0–58.0 s 左爪夹住盒子并提走，视频 59.0 s 原座面已无该盒。"
+     },
+     {
+      "t": 63.2,
+      "log_step": null,
+      "text_zh": "观察：视频 59.0–65.6 s，机器人带着左爪中的盒子离开扶手椅，转向电视下的长台；头部画面主要朝向墙和窗，左腕画面被近处物体及手臂遮挡。"
+     },
+     {
+      "t": 66.9,
+      "log_step": 210,
+      "text_zh": "推断：视频 66.4–67.933 s 可见长台边缘及机器人左手在头部画面下缘，盒底与台面的接触和张爪瞬间均不清楚；评分器 reward.success=1、q_score=1.0、all_success=1、deterministic=1，确认最终盒子上指定台柜且通过联合松手静置验收。将该末段放妥时刻近似锚定在视频 66.9 s（误差约1秒），不能从画面确定首次满足速度阈值的精确时刻。"
+     },
+     {
+      "t": 67.933,
+      "log_step": 210,
+      "text_zh": "观察：log step 204 对最终交付文件启动新进程回放，log step 210 返回2039个动作、success=true、q_score=1.0、deterministic=true；log step 212 确认交付文件动作形状为(2039,25)，与本视频2039帧一致。视频末帧为 67.933 s，未显示与成功判定直接矛盾的落地或仍持盒画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪在视频 56.0–58.0 s 夹住纸巾盒并提离扶手椅；视频 59.0 s 原座面已空。末段释放细节被遮挡，最终放妥由评分器成功结果补足。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘驶近窗边扶手椅，并在视频 59.0–65.6 s 携带左爪中的纸巾盒移向电视下长台。"
+     }
+    ]
+   },
+   "pillows_on_beds_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–7.5 s，机器人左夹爪接近地毯上的浅色枕头并夹住一角；视频 8.0–10.0 s 枕头离开原地，随左臂和底盘转移到床旁。"
+     },
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–14.0 s，左腕画面中两指张开、枕头角与手指分离，头部画面显示枕头留在白色床面上；视频 15.3–20.0 s 左臂撤离，枕头仍由该床承托。以视频 13.8 s 为放妥近似时刻，误差约0.5秒。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0 s 第一只枕头平放在床面；视频 24.0–26.0 s 另一只仍在地毯上，机器人随后转向该枕头。"
+     },
+     {
+      "t": 67.933,
+      "log_step": 210,
+      "text_zh": "推断：评分器 reward.success=1、all_success=1、q_score=1.0、deterministic=1，且 log step 210 的交付文件新进程回放亦成功；结合可见放置和此后未再搬动该枕头，节点终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住第一只枕头的一角，提起、移到第一张床上后张爪释放；视频 4.0–18.0 s 可见，右爪未共同搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在取第一只枕头时接近目标，并在视频 8.0–10.5 s 持枕头转向、移到床旁。"
+     }
+    ]
+   },
+   "pillows_on_beds_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–29.0 s，第二只浅色枕头仍在地毯上，机器人左夹爪接近并夹住其角部；视频 30.0–36.0 s 枕头离开地毯并随机器人移向另一张床。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.8–38.8 s 第二只枕头仍夹在左爪两指之间、被降到另一张白床面；视频 38.9–39.0 s 两指张开，枕头角脱离夹爪。视频 40.5–44.0 s 左臂撤开后，该枕头仍平放床面，未滑落；放妥时刻取视频 39.0 s，误差约0.5秒。"
+     },
+     {
+      "t": 67.933,
+      "log_step": 210,
+      "text_zh": "推断：两次放置分别发生在两张床上；第一只枕头在视频 20.0 s 已留在第一张床，第二只在视频 44.0 s 留在另一张床。评分器 reward.success=1、q_score=1.0 与 log step 210 回放成功支持最终两床各一枕头，节点终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住第二只枕头的一角，提起并在另一张床上张爪释放；视频 26.0–41.0 s 可见，右爪未协同搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘驶近地毯上的第二只枕头；视频 30.0–36.0 s 持枕头沿两床旁移动并转向第二张床。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次将两只枕头分别放到两张床上，约在视频 13.8 s、39.0 s 达成前两项放置，随后搬走扶手椅上的纸巾盒并完成上台，最终3/3节点成立。评分器记录 success=1、q_score=1.0、deterministic=1，log step 210 也确认最终交付文件回放成功，无失败断点。无状态日志，纸巾盒末段落台和释放被视角遮挡，其终态依据评分器成功结果、约视频 66.9 s 的时间锚点为估计，精确速度及联合静置窗口未由画面独立测量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "三个节点的时间、接触与终态均与视频及评分器结果一致，成功运行无断点，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:30:00Z",
+  "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/behavior-rearrange-your-room-i00-privileged--wkprftf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-rearrange-your-room-i00-privileged--wkprftf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "75c7771e297f86417643c0a5ea41fdeab17d7dded51b2893f3192c5a6f630e96",
+   "video_sha256": "917fa5af8d3f52b34b70c47d8d1df92bcd7e1ed98fecad3c597a2cfa85b96fc7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--vsrpbfi.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-rearrange-your-room-i00-standard--vsrpbfi",
+ "taskKey": "behavior-1k/rearrange_your_room",
+ "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "n_actions": 9995,
+   "sim_steps": 9995,
+   "physics_steps": 39980,
+   "steps": 717,
+   "elapsed_s": 13745.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-standard--vsrpbfi/replay.mp4",
+  "duration_s": 333.167,
+  "fps": 30.0,
+  "frames": 9995,
+  "sha256": "0765979bf0f49536312f8b3ae5594e1ccdc664dbe70324b732d9a8e6374b2c83"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "tissue_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两床旁的台柜及窗边扶手椅处于初始布置；本轮全段抽帧未见机器人将纸巾盒搬至台柜。"
+     },
+     {
+      "t": 333.13,
+      "log_step": 690,
+      "text_zh": "观察：视频 320.0–333.13 s 机器人空手接近窗边黑色扶手椅，露出白色纸巾的盒子一直留在椅座上；log step 690 中 agent 自述改去扶手椅取物。视频末帧仍未抓起或上台。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 320.0–333.13 s 轮式底盘受地面支撑、驶近纸巾盒所在的扶手椅；机器人尚未以夹爪接触盒子。"
+     }
+    ]
+   },
+   "pillows_on_beds_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只浅色枕头在地毯上，两张白色床面均无枕头。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 71,
+      "text_zh": "观察：视频 4.5–7.0 s 左夹爪在枕头上方闭合后抬起，枕头仍在地毯上；视频 8.0–9.0 s 的再次闭合、抬起同样没有带走枕头。log step 71 的动作是闭爪抬升检查，log step 76 中 agent 也承认第一次未抓住。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：全段约每4秒抽帧及视频 126.0–140.0 s 的加密帧显示机器人换臂、换方位反复接近地毯上的枕头，未见枕头随夹爪搬到床上；视频约 140.0、188.0、240.0 s 转向房间时床面仍为空。参考成功录像的参考视频 35.0、40.0、80.0 s 则能直接看见床面上的枕头，仅用于辨认可见线索。"
+     },
+     {
+      "t": 333.13,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人放弃床边夹取并空手驶向扶手椅，没有枕头放床动作；评分器 q_score=0.0 对初始均不成立的三个目标给出终态零进度，与画面一致，故本节点终态为假。live_matches_replay=0，分数属于现场回合，只作为不与录像冲突的终态辅助证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.5–9.0 s 左夹爪指端下探、压到枕头上表面并闭合；后续左右夹爪先后从床边接近枕头。可见接触未形成夹住并携带枕头的抓握，两臂不是同时协作搬物。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人为夹取地毯上的枕头，多次在床边前后、横向移动并绕床调整位置，轮式底盘由地面支撑；未见携枕头行驶。"
+     }
+    ]
+   },
+   "pillows_on_beds_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只枕头均在地毯上，不满足一床一个。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 140.0、188.0、240.0 s 可见两张床的白色床面，没有参考成功录像的参考视频 80.0 s 所示枕头落在床面的结果；机器人始终在尝试取得第一个可搬运枕头，未进入放妥第一只后处理第二只的阶段。"
+     },
+     {
+      "t": 333.13,
+      "log_step": null,
+      "text_zh": "推断：全段未见任一枕头完成上床，后段又转去接近扶手椅；评分器现场 q_score=0.0（live_matches_replay=0）与录像未出现两枕头分占两床一致，终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pillows_on_beds_1",
+   "t": 5.5,
+   "log_step": 68,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.0–7.0 s 左夹爪闭合后向上抬起，浅色枕头没有离开地毯；视频 8.0–9.0 s 重试仍空夹。此后机器人换臂、换方位继续处理地毯枕头，始终未完成任何枕头上床，末段才转向扶手椅，因此首次夹取失败所属的“第1个枕头上床”没有被修复。"
+  },
+  "unmet": {
+   "tissue_on_stand": false,
+   "pillows_on_beds_1": false,
+   "pillows_on_beds_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.5,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 5.0–7.0 s 与 8.0–9.0 s，左夹爪虽然闭合、抬升，腕部视角及头部视角中的枕头仍由地毯承托，未随夹爪升起。所需的夹持接触没有建立；这里的指端碰触表面不等于抓住后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 4.5–9.0 s 机器人已到枕头旁且夹爪能到达其表面，但闭爪和抬升没有夹住物体；log step 68–80 记录降低、闭爪、抬升的控制序列，log step 87、89 的服务反馈又明确拒绝侧向目标：“no IK solution for the two end-effector poses together (nothing moved)”。这些证据支持夹取执行和后续接近动作的控制问题，尚不足以将整段失败唯一细分为接触设计或轨迹/逆解。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，头部和腕部视角局部遮挡，不能逐次确认两指接触对、辅助抓取附着状态和接触力；根因保留在“控制”。评分器 live_matches_replay=0，现场日志与回放未被证明逐帧一致，节点与断点以实际检查的录像为主，q_score只用于与画面一致的终态推断。"
+ },
+ "summary_zh": "三项放置节点均未达成，终态为0/3：枕头没有搬到床上，视频 333.13 s 纸巾盒仍在扶手椅座上。首次未修复的失败是视频约 5.5 s 开始显露的第1个枕头夹取失败，夹爪闭合抬升却未带走枕头，后续反复换臂与调整位置也未补救，证据支持控制问题。无状态日志且 live_matches_replay=0，具体接触机制及更细控制根因不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点终态为假、断点为 pillows_on_beds_1（视频约 5.5 s 夹爪闭合抬升未带走枕头）、现象“没建立接触”和根因“控制”均与帧及日志一致；根因按 03 规则在子类型不明时停在“控制”，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": "2026-10-29T11:29:59Z",
+  "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/behavior-rearrange-your-room-i00-standard--vsrpbfi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-rearrange-your-room-i00-standard--vsrpbfi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da729ff019ae539b798c37a14be70bb7fb0c5434a454b2805e679946d3022899",
+   "video_sha256": "0765979bf0f49536312f8b3ae5594e1ccdc664dbe70324b732d9a8e6374b2c83",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,531 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/sorting_household_items",
+ "suite": "behavior-1k",
+ "base": "behavior-sorting-household-items-i00",
+ "title_zh": "整理浴室用品",
+ "summary_zh": "两瓶洗涤剂在浴室水槽下且相邻，卫生巾盒在架上，皂液器和杯子在水槽上，牙刷在杯内、牙膏在杯旁，所有目标同时成立并全部离手、线速度不超过 0.05 m/s 连续 30 个控制步。",
+ "embodiment_zh": "两模式均为 R1Pro 移动双臂机器人：左右各一条七关节机械臂，每臂末端为二指夹爪，配可调躯干和全向轮式底盘，采用辅助抓取；头部及左右腕部相机提供视角。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-sorting-household-items-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bathroom_route_door_opened",
+    "zh": "打开路线门",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "从卧室运物至目标浴室所选路线上的门被滑开：头部或腕部视角能见门板离开关闭位置，门洞出现可通行开口；只碰门板、门仍堵住开口不算完成。按备选路线计一次开门事件，可由直通门或绕行路线上的门达成；完成后重新关门不撤销此事件。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪握住所选路线滑门的把手或门沿，沿门轨滑开门板。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左或右夹爪从门板或门沿侧面直接推滑所选路线门板，形成开口。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：门初态；现有实例文件没有场景门关节或开度，亦无完整可通行地图核实绕行路线。",
+    "sources": [
+     "inputs/bddl/sorting_household_items.bddl:18-31",
+     "inputs/bddl/sorting_household_items.scene_objects.json:1003-1025",
+     "inputs/bddl/sorting_household_items.scene_objects.json:1066-1072",
+     "inputs/bddl/sorting_household_items.scene_objects.json:1225-1230",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284",
+     "docs/CASES.md:STEP-3"
+    ],
+    "conf": 5,
+    "note_zh": "按 S2 和规则 3 默认保留初态前置步骤，非目标且不要求结束时门仍打开；不另建导航步骤。拟记录所选路线门的打开事件，备选对象为 sliding_door_tprpvb_10、sliding_door_tprpvb_0、sliding_door_tprpvb_5，采用任一成立的读法，不固定使用直通门；_5 标为 bathroom_0 而目标杯位于 bathroom_1，绕行连通性待核实，不把三扇门都设为必开。门接触可在持握时达成，故禁用持物冻结。"
+   },
+   {
+    "id": "detergents_under_sink_1",
+    "zh": "第1瓶入槽下",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "画面中两瓶洗涤剂中至少一瓶已离手、静止在目标水槽的正下方，水槽在其上方而非侧旁或下方；只把瓶子留在卧室篮中、浴室门口或水槽旁不算；若不再有任何一瓶满足该关系，此步失去。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住任一瓶洗涤剂并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持任一瓶洗涤剂从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7",
+     "inputs/task/privileged/instruction.md:35",
+     "inputs/bddl/sorting_household_items.bddl:36-39",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两瓶按数量计，任一实例先完成均可；无日志故不填写猜测的 atleast 绑定。相邻关系并入第二瓶的摆放验收，不另建归拢节点；本节点不要求先拆解抓取、出篮、搬运阶段。"
+   },
+   {
+    "id": "detergents_under_sink_2",
+    "zh": "第2瓶入槽下",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened",
+     "detergents_under_sink_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "画面中两瓶洗涤剂都已离手、静止在水槽正下方，且两瓶并排靠近、水平间没有其他物体阻隔；nextto 的包围盒间隙不大于两者包围盒各维尺寸和的平均值的六分之一；少一瓶在槽下、两瓶相隔过远或被物体隔开，均未完成或失去此步。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住另一瓶洗涤剂并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持另一瓶洗涤剂从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-7",
+     "inputs/task/privileged/instruction.md:34-35",
+     "inputs/bddl/sorting_household_items.bddl:36-40",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "第二个数量步骤要求至少两瓶在槽下，并把两瓶 nextto 作为这次摆放的验收；不固定 BDDL 实例顺序，也不要求第二瓶本身被单独搬动。数量链只表达第2个完成必有第1个，不约束两瓶能否一起搬运。"
+   },
+   {
+    "id": "sanitary_box_on_shelf",
+    "zh": "卫生巾盒上架",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见卫生巾盒已离手并静止在目标浴室架子的表面，与架子接触且架子在盒子正下方、非上方（ontop）；悬在架旁、靠在架侧或掉到地上均不成立，移离架面后失去。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住卫生巾盒并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持卫生巾盒从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-8",
+     "inputs/task/privileged/instruction.md:33",
+     "inputs/bddl/sorting_household_items.bddl:41",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "只要求目标架上的接触支承关系，不发明特定架层、盒子朝向或必须关闭柜门的要求。"
+   },
+   {
+    "id": "soap_dispenser_on_sink",
+    "zh": "皂液器上水槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "画面可见皂液器已离手并静止在目标水槽的上表面，与水槽接触且水槽在其正下方、非上方（ontop）；夹爪悬持、位于水槽旁或掉落地面不算，离开支承面后失去。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住皂液器并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持皂液器从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/privileged/instruction.md:33",
+     "inputs/bddl/sorting_household_items.bddl:42",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "不要求按压泵头或使用皂液；摆放结果是此步。"
+   },
+   {
+    "id": "cup_on_sink",
+    "zh": "杯子留在槽上",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "开局杯子已静止在目标水槽上表面，画面中杯底与水槽相接触，水槽直接位于杯下方而非上方（ontop），从初态即计入；杯子被扫落、移走或离开水槽支承后此步失去，放回并离手静止后恢复。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "机器人夹爪与杯子保持无接触，杯子由原有水槽表面支承即可；这是保持初态的典型方案。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "杯子关系丢失时，左或右二指夹爪夹住杯子放回水槽上表面；这是恢复方案。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "若需恢复杯子，轮式底盘支承机器人移至杯子和目标水槽旁，与恢复方案中的夹爪配合。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-9",
+     "inputs/task/privileged/instruction.md:33",
+     "inputs/bddl/sorting_household_items.bddl:27",
+     "inputs/bddl/sorting_household_items.bddl:43",
+     "inputs/bddl/sorting_household_items.literals.json:24",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "S4(a)：可始终保持的初始目标，独立 state 步骤，不折入牙刷入杯，也不依赖开门或任何摆放步骤；无须主动触杯。关系类型按必要时恢复它的动作标为放置。"
+   },
+   {
+    "id": "toothbrush_in_cup",
+    "zh": "牙刷入杯",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "画面中牙刷已离手且静止，牙刷插在目标杯的内腔中；评分定义为牙刷轴对齐包围盒中心同时位于杯的包围盒和内部容积内，不要求牙刷全长埋进杯中；仅靠杯外侧、横跨杯沿而中心未进入内腔，或牙刷从杯中掉出，均未完成或失去此步。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住牙刷并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持牙刷从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:32",
+     "inputs/bddl/sorting_household_items.bddl:45",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "杯子在水槽上的关系由 cup_on_sink 独立保持，不作为牙刷步骤的前序事件；先放牙刷或先放牙膏均可。"
+   },
+   {
+    "id": "toothpaste_next_to_cup",
+    "zh": "牙膏放杯旁",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bathroom_route_door_opened"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "画面中牙膏管已离手并静止在目标杯旁，水平间没有别的物体隔开；nextto 的轴对齐包围盒间隙不大于两者包围盒各维尺寸和的平均值的六分之一；牙膏远离杯子或两者之间被物体阻隔时未完成或失去，不额外要求牙膏直立或接触杯子。整体验收还须所有目标关系同时成立，目标涉及的全部物体（含杯子、水槽、架子）均未附着于夹爪、线速度不超过 0.05 m/s，连续满足 30 个控制步（30 Hz，任务称 1 秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪直接夹住牙膏管并完成摆放，不限定用哪只手。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人，持牙膏管从卧室移向浴室；与夹爪持物属于同一搬运方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10",
+     "inputs/task/privileged/instruction.md:34",
+     "inputs/bddl/sorting_household_items.bddl:44",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "评分只要求牙膏 nextto 杯子，没有另列牙膏 ontop 水槽；杯子位置由独立保持步骤检查。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人持续倾倒",
+    "never": null,
+    "criterion_zh": "机器人底座的世界竖直上轴分量小于 0.75（约偏离直立 41.4 度），或底座低于场景地板超过 0.03 m，二者任一成立连续 300 个控制步（30 Hz，10 秒）触发失败；短暂倾倒后在窗口内恢复不触发。画面持续侧倒是线索，精确判定需记录 FallWatch；同一控制步已达成成功时，代码先接受成功。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-98",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态失控",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限值，底座任一坐标绝对值超过 10000 m，或底座线速度模长超过 100 m/s，触发失控；每 30 个控制步还检查目标物体位置，非有限或任一坐标绝对值超过 10000 m 也触发。图像突然跳离房屋或异常消失仅作线索，须由仿真状态或工具失控消息确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "lit_0",
+    "level": "new_code",
+    "source": "flags.lit:(under bottle__of__detergent.n.01_1 sink.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_1",
+    "level": "new_code",
+    "source": "flags.lit:(under bottle__of__detergent.n.01_2 sink.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_2",
+    "level": "new_code",
+    "source": "flags.lit:(nextto bottle__of__detergent.n.01_1 bottle__of__detergent.n.01_2); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_3",
+    "level": "new_code",
+    "source": "flags.lit:(ontop box__of__sanitary_napkin.n.01_1 shelf.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_4",
+    "level": "new_code",
+    "source": "flags.lit:(ontop soap_dispenser.n.01_1 sink.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_5",
+    "level": "new_code",
+    "source": "flags.lit:(ontop cup.n.01_1 sink.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_6",
+    "level": "new_code",
+    "source": "flags.lit:(nextto tube__of__toothpaste.n.01_1 cup.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "lit_7",
+    "level": "new_code",
+    "source": "flags.lit:(inside toothbrush.n.01_1 cup.n.01_1); log OmniGibson BDDL goal predicate; inputs/bddl/sorting_household_items.bddl:34-45"
+   },
+   {
+    "atom": "route_door_open",
+    "level": "new_code",
+    "source": "proc_scene.sliding_door_tprpvb_10.open / proc_scene.sliding_door_tprpvb_0.open / proc_scene.sliding_door_tprpvb_5.open; log scene door states, verify initial values and route topology; inputs/bddl/sorting_household_items.scene_objects.json:1003-1072"
+   },
+   {
+    "atom": "goal_released",
+    "level": "new_code",
+    "source": "status.goal_objects_held (empty), from robot._ag_obj_in_hand; inputs/grader/efe_behavior-files/rcb_behavior.py:1420-1425"
+   },
+   {
+    "atom": "goal_at_rest",
+    "level": "new_code",
+    "source": "status.goal_objects_moving (empty), base-link linear speed <= 0.05 m/s for every goal entity; inputs/grader/efe_behavior-files/rcb_behavior.py:1422-1427"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule, status.goal_held_steps or status.success from RestWatch; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1414-1434"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "status.fallen from FallWatch counter; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "status.breakdown and numerical state checks; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功示范：inputs/oracle_none.txt 记载 15 次目录运行均失败；任务文件也无参考解。本图依据任务文本、BDDL 初态与目标、冻结实例和评分代码制定，未由成功视频或重放核实（暂行：DECISIONS.md N2）。",
+  "inputs/states/index.json 的 logs 为空，因此全部节点 when、约束 never 和 success 均为 null，不绑定未观测字段；atoms 的 new_code 列出需要补录的字段，不能据此声称已可自动验证。视频判据为文本和评分语义推导，无成功相机画面可核对（暂行：DECISIONS.md P8、N8）。",
+  "门初态及路线待核实：BDDL 只确定卧室起点与浴室目标，实例文件仅含任务物体位姿；scene_objects 只列门关联房间、没有开度和完整地图。_10 连接 bedroom_0 与 bathroom_1，_0 连接卧室和走廊，但 _5 连接 corridor_0 与 bathroom_0，目标杯却标在 bathroom_1，不能确认案例中走廊绕行实际到达同一目标浴室。按 S2 默认保留一个选路开门事件，备选门采用任一成立的读法，所有搬入步骤在其后；保持杯子不受此边约束，不固定某一门或要求全开。",
+  "两瓶洗涤剂按数量计步：第1瓶要求至少一瓶在槽下，第2瓶要求两瓶均在槽下且相邻；相邻是第二次摆放验收，不另建节点，也不固定实例先后（暂行：DECISIONS.md N4）。",
+  "联合松手、静置和 30 步窗口跨越所有目标，属于 success 的验收；因 success 为 null，已在每个目标的视频判据中明确同一联合窗口，hold_s 设 0，不给每件物体另加 1 秒独立等待。局部摆放以离手静止确认，采用默认持物冻结；这不会把搬运期单独计为放置或真实倒退（暂行：DECISIONS.md D17）。",
+  "模式的物理目标相同，但目录最终判分不同：privileged 要求两次新进程重放均成功、终态哈希一致、冻结实例匹配且无失控（inputs/grader/efe_behavior-files/privileged/grade.py:168-174）；standard 判活跃回合与服务终态，要求有效终结且无错误或放弃（inputs/grader/efe_behavior-files/standard/grade.py:29-35）。这些交付和重放有效性不建世界状态节点；当前无日志，不能证明 success 与任一模式最终目录判分一致。",
+  "文本称静止为低于 0.05 m/s，评分器实际仅将速度大于 0.05 m/s 的物体判为运动，因此边界取不超过 0.05 m/s（inputs/grader/efe_behavior-files/rcb_behavior.py:1426）。q_score 是原始目标满足比例，记录于 status 与评分器，不含联合松手静置窗口，值为 1 仍不能替代成功判定（同文件:1539-1553）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "七个文本步骤、初始杯子保持、八个目标文字项及联合验收均有直接证据；另加默认开门前置并明确未核实。缺少成功示范、全部状态日志和门初态，所有机器条件暂不可检验，故总体置信度为 6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志、无示范，所有 when/success 为 null 属实。目标节点与文本及 BDDL 目标一一对应（两瓶按数量计步、nextto 并入第2瓶、杯子保持为 state 步、牙刷/牙膏/架子/皂液器各一步）；开门前置按 S2 保留且有 verify_zh 与 open_questions_zh；约束为评分器的失败条件。未发现须修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bathroom_route_door_opened', 'detergents_under_sink_1', 'detergents_under_sink_2', 'sanitary_box_on_shelf', 'soap_dispenser_on_sink', 'cup_on_sink', 'toothbrush_in_cup', 'toothpaste_next_to_cup']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:17:32Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_household_items/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__sorting_household_items/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "87c077b95c95c54e8c2dbd4dcbcca656bd5bda389f5dc8096cd3f9bf1538fa2e",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--plha9zx.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-household-items-i00-privileged--plha9zx",
+ "taskKey": "behavior-1k/sorting_household_items",
+ "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 321,
+   "sim_steps": 321,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1182.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 0,
+   "agent_sim_steps": 3200,
+   "agent_records": 8,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-household-items-i00-privileged--plha9zx/replay.mp4",
+  "duration_s": 10.7,
+  "fps": 30.0,
+  "frames": 321,
+  "sha256": "c3e1d57abd64179453708f0c0c6c407b2cd4c20ffb83a79719299fa8bfc8d7b9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bathroom_route_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.5 s，机器人相机视野从卧室床铺快速翻向天花板和地板；视频 1.5–10.67 s 持续倾斜翻滚，未出现门板滑开及可通行门洞。"
+     },
+     {
+      "t": 10.67,
+      "log_step": 242,
+      "text_zh": "推断：log step 242 将最终方案改为先空手驶向浴室门，再用底盘冲门；但评分视频全程停留在卧室翻滚，未完成路线门打开。log step 244 的会话冲门读数不作为评分视频中的开门或接触证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.5 s 机器人移动并失衡翻倒。推断：结合 log step 242 的最终脚本，这是前往路线门的底盘行进阶段；只记录移动时底盘对机器人的支承，不据脚本认定已经撞到门板。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0.0–10.67 s 的头部和腕部视角未显示机器人与路线门的接触部位；无法确定底盘是否实际触门，未观察到夹爪抓握或推门。"
+     }
+    ]
+   },
+   "detergents_under_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“至少一瓶洗涤剂离手静止在水槽下”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   },
+   "detergents_under_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“两瓶洗涤剂离手静止在水槽下且相邻”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   },
+   "sanitary_box_on_shelf": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“卫生巾盒离手静止在浴室架上”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   },
+   "soap_dispenser_on_sink": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“皂液器离手静止在浴室水槽上”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   },
+   "cup_on_sink": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG 的 cup_on_sink 初态判据明确杯子原在浴室水槽上；视频 0.0–10.67 s 机器人只在卧室翻滚，未到浴室或接触杯子、水槽，因而按未受扰动的初始关系保留全程成立。杯底与水槽接触未直接入镜；q_score=0.0 不否定初始即成立且保持的目标。"
+     }
+    ]
+   },
+   "toothbrush_in_cup": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“牙刷离手静止在浴室杯内”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   },
+   "toothpaste_next_to_cup": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.67,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 指明待整理物品初始在卧室篮中；视频 0.0–10.67 s 机器人在卧室失衡翻滚，未见夹取物品或进入浴室，故没有建立“牙膏离手静止在浴室杯旁”的搬运过程。评分器 reward.q_score=0.0 进一步限定该新增目标在终态不成立；不将会话测试当成评分轨迹进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bathroom_route_door_opened",
+   "t": 0.3,
+   "log_step": 242,
+   "where": "转场",
+   "evidence_zh": "推断：log step 242 的最终脚本先空手驶向路线门再冲门，评分视频 0.0–0.5 s 已由床铺视野翻向天花板，随后一直在卧室翻滚至视频 10.67 s，未见到门前稳定操作或开门。故断点归于前往路线门时未修复的失衡，位置取转场；评分器 reward.fallen=1，开门步骤最终未完成。"
+  },
+  "unmet": {
+   "detergents_under_sink_1": false,
+   "detergents_under_sink_2": false,
+   "sanitary_box_on_shelf": false,
+   "soap_dispenser_on_sink": false,
+   "cup_on_sink": true,
+   "toothbrush_in_cup": false,
+   "toothpaste_next_to_cup": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 0.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.0–0.5 s 主相机从倾斜的卧室床铺转向天花板，视频 1.0–2.0 s 进一步翻向近距离地板；后续视角反复滚转，视频 9.70–10.67 s 逐帧仍大幅倾斜，机器人没有恢复稳定直立。评分器 reward.fallen=1，与可见翻倒一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 把旧文件的重放检查用于覆盖后的最终文件：log step 232、238 检查的是 206 步轨迹，重放 fallen=false；log step 242 随后改成底盘冲门并启动新运行，log step 246 的最终文件已经变为 321 步，所读运行尾部有“<no Python frame>”，只检查了数组形状与有限性，未再重放该版本。log step 247 却声称最终文件已验证确定性重放；实际评分器针对 321 步报告 fallen=1，视频 0.3–10.67 s 显示翻倒。最终选交版本未经对应重放验收，使翻倒轨迹被保留并提交。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频与 run.json，但没有状态日志，也无成功参考视频。视频 0.0–10.67 s 多数为倾斜的卧室墙面、地板和机器人部件，路线门接触点及浴室杯子、水槽不入镜，杯子保持初态由任务初态与机器人未进入浴室推断；无法还原首次失衡的具体碰撞或控制机制。log step 244 的会话冲门记录与评分视频内容不能逐项对应，未用其读数赋予视频时间或接触；log step 246 只给出崩溃尾部，不能确认崩溃原因。agent 在 log step 240、247 声称门几何卡死、没有其他路线，现有评分视频不能排除所有合法方案，故不据此标任务或环境根因。"
+ },
+ "summary_zh": "评分轨迹仅保留杯子在水槽上的初始目标，终态为 1/8；未见开门或任何物品搬入浴室。机器人在前往路线门的转场中约视频 0.3 s 开始明显翻倒，并持续至视频 10.67 s；agent 用此前 206 步版本的重放结果宣称后来覆盖的 321 步交付已验证，最终评分器报告 fallen=1。没有状态日志，门的实际接触��失衡的具体机制无法确认，杯子保持初态属于基于未受扰动的推断。",
+ "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、断点(开门·转场)、平衡现象与交付根因均与视频、run.json 和评分器读数一致；cup_on_sink 从 0 起成立符合 S4，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": "2026-10-29T11:37:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-household-items-i00-privileged--plha9zx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-household-items-i00-privileged--plha9zx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c74535ef9a0a64933318a5611c619dbbd0ace3d69f98322e8dfe478094458606",
+   "video_sha256": "c3e1d57abd64179453708f0c0c6c407b2cd4c20ffb83a79719299fa8bfc8d7b9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--nufuja3.json

@@ -0,0 +1,353 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-household-items-i00-standard--nufuja3",
+ "taskKey": "behavior-1k/sorting_household_items",
+ "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 6254,
+   "sim_steps": 6254,
+   "physics_steps": 25016,
+   "steps": 4905,
+   "elapsed_s": 3575.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-household-items-i00-standard--nufuja3/replay.mp4",
+  "duration_s": 208.467,
+  "fps": 30.0,
+  "frames": 6254,
+  "sha256": "ce38c48766993fd5099fd6a5bcb431c5d2c3c08feebd6bf993b08eaed116eb32"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bathroom_route_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      159.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 153.5,
+      "log_step": 232,
+      "text_zh": "观察：视频 151–157 s，机器人右夹爪反复接近卧室篮旁滑门的竖直把手；视频 157.5–159.5 s，把手和门板沿墙横移，门边出现明显开口。"
+     },
+     {
+      "t": 176.5,
+      "log_step": null,
+      "text_zh": "观察：视频 164–176.5 s，门板保持滑开，门洞露出白色区域；视频 201–203 s，机器人侧身通过该开口。首次形成通行开口约在视频 159.5 s，时间误差约 0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 153–162 s，右二指夹爪夹住篮旁滑门把手并沿墙拉移门板；此前也夹过另外两扇门的把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 49–151 s 的多次开门尝试之间驱动底盘接近、退出及更换门前位置。"
+     }
+    ]
+   },
+   "detergents_under_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11,
+      "log_step": 54,
+      "text_zh": "观察：视频 7–11 s，机器人右夹爪夹住白色洗涤剂瓶并抬离篮底，视频 11–26 s 可见白瓶随右夹爪移动，原篮中仅余黄瓶和盒子。"
+     },
+     {
+      "t": 49,
+      "log_step": 103,
+      "text_zh": "观察：视频 45–49 s，机器人把白瓶降至卧室门旁地板并松开，腕部视角显示白瓶留在地板上、右夹爪退离；这里没有水槽。"
+     },
+     {
+      "t": 138.5,
+      "log_step": null,
+      "text_zh": "观察：视频 134–140 s，另一黄瓶被降回卧室原篮旁并松手；视频 140–203 s 机器人空手处理门和篮子，未把任一洗涤剂送入浴室。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频中两瓶最后均留在卧室，随后机器人跌离房屋，且评分器 q_score=0、live_matches_replay=1；没有新增的洗涤剂在水槽下关系成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 9–22 s 右夹爪单独夹持白色洗涤剂瓶，视频 47.5 s 前后在门旁松手。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 22.5–47.5 s，右夹爪持白瓶、左夹爪持黄瓶，两臂同时携带两瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 26–44.5 s，机器人驱动底盘携带两瓶在卧室中寻找出口；两瓶均未送到水槽下。"
+     }
+    ]
+   },
+   "detergents_under_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": 68,
+      "text_zh": "观察：视频 16–22 s，黄瓶仍在篮中且左夹爪逐步靠近；视频 23–26 s，黄瓶抬离篮底并随左夹爪移动，右夹爪同时夹着白瓶。"
+     },
+     {
+      "t": 138.5,
+      "log_step": 206,
+      "text_zh": "观察：视频 47.5–134 s，白瓶已被暂放在另一门旁，黄瓶仍由左夹爪携带；视频 137–140 s 黄瓶被放在卧室原篮旁，左夹爪退开，两瓶没有共同到达水槽下。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频没有两瓶在水槽下并排摆放的过程；评分器 q_score=0、live_matches_replay=1 也排除了终态新增的两瓶槽下且相邻关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 22.5–47.5 s，左夹爪持黄瓶、右夹爪持白瓶，协作搬运两瓶。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：白瓶暂放后，左夹爪继续单独夹持黄瓶至视频约 138 s，再在原篮旁松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 26–134 s，底盘在卧室内移动，先携带两瓶，后只携带黄瓶。"
+     }
+    ]
+   },
+   "sanitary_box_on_shelf": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26,
+      "log_step": null,
+      "text_zh": "观察：视频 0–26 s，白粉色卫生巾盒留在洗涤剂篮内，两瓶取走后盒子仍可见；视频 134–140 s 机器人回到该篮附近，只放回黄瓶，没有取盒或移向架子。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频中机器人未到达目标浴室架子，亦无盒子搬上架子的动作；评分器 q_score=0、live_matches_replay=1 排除了终态新增的盒子在架上关系。"
+     }
+    ]
+   },
+   "soap_dispenser_on_sink": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 188,
+      "log_step": 277,
+      "text_zh": "观察：视频 0–4 s，蓝色红泵头皂液器在另一篮内；视频 178–188 s，机器人左夹爪夹住篮沿搬动整个篮子避让门口，皂液器仍在篮中，未被送上水槽。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频中没有皂液器离篮并放上水槽的过程，评分器 q_score=0、live_matches_replay=1 排除了终态新增的皂液器在水槽上关系。"
+     }
+    ]
+   },
+   "cup_on_sink": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 task_text 和 DAG 明确杯子初始在浴室水槽上；视频 0–203 s 的头部及腕部视角显示机器人始终在卧室搬瓶、处理门和篮子，未进入目标水槽工作区，视频 203–208.4 s 跌到房屋下方，因此将未受干扰的初始杯子关系保留至结束。杯子所在区域全程不可见，不能直接观察杯底接触。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0 只排除新增目标，不否定一直保持的初始杯子关系；本节点没有使用零分推导杯子掉落。"
+     }
+    ]
+   },
+   "toothbrush_in_cup": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 188,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4 s 和视频 178–188 s 可见装洗漱用品的篮子；机器人只搬动篮沿清理门前通道，没有从篮中单独夹起牙刷，也没有在杯子处操作。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频中没有牙刷进入杯内的搬运或摆放过程；评分器 q_score=0、live_matches_replay=1 排除了终态新增的该目标关系。"
+     }
+    ]
+   },
+   "toothpaste_next_to_cup": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 188,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4 s 和视频 178–188 s 可见装洗漱用品的篮子；机器人只搬动篮沿清理门前通道，没有从篮中单独夹起牙膏，也没有在杯子处操作。"
+     },
+     {
+      "t": 208.4,
+      "log_step": null,
+      "text_zh": "推断：视频中没有牙膏放到杯旁的搬运或摆放过程；评分器 q_score=0、live_matches_replay=1 排除了终态新增的该目标关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "detergents_under_sink_1",
+   "t": 203.3,
+   "log_step": 293,
+   "where": "转场",
+   "evidence_zh": "观察：视频约 49 s 白瓶留在卧室另一门旁，视频约 138 s 黄瓶也被暂放；开门最终修复，但第一瓶入槽下始终未完成。视频 201–203.5 s 机器人空手侧身穿过已打开的门口、为继续搬运探路，随后视角下坠，视频 204–208.4 s 只剩天空和自身夹爪。推断：此次转场跌落使最先启动的洗涤剂搬运步骤无法继续，断点记第1瓶入槽下；暂放瓶子本身不是对水槽的摆放失准。"
+  },
+  "unmet": {
+   "detergents_under_sink_1": false,
+   "detergents_under_sink_2": false,
+   "sanitary_box_on_shelf": false,
+   "soap_dispenser_on_sink": false,
+   "cup_on_sink": true,
+   "toothbrush_in_cup": false,
+   "toothpaste_next_to_cup": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 203.3,
+    "log_step": 295,
+    "evidence_zh": "观察：视频约 203.3 s，机器人侧身穿越门口后失去地面支撑，门框和地板掠过相机，视频 204–208.4 s 持续处于房屋下方的天空背景。单回合机器人服务的本体位姿读数在 log step 293 给出底座 z=-0.105 m、log step 295 为 -3.056 m、log step 297 为 -113.926 m。推断：按服务 control_steps/30 映射，log step 294 的 6125 步对应视频 204.167 s，已与视频 204 s 的坠落画面核对；末次 6254 步对应视频总长 208.467 s，证实为同一回合持续下坠。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或成功示范；杯子所在浴室水槽全程不在相机视野，杯子关系由明确初态及机器人未到达该区域推断。门板横移和随后通过开口可见，但目标浴室的路线连通性未获核实。下坠有视频及服务本体位姿支持，尚无足够证据区分门后地面缺失、碰撞几何异常或机器人对支撑区域判断错误；无法确定根因，也不能据 agent 自述“unsupported opening”（log step 298）归咎任务环境。启动连接故障在 log step 31 已恢复，此后完整回合无重置，不是本次物理失败的原因。"
+ },
+ "summary_zh": "机器人保留杯子的初始水槽关系，并在视频约 159.5 s 拉开卧室篮旁滑门；两瓶洗涤剂虽均被夹起搬运，却分别暂放在卧室门旁和原篮附近，其余物品未到达目标，终态为 2/8 节点成立。视频约 203.3 s，机器人空手穿门探路时失去支撑并持续下坠，第1瓶入槽下的搬运未能继续。杯子关系依据初态和未受机器人干扰推断，门后支撑情况与跌落根因缺少决定性证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（第1瓶入槽下·转场）与现象（全身·平衡，有服务本体位姿读数支持）均与视频和 log 一致；根因留空并附 gap_zh 合理。未发现须修改的错误。",
+    "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": "2026-10-29T11:38:06Z",
+  "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/behavior-sorting-household-items-i00-standard--nufuja3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-household-items-i00-standard--nufuja3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d0d0129b4343cb8d277fac5dccea5be4b8a921c1e6bb0efdef483c0ee2814e00",
+   "video_sha256": "ce38c48766993fd5099fd6a5bcb431c5d2c3c08feebd6bf993b08eaed116eb32",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/task_dag.json

@@ -0,0 +1,353 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "suite": "dexhand",
+ "base": "dexhand-essential-rotary-gait-i00",
+ "title_zh": "固定手腕旋转旋钮",
+ "summary_zh": "固定手腕并全程保持手与旋钮承载接触，经至少四次重叠手指接力使旋钮先到累计 +720°，再反转至累计 +360° 并通过停稳保持验收。",
+ "embodiment_zh": "两种模式均为单只右手灵巧手安装在六自由度定位台上，定位台全程锁定，无移动底盘；可用 Sharpa Wave（22 个独立手指关节，默认）或 Wuji Hand 2.2（20 个手指关节），每回合只用其中一种手，成功物理判据相同。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-essential-rotary-gait-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "knob_forward_720",
+    "zh": "旋钮正转两圈",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "总览中白色右手在灰色控制器前拨转黑色旋钮，沿录像连续追踪其金色短标记，累计正转到 +720°（turn 在 [12.446370614359173, 12.686370614359172] rad）；仅标记朝向与起点重合、但未累计两圈不算完成。此时已累计至少四次重叠手指接力（新接触指集合与上一集合不同但有共同手指，并稳定至少 0.04 s），接触指为 1–5 根、旋钮角速度绝对值不超过 0.25 rad/s，全部界限在连续 5 个控制采样各自的每个 2 ms 子步都满足才完成并锁存，之后反转不撤销。",
+    "step": {
+     "cat": "机构",
+     "item": "旋转"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "plan": 1,
+      "note_zh": "右手多指在黑色旋钮表面交替施力和换位，换指时保留至少一个共同接触手指；不限定具体参与的手指组合。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:59-80",
+     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-228",
+     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:331-374",
+     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_gait_scene.py:20-32",
+     "inputs/oracle/replay.mp4 @ 0-26 s"
+    ],
+    "conf": 6,
+    "note_zh": "按 DECISIONS.md D6，一个累计 +720° 目标不拆成逐圈节点；四次接力是文本明示的操作方式及本步验收，非四个换握动作节点。按 D11 当前读法保留两个有停顿点的有序角度目标。hold_s 为 0，因为验收使用评分器已计数的 5 个控制采样，避免重复计时；未来日志应记录 stage_index 及子步有效性。"
+   },
+   {
+    "id": "knob_reversed_360_held",
+    "zh": "旋钮反转停稳",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "knob_forward_720"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "在正转两圈已被验收后，录像中金色短标记沿反方向累计回转一圈并停住，黑色旋钮仍由右手手指接触；未先完成正转目标、仍在转动或手已完全离开都不算完成。反转阶段须 turn 在 [6.163185307179586, 6.403185307179586] rad、接触指为 1–5 根且角速度绝对值不超过 0.25 rad/s，连续 5 个控制采样各子步成立；从该阶段之后另计连续 25 个控制采样，在同一角度与接触范围内将角速度绝对值保持不超过 0.06 rad/s（每个采样的每个 2 ms 子步均成立），越出角度范围或失去停稳/接触条件即不再保持本步。",
+    "step": {
+     "cat": "机构",
+     "item": "旋转"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "plan": 1,
+      "note_zh": "右手多指在黑色旋钮表面交替施力和换位，换指时保留至少一个共同接触手指；不限定具体参与的手指组合。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:82-99",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:123-138",
+     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:80-85",
+     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-147",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:331-374",
+     "inputs/oracle/replay.mp4 @ 26-50.72 s",
+     "inputs/oracle/run.json:steps[id=56,59]"
+    ],
+    "conf": 6,
+    "note_zh": "停稳与终末保持共同验收反转终点，不另建静置节点；state 不受 after 门控，因此判据本身明确要求已按序通过两个原生阶段，不能把正转途中经过 +360° 计为完成。接受持续手持，故 freeze_held=false；hold_s=0，25 个采样由原生 terminal_hold 计数（若只按 50 Hz 帧时间换算，D31 的 5/25 采样分别为 0.08/0.48 s，仍不能代替子步检查）。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "object_force_exceeded",
+    "zh": "接触力超限",
+    "never": null,
+    "criterion_zh": "任一 2 ms 物理子步中，任一任务物体的单处接触力向量模最大值 force 超出 [0,80] N 即永久失败；普通视频不能可靠判断力值。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:101-105",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:203-210",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:350-374",
+     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
+    ]
+   },
+   {
+    "id": "rotor_speed_exceeded",
+    "zh": "旋钮转速超限",
+    "never": null,
+    "criterion_zh": "任一 2 ms 物理子步中，任务物体自由度最大绝对速度 speed 超出 [0,12]；本场景仅旋钮铰链，单位为 rad/s。此上限是全程禁限，区别于目标阶段的 0.25 和终末的 0.06 rad/s 验收上限。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:106-109",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:253-257",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:350-374"
+    ]
+   },
+   {
+    "id": "palm_displaced",
+    "zh": "手掌位移超限",
+    "never": null,
+    "criterion_zh": "手掌相对重置后位置的位移 palm_drift 超过 0.003 m（合法范围 [0,0.003]）即失败，任一 2 ms 子步触发即结束；总览中手腕应固定，毫米级超限无法仅凭视频确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:110-113",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:168-169",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:258-262",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-374"
+    ]
+   },
+   {
+    "id": "wrist_rotated",
+    "zh": "手腕转动超限",
+    "never": null,
+    "criterion_zh": "手掌相对重置后朝向的转角 wrist_rotation 超过 0.01 rad（合法范围 [0,0.01]）即失败，逐 2 ms 子步检查；全程动作的前六项还必须是 [-0.08,0,0.29,0,0,0]，仅接受并归一化合法浮点舍入。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:13-19",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:114-117",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:258-262",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:317-325",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-374"
+    ]
+   },
+   {
+    "id": "rotor_contact_lost",
+    "zh": "旋钮接触中断",
+    "never": null,
+    "criterion_zh": "任何 2 ms 子步中 rotor_hand_contacts < 1 即永久失败；仅计旋钮与右手之间接触力向量模大于 0.005 N 的接触。视频可见手指全离开黑色旋钮是明显中断，细小接触或承载力需物理特征确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/aa1030d363/catalog.json:118-121",
+     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204",
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-374"
+    ]
+   },
+   {
+    "id": "invalid_physics",
+    "zh": "物理状态失稳",
+    "never": null,
+    "criterion_zh": "必需物理特征非有限数，或物理引擎报告 BADQPOS、BADQVEL、BADQACC、BADCTRL 警告时立即失败；不从视频中的普通抖动推断此数值故障。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-348",
+     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:101-110"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "forward_stage_accepted",
+    "level": "new_code",
+    "source": "记录 Checker.snapshot().stage_index >= 1；其内部验收含 turn、rotor_handoffs、rotor_fingers、speed、连续 5 采样及子步 window_valid。来源 inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133、inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:331-374。"
+   },
+   {
+    "atom": "reverse_target_held",
+    "level": "new_code",
+    "source": "记录 Checker.snapshot().stage_index、terminal_hold 和当前 terminal bounds/window_valid；需 stage_index=2、terminal_hold>=25。来源 inputs/grader/efe_dexhand-files/privileged/environment/checker.py:80-85,118-158。"
+   },
+   {
+    "atom": "rotor_turn",
+    "level": "new_code",
+    "source": "记录 Session.features()[turn]，直接来自无限转铰链 qpos；inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:223-228。"
+   },
+   {
+    "atom": "rotor_handoffs",
+    "level": "new_code",
+    "source": "记录 Session.features()[rotor_handoffs]，重叠指集合稳定至少 0.04 s 后累计；inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:211-228。"
+   },
+   {
+    "atom": "rotor_fingers",
+    "level": "new_code",
+    "source": "记录 Session.features()[rotor_fingers]，接触阈值 >0.005 N；inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-201,227。"
+   },
+   {
+    "atom": "force",
+    "level": "new_code",
+    "source": "记录每个控制区间及历史违规处的 Session.features()[force] 子步峰值；inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:203-210,350-374。"
+   },
+   {
+    "atom": "speed",
+    "level": "new_code",
+    "source": "记录 Session.features()[speed] 子步峰值；inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:257,350-374。"
+   },
+   {
+    "atom": "palm_drift",
+    "level": "new_code",
+    "source": "记录 Session.features()[palm_drift] 及子步违规；inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:258-262,352-374。"
+   },
+   {
+    "atom": "wrist_rotation",
+    "level": "new_code",
+    "source": "记录 Session.features()[wrist_rotation]、固定腕目标是否合法及子步违规；inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:258-262,317-325,352-374。"
+   },
+   {
+    "atom": "rotor_hand_contacts",
+    "level": "new_code",
+    "source": "记录 Session.features()[rotor_hand_contacts] 及子步违规；inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204,226。"
+   },
+   {
+    "atom": "physics_validity",
+    "level": "new_code",
+    "source": "记录 Checker.failure、所需特征有限性及 MuJoCo 警告；inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-348、inputs/grader/efe_dexhand-files/privileged/environment/checker.py:101-117。"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "记录本体 Checker.snapshot().success 及 failure，不使用交付或重放一致性判决充当世界状态；inputs/grader/efe_dexhand-files/privileged/environment/checker.py:80-85,150-160。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target"
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target"
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；依 P8 所有节点 when、约束 never 与 success 均为 null，不能验证逐帧进度或 success 与评分器的一致性。atoms 的 new_code 是待增加日志的提取项，不表示模拟器没有这些原生特征。",
+  "依 DECISIONS.md D11 与 CASES.md OPEN-21 当前读法，将先到 +720°、再反转至 +360° 作为两个有序步骤；可在两段之间停下。依 D6 不按累计转角拆成逐圈节点，至少四次接力属于文本明示的接触方式与旋转验收，不增加换握动作节点。",
+  "评分器要求，文本未提：叙述仅说完成至少四次重叠接力，原生 two_forward_turns 阶段要求在正转 +720° 验收时就已达到四次，不能全部延到反转期间；详见 catalog.json:67-80，已纳入第一步判据。",
+  "模式差异：物理实例及 checker 相同（标准模式 sim/instance.json 与特权模式 tests/instance.json 内容相同），但特权模式 tests/grade.py:107-124 还要求两次新进程重放成功且末状态哈希相同；标准模式 tests/grade.py:22-29 采用可信服务实时回合结果。归档格式、最终记录与重放确定性是交付/执行有效性，未伪装成世界状态节点或额外���理步骤。",
+  "成功录像仅有总览视角，旋钮金色短标记很小且有手指遮挡；可连续追踪正转、反转和停住，但单帧无法区分 0°、+360°、+720°，也不能精确证明 0.005 N 接触、0.04 s 接力或 2 ms 子步界限。oracle/run.json 中最终成功回合报告 2533 个控制步、stage=2、terminal_hold=25；仅作为该策略完成的佐证，不代替不存在的状态日志。",
+  "初态由 scene.py 对应构建模块将 turn 设为 0，再按 essential_rotary_multi.py:124-148 静置 150 个物理步，故不声称任务时刻零的铰链角恰等于 0；成功录像从手已在旋钮附近开始，两个角度目标均未达成，且没有必须新增的容器或工具准备步骤。",
+  "native_metrics 中 turn 的 threshold 是两阶段目标中心值，容差均为 ±0.12 rad；精确闭区间、保持及接触要求见节点判据与 catalog.json:59-138。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两个步骤直接来自任务文字，顺序、精确转角、保持窗口和全程约束均有冻结评分器证据，且成功录像及回合记录支持这一分解；但无状态日志，总览不能精确验证累计角度及微小接触/子步窗口，D11 粒度仍属暂行读法。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "文本给出两步（正转到 +720°、反转到 +360° 并停稳），与 D6/D11 现读法一致；成功条件与阶段、终末保持、全程不变量均与评分器对应，无日志故 when/never/success 为 null 符合 P8。接触标注（手内调整）可接受，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['knob_forward_720', 'knob_reversed_360_held']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:42:29Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__essential_rotary_gait/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__essential_rotary_gait/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "3221a7cbd0a85cbb0ef5e9971d214030ad61127ec7809b7c27fcfeb9040abd11",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--fxxz4pc.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--fxxz4pc",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 22496,
+   "sim_steps": 22496,
+   "stages_completed": 2,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.25,
+   "peak_processes": 13,
+   "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/dexhand-essential-rotary-gait-i00-privileged--fxxz4pc/replay.mp4",
+  "duration_s": 60.08,
+  "fps": 25.0,
+  "frames": 1502,
+  "sha256": "35aa316b2f36e96a080bba7c7abb299f667e2e176c0fb99d176e0ec3d4934aa6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–45.7 s，白色右手手腕位置固定，食指在黑色旋钮前反复弯伸、侧移换位，另一接触指留在旋钮边缘；放大查看金色短标记，先经过视频约 22.5 s 的第一圈回位，再于视频约 45.7 s 回到顶部附近，随后标记反向移动。"
+     },
+     {
+      "t": 45.7,
+      "log_step": 69,
+      "text_zh": "推断：视频 45.2–46.2 s 逐帧显示第二圈终点附近的短暂停顿及随后的反转，故将正转验收时刻近似标为视频 45.7 s（约有 0.3 s 不确定性）。评分器字段 success=1、stages_completed=2、deterministic=1，且交付文件的两次独立重放均成功、末状态哈希相同（log step 68–69），支持正转阶段含至少四次重叠接力及停稳条件已被验收；录像不能直接量出接触力和逐子步窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0–45.7 s，右手食指与中指在黑色旋钮边缘交替承载、拨转和换位；食指回摆时另一指仍贴着旋钮，手掌未随旋钮整体转动。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [
+     [
+      60.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 46–60.04 s，右手手指继续贴着黑色旋钮反复拨动，金色短标记沿与前段相反的方向转回；逐帧检查视频 59–60.04 s，标记由右上方回到顶部附近，末帧右手仍与旋钮接触。"
+     },
+     {
+      "t": 60.04,
+      "log_step": 69,
+      "text_zh": "观察：交付文件的第二次独立重放记录 success=true、stage_index=2、terminal_hold=25、steps=22496（log step 68），第一次重放给出同样成功状态，且两次末状态哈希相同（log step 69）；评分器字段 success=1、stages_completed=2。"
+     },
+     {
+      "t": 60.04,
+      "log_step": 69,
+      "text_zh": "推断：结合视频末段反向回转至起始朝向附近且手未离开的画面，与交付文件成功及 terminal_hold=25 的重放结果，判定累计回到 +360° 并完成终末保持；将达成点放在已检查的最后一帧视频 60.04 s。录像经过抽帧，无法仅凭画面确定 0.06 rad/s 速度界限和保持计数首次成立的精确帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频约 46–60.04 s，右手食指反复弯伸、换位，中指贴住黑色旋钮边缘配合反向拨转；末帧手指仍在旋钮边缘承接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付完成旋钮正转两圈及反转停稳两个节点：视频约 45.7 s 正转阶段结束，视频 60.04 s 末帧仍保持手指接触，评分器判定成功。右手在固定手腕下通过手指交替承载和换位转动旋钮，交付文件的两次独立重放均通过两个阶段和终末保持，且末状态哈希一致（log step 68–69）。无状态日志，细小接触、精确速度及逐子步保持条件依赖成功判决佐证，节点时刻为视觉近似；评分器未报告各原生指标数值，故均填 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，两节点均达成，无失败层。run.json 的控制步计数（第一阶段完成于 steps=17210，总 22496，对应视频约 45.9 s）与标注的视频 45.7 s 吻合，末节点放在 60.04 s 与终末保持计数一致；接触标签（手内调整）与画面相符。未发现需改动内容。",
+    "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": "2026-10-29T11:12:27Z",
+  "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/dexhand-essential-rotary-gait-i00-privileged--fxxz4pc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--fxxz4pc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ed9263c617182e2e793db9d8208bc511524a7f6d355fd17331c720abe4e927f",
+   "video_sha256": "35aa316b2f36e96a080bba7c7abb299f667e2e176c0fb99d176e0ec3d4934aa6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--tgkydsu.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--tgkydsu",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 6952,
+   "sim_steps": 6952,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.816,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.267,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/replay.mp4",
+  "duration_s": 55.72,
+  "fps": 25.0,
+  "frames": 1393,
+  "sha256": "4e527477086a0b904d92a11f53255648de13187bc8383483b93a91b99d5333ca"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 右手已经贴近黑色旋钮，金色短标记位于上方；视频 0–3.2 s 手指有小幅屈伸，标记仍大致向上。"
+     },
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频 5、10、20、30、40、50 s 的总览及手部裁切中，右手食指和中指反复屈伸拨动黑色旋钮，金色短标记随拨动改变朝向。标记较小且间歇被手指遮挡，不将这些离散方位当作精确累计角度读数。"
+     },
+     {
+      "t": 55.68,
+      "log_step": null,
+      "text_zh": "观察：视频 54.6–55.68 s 的密集帧中，金色短标记位于左上，右手仍贴着旋钮，末段拨动后收至保持姿势；评分器 reward.stages_completed=0、success=0。推断：结合评分轨迹反复拨动后结束的过程、最终脚本的正转截断条件（log step 520）及阶段结果，正转两圈节点未验收；不从片尾单帧判定圈数，也不把 log step 522 的早期读数线性外推为片尾转角。"
+     },
+     {
+      "t": null,
+      "log_step": 488,
+      "text_zh": "观察：log step 488 的调试回合曾报告 stage=1/2；但 agent 在 log step 520 重写生成脚本、log step 521 重新运行，评分器最终记录 stages_completed=0，故该调试结果不计入评分轨迹进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4–55.4 s，右手食指和中指在黑色旋钮边缘附近反复屈伸拨动，其中一指抬起换位时另一指仍贴近旋钮；可见的是指端拨擦，未见拇指与其他手指合拢包夹旋钮。不能从画面确认评分器定义的承载接触阈值或四次有效重叠接力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0–55.68 s 只有同一组反复拨动动作，未见先正转两圈、再沿反方向回转一圈并停稳的完整过程；评分器 reward.stages_completed=0。"
+     },
+     {
+      "t": null,
+      "log_step": 520,
+      "text_zh": "观察：log step 520 的最终生成脚本仅包含正转循环及末尾保持，没有反转阶段；log step 521 执行该脚本。结合正转阶段未验收，反转停稳节点未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knob_forward_720",
+   "t": 55.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.6–55.68 s 右手仍在旋钮边缘，末段拨动后收至保持姿势；评分器 reward.stages_completed=0。log step 520 的最终脚本在正转循环后直接保持并保存。推断：正转两圈尚未验收就结束操作，断点仍锚定视频 55.4 s 的未达目标停下处，精确累计角度未记录。"
+  },
+  "unmet": {
+   "knob_forward_720": false,
+   "knob_reversed_360_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 55.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频全片抽帧显示右手食指和中指反复拨动旋钮；视频 0 s 金色短标记在上方，视频 54.6–55.68 s 在左上，手指末段拨动后收至保持姿势。评分器 reward.stages_completed=0；log step 520 的最终脚本只生成限时正转及末尾保持。推断：结合上述过程与验收结果，旋钮在正转 +720° 目标未达时停止，表现为转角不足；首尾标记方位本身不能确定累计圈数，不据早期转角增量估算片尾角度。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "观察：log step 482 的长脚本设置 base[12]=0.09、base[16]=-0.03，并用 act[15] 增幅 0.45 的正转动作；log step 488 的服务输出已到 turn=12.5003、handoffs=1888，保持后 stage=1/2、failed=False。log step 489 在控制步 16473 已进入反转第 25 周期，随后 turn 继续升高，至 log step 487 所示反转末段达 21.4320；agent 在 log step 490 取消该任务。log step 491 资源记录 time_left_s=264.9，此后 log step 493、500、504–506 继续测试反转候选；log step 510 的目录输出只有生成脚本，log step 511 才保存 50 步保持基线，log step 519 资源记录已只剩 134.9 s。最终 log step 520 把生成策略改为 while time.time()-t_start < 80.0 的正转循环，只有打印特征，没有到正转目标后再反转的阶段逻辑；log step 521 执行它，评分器最终 n_actions=6952、stages_completed=0。推断：已测正转阶段需约 1.6 万控制步，交付却采用更短的墙钟截止并取消后续阶段，未把已验证的正转长度纳入完整执行计划；剩余预算在反转候选测试与基线验收中减少后，仅生成短正转片段，解释了正转未达即停。根因是跨阶段策略与生成长度的取舍，不把预算耗尽本身当原因。早期 handoffs=0 不能反证接触方案，step 488 已验证正转及接力可行；完整任务的可行替代另由 inputs/oracle/oracle.json 的 success=1 支持，均不计入评分轨迹进度。",
+    "source_zh": "日志 / 服务特征与阶段输出 / 评分器字段 / 同任务成功参考记录"
+   }
+  ],
+  "gap_zh": "无状态日志，视频只有总览视角，金色短标记较小且间歇被手指遮挡，不能精确恢复累计转角、接触力或逐子步阈值。节点未达由评分轨迹的操作过程、最终脚本结构及评分器 stages_completed=0 共同判断。log step 522 仅有最终脚本初值 turn=-0.0366 与第 25 周期 turn=+0.0965、handoffs=0，不能把此段净增量 0.1331 rad 按总动作数线性外推，也不能推出最终接力次数；log step 517 是另一参数测试。log step 488 的达标输出与 log step 489 的控制步数只用于会话根因证据，未映射成评分视频时刻。最终生成回合完整末端 features 和最终重放验收输出未出现在运行日志中，评分器未报告连续指标，故 native_metrics.value 均为 null。规划根因依据脚本截断、测试取舍和长度差异推断；未实测在剩余预算内另一完整策略能否完成。"
+ },
+ "summary_zh": "评分轨迹中右手反复拨动旋钮后停住，正转两圈未验收，两个节点均未达成（0/2），断点仍为“旋钮正转两圈”。调试回合已证明正转与接力可行，但最终生成计划改为 80 秒墙钟截止、只交付 6952 步正转及保持，且没有反转段；结合后期测试与保存记录，根因改为认知·推理/规划。无状态日志及完整末端特征，精确转角与最终接力数未知，规划归因仍包含推断，置信度保持 7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达、断点 knob_forward_720、时钟均无误；但视频里金色标记过小，“经右、下、左缓慢移动”的观察不能从帧确认，且与日志里最终脚本每25个周期仅转约0.1 rad、handoffs=0 的读数不符；根因 item 写成泛称“控制”，不是分类法条目，且忽略了 handoffs=0 所指的接触/换指设计问题。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达、断点 knob_forward_720、时钟无误；但根因“抓取和接触设计（handoffs=0）”被日志反证：同一手势（step 493/500/516 与 gen.py 相同参数）在 step 488 的会话回合中 16473 步到 turn=12.50、handoffs=1888、stage=1/2，说明步态本身能产生接力；交付的 gen.py（step 520）只靠 80 s 墙钟循环，最终仅 6952 个动作，且只有正转，没有反转。handoffs=0 只是第 25 周期的早期读数。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按审阅意见改判为认知·推理/规划，证据与日志一致；I2 部分采纳，逐方位描述已删去、不外推约 2 rad 的理由成立。两项均 ok，无事实错误。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按审阅意见改判为认知·推理/规划，证据与日志一致；I2 部分采纳，逐方位描述已删去、不外推约 2 rad 的理由成立。两项均 ok，无事实错误。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:26:08Z",
+  "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/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--tgkydsu/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b55e3201ebf1384bb1b75bf5fa71cd8429306d3d7bf697555c8241bc56a0099e",
+   "video_sha256": "4e527477086a0b904d92a11f53255648de13187bc8383483b93a91b99d5333ca",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_blue_brush_sweep_forward/task_dag.json

@@ -0,0 +1,1604 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dextoolbench/brush_blue_brush_sweep_forward",
+ "suite": "dextoolbench",
+ "base": "dextoolbench_brush_blue_brush_sweep_forward",
+ "title_zh": "蓝色刷子前扫轨迹",
+ "summary_zh": "蓝色刷子按示范顺序通过全部34个目标位姿，每个目标的8个对应包围盒角点误差均严格小于1.5厘米。",
+ "embodiment_zh": "两种模式均为固定底座的KUKA iiwa 14单机械臂，末端安装22关节左型Sharpa HA4灵巧手，共29个位置控制关节，无移动底盘；privileged可读取仿真状态，standard通过服务使用相机与本体感知。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dextoolbench_brush_blue_brush_sweep_forward",
+  "bench": "dextoolbench",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "brush_goal_01_reached",
+    "zh": "刷子达目标1",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前0个目标已依次通过后，实体刷子到达第1个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到1。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:17-25",
+     "inputs/task/standard/environment/sim/instance.json:17-25",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第1个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.05886323982361973, 0.06285798895781691, 0.651702870051613, -0.025662249003838292, 0.9798964427223594, 0.02062816105996253, 0.19677116020244118]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_02_reached",
+    "zh": "刷子达目标2",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_01_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前1个目标已依次通过后，实体刷子到达第2个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到2。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:26-34",
+     "inputs/task/standard/environment/sim/instance.json:26-34",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第2个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.03947754664848679, 0.06304823065044585, 0.6853508723443081, -0.02070796558216179, 0.9611422453466416, 0.023464744315799452, 0.2742738962162815]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_03_reached",
+    "zh": "刷子达目标3",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_02_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前2个目标已依次通过后，实体刷子到达第3个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到3。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:35-43",
+     "inputs/task/standard/environment/sim/instance.json:35-43",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第3个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.02655994886338908, 0.06439289109455526, 0.7232315144112886, -0.009593701876130916, 0.9413723483415252, 0.009187073011165892, 0.33710778743861985]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_04_reached",
+    "zh": "刷子达目标4",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_03_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前3个目标已依次通过后，实体刷子到达第4个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到4。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:44-52",
+     "inputs/task/standard/environment/sim/instance.json:44-52",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第4个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.02625724582726496, 0.06649601705178942, 0.7668056048596488, -0.019382427764210328, 0.9341124604636953, -0.008290458758175313, 0.35635586285903115]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_05_reached",
+    "zh": "刷子达目标5",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_04_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前4个目标已依次通过后，实体刷子到达第5个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到5。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:53-61",
+     "inputs/task/standard/environment/sim/instance.json:53-61",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第5个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.029851138534071172, 0.06575431075316851, 0.8065229826979645, -0.03328584647919829, 0.9343631923716191, -0.01915972314214, 0.3542462168808533]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_06_reached",
+    "zh": "刷子达目标6",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_05_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前5个目标已依次通过后，实体刷子到达第6个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到6。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:62-70",
+     "inputs/task/standard/environment/sim/instance.json:62-70",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第6个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.023348977707103088, 0.05763683100544903, 0.8256161168371928, 0.01863513016976222, 0.919405749735963, -0.11149993936707464, 0.3767141659098394]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_07_reached",
+    "zh": "刷子达目标7",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_06_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前6个目标已依次通过后，实体刷子到达第7个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可���累计通过数达到7。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:71-79",
+     "inputs/task/standard/environment/sim/instance.json:71-79",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第7个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.003049714387019513, 0.07920484776566183, 0.8294245070677406, 0.035436330356205005, 0.8665000633562017, -0.2760234042997283, 0.4144067892462345]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_08_reached",
+    "zh": "刷子达目标8",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_07_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前7个目标已依次通过后，实体刷子到达第8个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到8。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:80-88",
+     "inputs/task/standard/environment/sim/instance.json:80-88",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第8个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.028565876258912163, 0.07084659467219112, 0.8619713209356525, 0.21846719219773716, 0.6898594158390698, -0.4560652293055876, 0.5180449584059825]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_09_reached",
+    "zh": "刷子达目标9",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_08_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前8个目标已依次通过后，实体刷子到达第9个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到9。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:89-97",
+     "inputs/task/standard/environment/sim/instance.json:89-97",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第9个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.030432325886274873, 0.06122199329975786, 0.8586262942582571, 0.3002684796909533, 0.5694477087864094, -0.5634979356483277, 0.5177240805506979]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_10_reached",
+    "zh": "刷子达目标10",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_09_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前9个目标已依次通过后，实体刷子到达第10个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到10。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:98-106",
+     "inputs/task/standard/environment/sim/instance.json:98-106",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第10个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.019203453610805336, 0.05311370451327524, 0.8654605263606208, 0.3927043590115672, 0.4817880105047373, -0.5835281501570654, 0.5226456709104884]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_11_reached",
+    "zh": "刷子达目标11",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_10_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前10个目标已依次通过后，实体刷子到达第11个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到11。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:107-115",
+     "inputs/task/standard/environment/sim/instance.json:107-115",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第11个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.028044571283607603, 0.03513675383574111, 0.8700959158145374, 0.401794816693393, 0.5076645733693268, -0.5590216571712463, 0.5180081013242707]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_12_reached",
+    "zh": "刷子达目标12",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_11_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前11个目标已依次通过后，实体刷子到达第12个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到12。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:116-124",
+     "inputs/task/standard/environment/sim/instance.json:116-124",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第12个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.04796408868551633, 0.03534805378253458, 0.8708578127594725, 0.4252822931883288, 0.5663230444180727, -0.4941748512483867, 0.5041868669998828]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_13_reached",
+    "zh": "刷子达目标13",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_12_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前12个目标已依次通过后，实体刷子到达第13个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到13。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:125-133",
+     "inputs/task/standard/environment/sim/instance.json:125-133",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第13个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.026742439755370332, 0.01966296584777849, 0.856362815226563, 0.4697097059709506, 0.6227417399965994, -0.4298978602130446, 0.4547013824115081]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_14_reached",
+    "zh": "刷子达目标14",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_13_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前13个目标已依次通过后，实体刷子到达第14个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到14。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:134-142",
+     "inputs/task/standard/environment/sim/instance.json:134-142",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第14个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.005613396906614114, -0.027844884966751637, 0.8114936624450726, 0.5278768915423957, 0.6291369359852498, -0.4149292254484385, 0.3916202765733513]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_15_reached",
+    "zh": "刷子达目标15",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_14_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前14个目标已依次通过后，实体刷子到达第15个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到15。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:143-151",
+     "inputs/task/standard/environment/sim/instance.json:143-151",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第15个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[-0.0030884547563149777, -0.0844561725056091, 0.7789911281074614, 0.5409523249286743, 0.6532410288736317, -0.37435294744176206, 0.3748421148857824]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松���节点。"
+   },
+   {
+    "id": "brush_goal_16_reached",
+    "zh": "刷子达目标16",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_15_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前15个目标已依次通过后，实体刷子到达第16个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到16。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:152-160",
+     "inputs/task/standard/environment/sim/instance.json:152-160",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第16个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.007170876580562253, -0.1366976500421475, 0.7595789016333974, 0.5447888389732887, 0.6710656867039689, -0.33808027643155514, 0.37226024733595975]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_17_reached",
+    "zh": "刷子达目标17",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_16_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前16个目标已依次通过后，实体刷子到达第17个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到17。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:161-169",
+     "inputs/task/standard/environment/sim/instance.json:161-169",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第17个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.021806693723098732, -0.17524991172412085, 0.7638265728765219, 0.5247032776249501, 0.6700731293687068, -0.3385892229718288, 0.4013051330783049]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_18_reached",
+    "zh": "刷子达目标18",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_17_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前17个目标已依次通过后，实体刷子到达第18个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对��角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到18。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:170-178",
+     "inputs/task/standard/environment/sim/instance.json:170-178",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第18个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.02623599448730529, -0.1985396290860345, 0.7832896309387389, 0.506591467585802, 0.654638403012496, -0.35115862002393367, 0.4376085806441634]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_19_reached",
+    "zh": "刷子达目标19",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_18_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前18个目标已依次通过后，实体刷子到达第19个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到19。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:179-187",
+     "inputs/task/standard/environment/sim/instance.json:179-187",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第19个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.01788089080079813, -0.18292033180927747, 0.8125260703402433, 0.5450380199678098, 0.6418259943048992, -0.36210240662282556, 0.39984346554877503]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_20_reached",
+    "zh": "刷子达目标20",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_19_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前19个目标已依次通过后，实体刷子到达第20个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到20。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:188-196",
+     "inputs/task/standard/environment/sim/instance.json:188-196",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第20个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.005963060935326388, -0.14221098258522402, 0.8070864550321861, 0.5820691076161894, 0.6368813680256223, -0.34910667194819645, 0.36565312609351447]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_21_reached",
+    "zh": "刷子达目标21",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_20_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前20个目标已依次通过后，实体刷子到达第21个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到21。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:197-205",
+     "inputs/task/standard/environment/sim/instance.json:197-205",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第21个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.019771521457385807, -0.14556791455589635, 0.7591505284329897, 0.6197125325375706, 0.6286442918458056, -0.3301956702359762, 0.33426568879107404]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_22_reached",
+    "zh": "刷子达目标22",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_21_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前21个目标已依次通过后，实体刷子到达第22个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到22。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:206-214",
+     "inputs/task/standard/environment/sim/instance.json:206-214",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第22个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.04246586525681172, -0.18836725012899125, 0.7656640010636, 0.5646138062545812, 0.6364581961978343, -0.3466598836305205, 0.3949166233024226]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_23_reached",
+    "zh": "刷子达目标23",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_22_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前22个目标已依次通过后，实体刷子到达第23个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到23。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:215-223",
+     "inputs/task/standard/environment/sim/instance.json:215-223",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第23个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.034544077949874345, -0.22985637681248705, 0.772580280286552, 0.534888687759832, 0.6296647480240268, -0.36505983381419077, 0.4291243578940244]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_24_reached",
+    "zh": "刷子达目标24",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_23_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前23个目标已依次通过后，实体刷子到达第24个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到24。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:224-232",
+     "inputs/task/standard/environment/sim/instance.json:224-232",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第24个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.030187232030008167, -0.24225948258557195, 0.7941328769750756, 0.5033354290674794, 0.601616419482781, -0.39030566311120357, 0.4820504320063392]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_25_reached",
+    "zh": "刷子达目标25",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_24_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前24个目标已依次通过后，实体刷子到达第25个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到25。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:233-241",
+     "inputs/task/standard/environment/sim/instance.json:233-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第25个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.020508555454220253, -0.2031469382086919, 0.8231592115852944, 0.5546858308615421, 0.6000259827242228, -0.379474740807845, 0.43392553530080563]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_26_reached",
+    "zh": "刷子达目标26",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_25_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前25个目标已依次通过后，实体刷子到达第26个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到26。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:242-250",
+     "inputs/task/standard/environment/sim/instance.json:242-250",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第26个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.012924150632207417, -0.15339710242326543, 0.8061763374004746, 0.5948933422265984, 0.6350441431232481, -0.3390742846215733, 0.35756045246600604]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_27_reached",
+    "zh": "刷子达目标27",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_26_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前26个目标已依次通过后，实体刷子到达第27个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到27。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:251-259",
+     "inputs/task/standard/environment/sim/instance.json:251-259",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第27个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.018072372062003624, -0.14825683688346092, 0.7510280415649595, 0.6125532786827333, 0.6521418796582887, -0.3096089702626109, 0.32191883309883135]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_28_reached",
+    "zh": "刷子达目标28",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_27_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前27个目标已依次通过后，实体刷子到达第28个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到28。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:260-268",
+     "inputs/task/standard/environment/sim/instance.json:260-268",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第28个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.02153498240108642, -0.19397054345245235, 0.7515674248112686, 0.5944105383640023, 0.6452411660640661, -0.3292544846674871, 0.3491868179419848]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_29_reached",
+    "zh": "刷子达目标29",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_28_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前28个目标已依次通过后，实体刷子到达第29个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到29。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:269-277",
+     "inputs/task/standard/environment/sim/instance.json:269-277",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第29个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.02184091880642158, -0.23213740126772842, 0.7661763006250507, 0.5511313165910212, 0.6284521295279589, -0.36788431071313443, 0.4073859677204684]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_30_reached",
+    "zh": "刷子达目标30",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_29_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前29个目标已依次通过后，实体刷子到达第30个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到30。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:278-286",
+     "inputs/task/standard/environment/sim/instance.json:278-286",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第30个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.009537902994604438, -0.2384090786120121, 0.7928813665253518, 0.5109451119499506, 0.5894965274158595, -0.3956929561820134, 0.48461946016130464]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_31_reached",
+    "zh": "刷子达目标31",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_30_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前30个目标已依次通过后，实体刷子到达第31个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到31。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未��序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:287-295",
+     "inputs/task/standard/environment/sim/instance.json:287-295",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第31个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.008311908406684939, -0.1886439432184669, 0.8362815624650978, 0.5217138639009726, 0.5834792841691762, -0.4194977230626259, 0.4597697570569602]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_32_reached",
+    "zh": "刷子达目标32",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_31_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前31个目标已依次通过后，实体刷子到达第32个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到32。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:296-304",
+     "inputs/task/standard/environment/sim/instance.json:296-304",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第32个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.007950011607237292, -0.1372877842994893, 0.8617602922158129, 0.5076388172586802, 0.6054153251214787, -0.39568989062478144, 0.4681929364883783]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_33_reached",
+    "zh": "刷子达目标33",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_32_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前32个目标已依次通过后，实体刷子到达第33个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到33。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，随后绿色虚影切换至下一目标；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:305-313",
+     "inputs/task/standard/environment/sim/instance.json:305-313",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第33个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.012631534466411295, -0.11131778430824224, 0.873648248224117, 0.5009420187016155, 0.6062827510762446, -0.40886873390646833, 0.462930532672336]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   },
+   {
+    "id": "brush_goal_34_reached",
+    "zh": "刷子达目标34",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "brush_goal_33_reached"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "前33个目标已依次通过后，实体刷子到达第34个目标位姿：工具局部0.141×0.03025×0.0271米包围盒放大1.5倍后的8个角点，与该目标对应角点的最大欧氏距离严格小于0.015米，在一个控制步检测到即可，累计通过数达到34。正面、侧面、俯视和斜视中实体刷子（此场景渲染为灰色）的位置及朝向应与当前绿色刷子虚影贴合，此时绿色虚影停在最后目标，须以累计通过数达到34或任务完成信号确认，不能只凭画面停止判断；仅中心靠近而朝向明显错开、目标尚未按序通过均不算完成，通过后离开此位姿不撤销本步，无须松手或静置。",
+    "step": {
+     "cat": "位姿",
+     "item": "沿轨迹移动"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "KUKA机械臂末端的左型Sharpa HA4灵巧手抓握蓝色刷子，带动刷子到达当前目标位姿；刷子本身是受评对象。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-6",
+     "inputs/task/standard/instruction.md:3-6",
+     "inputs/task/privileged/environment/instance.json:314-322",
+     "inputs/task/standard/environment/sim/instance.json:314-322",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241",
+     "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:157-170"
+    ],
+    "conf": 6,
+    "note_zh": "第34个有序目标，事件在计数器通过后锁存，不要求所有历史位姿同时成立；目标位姿为世界坐标，单位米，顺序x y z qx qy qz qw：[0.00803005341463758, -0.10153182547812489, 0.8724651092648182, 0.5069249631024386, 0.6069932328773757, -0.40366146792185365, 0.46004751530666677]。抓握是典型接触方案而非评分器额外条件；没有独立的接近、抓取或松手节点。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "brush_goal_01_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 1。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_02_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 2。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_03_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 3。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_04_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 4。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_05_passed",
+    "level": "new_code",
+    "source": "需在逐���状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 5。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_06_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 6。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_07_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 7。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_08_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 8。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_09_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 9。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_10_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 10。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_11_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 11。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_12_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 12。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_13_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 13。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_14_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 14。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_15_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 15。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_16_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 16。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_17_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 17。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_18_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 18。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_19_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 19。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_20_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 20。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_21_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 21。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_22_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 22。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_23_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 23。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_24_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 24。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_25_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 25。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_26_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 26。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_27_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 27。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_28_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 28。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_29_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 29。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_30_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 30。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_31_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 31。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_32_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 32。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_33_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 33。该字段尚无日志可验证，故when保持null。"
+   },
+   {
+    "atom": "brush_goal_34_passed",
+    "level": "new_code",
+    "source": "需在逐帧状态日志新增dyn.dtb_goals_reached，直接记录Session.goal_index（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:203,223-241）；本原子为该累计值 >= 34。该字段尚无日志可验证，故when保持null。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "note_zh": "当前目标8个对应角点距离的最大值，严格小于阈值；不是工具中心距离（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51,119-123,226）。"
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "note_zh": "累计已达目标数除以34；只有全部通过才成功，部分进度不计成功分（inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-241；inputs/grader/efe_dextoolbench-files/privileged/tests/grade.py:50-55）。"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功参照：inputs/oracle_none.txt说明16条目录运行均未成功；仅据文本、初态、评分器和参考脚本规划，无法用成功录像确认可见完成信号（暂行：DECISIONS.md N2）。参考方案也只报告8/34，不代表任务完整解法（inputs/task/privileged/README.md:11-26）。",
+  "inputs/states/index.json的logs为空；所有节点when及spec.success均为null，没有假设任何已记录字段。atoms列出未来需记录的原生目标计数器；当前精确角点容差和通过顺序只能结合视频及运行输出判断（暂行：DECISIONS.md P8、N8）。",
+  "粒度采用34个目标各一步并依次连边：文本明确要求34个位姿按序到达，评分器每次只递增一个目标；不将前扫合成一个节点，也不按位移长短合并相邻目标（DECISIONS.md S5、D11）。每个目标位姿可保持后继续，符合S10的可暂停边界。",
+  "工具拿起边界：刷子本身是沿轨迹移动的受评对象，不是用于改变另一目标的辅助工具；评分器只判位姿，不判抓握或离桌状态，不能证明每条合法成功路线都必须建立手中抓握（评分器rcb_dtb.py:223-241）。故拿起、抓握并入到达目标的操作过程，不另建Y17拿起节点；典型接触标手指/夹爪×抓握（DECISIONS.md D2；CASES.md CONTACT-2）。",
+  "模式差异：privileged按提交轨迹回放两次，要求最终状态哈希及到达数一致且done；standard对最后一段实时回合的done判成功，并要求有效的服务判定且无仿真错误。共用DAG只表达34个目标的物理完成，回放确定性、文件和服务有效性不伪装成语义节点；无状态日志时success保持null（privileged/tests/grade.py:47-54；standard/tests/grade.py:29-40；sim/server_mj.py:590-610）。",
+  "模式差异：privileged每个当前目标1800个控制步（30秒）未达即终止，standard配置RCB_DTB_GOAL_TIMEOUT_S=0，无单目标时限；两者都受360000步及会话时间预算限制。它们是时限而非禁止的世界状态，不写成约束（rcb_dtb.py:42-48,223-230；inputs/task/standard/environment/docker-compose.yaml:25-31；DECISIONS.md P21）。",
+  "文字与实现精度：指令把包围盒两边长写成0.030和0.027米，代码实际为0.03025和0.0271米，且使用严格小于0.015米；判据采用代码的精确尺寸与比较符（rcb_dtb.py:49-51,226）。",
+  "视觉提示：名称为蓝色刷子，但场景构建把实体工具统一渲染成灰色，目标渲染为绿色且无碰撞；判据据实体刷子与绿色虚影区分，不用蓝色作为识别前提（rcb_dtb.py:157-165）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "34个有序目标、精确角点容差、计数锁存及两种模式的初态均有文本和源码支持；但没有成功录像或任何状态日志，无法验证逐帧绑定和视觉可辨性，工具拿起的独立性仍属需说明的边界。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "34个有序目标位姿各一步、依次连边，符合文本与评分器（S5）；拿起/抓握并入首个目标，不另建节点；每目标30秒时限属于horizon类限制（P21），不作约束；无状态日志与成功参照，when与success为null并已在open_questions_zh说明；阈值使用代码精确值（0.03025/0.0271、严格小于0.015）。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['brush_goal_01_reached', 'brush_goal_02_reached', 'brush_goal_03_reached', 'brush_goal_04_reached', 'brush_goal_05_reached', 'brush_goal_06_reached', 'brush_goal_07_reached', 'brush_goal_08_reached', 'brush_goal_09_reached', 'brush_goal_10_reached', 'brush_goal_11_reached', 'brush_goal_12_reached', 'brush_goal_13_reached', 'brush_goal_14_reached', 'brush_goal_15_reached', 'brush_goal_16_reached', 'brush_goal_17_reached', 'brush_goal_18_reached', 'brush_goal_19_reached', 'brush_goal_20_reached', 'brush_goal_21_reached', 'brush_goal_22_reached', 'brush_goal_23_reached', 'brush_goal_24_reached', 'brush_goal_25_reached', 'brush_goal_26_reached', 'brush_goal_27_reached', 'brush_goal_28_reached', 'brush_goal_29_reached', 'brush_goal_30_reached', 'brush_goal_31_reached', 'brush_goal_32_reached', 'brush_goal_33_reached', 'brush_goal_34_reached']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T11:15:12Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dextoolbench__brush_blue_brush_sweep_forward/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dextoolbench__brush_blue_brush_sweep_forward/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "67199a9d4319056079ef7bf6c3d38fce2fcb08045a26e8e731a57abee74e3ecd",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/dextoolbench/brush_blue_brush_sweep_forward/trajectories/dextoolbench_brush_blue_brush_sweep_forward-privileged--2xdeqtn.json

@@ -0,0 +1,734 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_blue_brush_sweep_forward-privileged--2xdeqtn",
+ "taskKey": "dextoolbench/brush_blue_brush_sweep_forward",
+ "dag_sha256": "204f00e8a050b366a3db9edd5334fe7d6fb6682346eeea285ec9f68a31f86bc8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2059,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.2059,
+   "goals_reached": 7,
+   "n_goals": 34,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 1126,
+   "control_steps_used": 1126,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 55,
+   "agent_resets": 60,
+   "agent_control_steps": 33877,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 46,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.414,
+   "peak_memory_gb": 19.923,
+   "peak_processes": 77,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 18,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_oom": 1,
+   "over_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_brush_blue_brush_sweep_forward-privileged--2xdeqtn/replay.mp4",
+  "duration_s": 12.533,
+  "fps": 30.0,
+  "frames": 376,
+  "sha256": "28cff327c52ead3763839e85d553ff621ee97e65a80d8a01231c679884d1e5d9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 34,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "brush_goal_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频约 4.20 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第1次离散切换，转到目标2；已检查切换前后一帧及相邻动作。按有序目标计数规则，第1个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.4–4.2 s，KUKA末端左型Sharpa HA4手收拢手指，与拇指从两侧夹住灰色刷柄，实体刷子离开原桌面位置随手抬升。"
+     }
+    ]
+   },
+   "brush_goal_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.93,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.93,
+      "log_step": null,
+      "text_zh": "观察：视频约 4.93 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第2次离散切换，转到目标3；已检查切换前后一帧及相邻动作。按有序目标计数规则，第2个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 4.93 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标2；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.57,
+      "log_step": null,
+      "text_zh": "观察：视频约 5.57 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第3次离散切换，转到目标4；已检查切换前后一帧及相邻动作。按有序目标计数规则，第3个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 5.57 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标3；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频约 6.20 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第4次离散切换，转到目标5；已检查切换前后一帧及相邻动作。按有序目标计数规则，第4个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.20 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标4；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.87,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.87,
+      "log_step": null,
+      "text_zh": "观察：视频约 6.87 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第5次离散切换，转到目标6；已检查切换前后一帧及相邻动作。按有序目标计数规则，第5个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.87 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标5；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.37,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.37,
+      "log_step": null,
+      "text_zh": "观察：视频约 7.37 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第6次离散切换，转到目标7；已检查切换前后一帧及相邻动作。按有序目标计数规则，第6个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.37 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标6；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.47,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.47,
+      "log_step": null,
+      "text_zh": "观察：视频约 8.47 s，机器人单手夹持的灰色实体刷子接近当前绿色刷子虚影，绿色虚影发生第7次离散切换，转到目标8；已检查切换前后一帧及相邻动作。按有序目标计数规则，第7个目标在此通过，事件随后锁存。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：评分器 reward.goals_reached=7、n_goals=34、deterministic=1；log step 52 保存的1126行轨迹与 log step 54 两次新回放均报告 reached=7，和视频的7次目标切换一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 8.47 s 前后，左型Sharpa HA4手的拇指与弯曲手指夹住灰色刷柄，机械臂带动实体刷子升高并转向，经过目标7；刷子自身是受评对象。"
+     }
+    ]
+   },
+   "brush_goal_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.47 s 绿色虚影切换到目标8后，机器人继续持刷转腕；视频 9.0–11.3 s 灰色刷头与绿色虚影的面向明显错开，多次小幅调整仍未贴合。视频 11.5–12.5 s 末段画面保持该错位，没有再切换目标。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "观察：log step 54 对最终交付轨迹的两次回放均报告 reached=7、done=false、failed=false、goal_distance_m=0.08445、steps=1126；该距离是当前目标8的最大对应角点距离，超过0.015 m阈值，评分器最终计数也为7。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.47–11.3 s，左型Sharpa HA4手持续以拇指和弯曲手指夹持灰色刷柄，带动刷子转向目标8；视频结束时实体刷子仍在手中，未见掉落。"
+     }
+    ]
+   },
+   "brush_goal_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标9必须在前8个目标按序通过后才计数，因此目标9未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标10必须在前9个目标按序通过后才计数，因此目标10未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标11必须在前10个目标按序通过后才计数，因此目标11未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标12必须在前11个目标按序通过后才计数，因此目标12未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标13必须在前12个目标按序通过后才计数，因此目标13未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标14必须在前13个目标按序通过后才计数，因此目标14未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标15必须在前14个目标按序通过后才计数，因此目标15未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标16必须在前15个目标按序通过后才计数，因此目标16未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标17必须在前16个目标按序通过后才计数，因此目标17未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标18必须在前17个目标按序通过后才计数，因此目标18未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标19必须在前18个目标按序通过后才计数，因此目标19未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标20必须在前19个目标按序通过后才计数，因此目标20未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标21必须在前20个目标按序通过后才计数，因此目标21未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标22必须在前21个目标按序通过后才计数，因此目标22未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标23必须在前22个目标按序通过后才计数，因此目标23未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标24必须在前23个目标按序通过后才计数，因此目标24未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标25必须在前24个目标按序通过后才计数，因此目标25未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标26必须在前25个目标按序通过后才计数，因此目标26未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标27必须在前26个目标按序通过后才计数，因此目标27未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标28必须在前27个目标按序通过后才计数，因此目标28未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标29必须在前28个目标按序通过后才计数，因此目标29未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标30必须在前29个目标按序通过后才计数，因此目标30未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标31必须在前30个目标按序通过后才计数，因此目标31未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标32必须在前31个目标按序通过后才计数，因此目标32未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标33必须在前32个目标按序通过后才计数，因此目标33未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   },
+   "brush_goal_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 54,
+      "text_zh": "推断：视频 8.47 s 后当前绿色目标保持为目标8，直到视频 12.5 s 未再切换；评分器 reward.goals_reached=7，log step 54 的交付回放同为7。目标34必须在前33个目标按序通过后才计数，因此目标34未达到，交付轨迹也未开始该步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.2059,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_goal_08_reached",
+   "t": 9.0,
+   "log_step": 54,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.47 s 第7次切换后，机器人持刷转腕以追踪目标8；视频约 9.0 s 起灰色实体刷头与绿色目标的朝向明显分离，后续小幅调整未修复，视频 12.5 s 仍停在目标8。log step 52、54 保存并验证的最终轨迹均仅通过7个目标，当前目标角点最大距离为0.08445 m，未满足0.015 m阈值。"
+  },
+  "unmet": {
+   "brush_goal_01_reached": true,
+   "brush_goal_02_reached": true,
+   "brush_goal_03_reached": true,
+   "brush_goal_04_reached": true,
+   "brush_goal_05_reached": true,
+   "brush_goal_06_reached": true,
+   "brush_goal_07_reached": true,
+   "brush_goal_08_reached": false,
+   "brush_goal_09_reached": false,
+   "brush_goal_10_reached": false,
+   "brush_goal_11_reached": false,
+   "brush_goal_12_reached": false,
+   "brush_goal_13_reached": false,
+   "brush_goal_14_reached": false,
+   "brush_goal_15_reached": false,
+   "brush_goal_16_reached": false,
+   "brush_goal_17_reached": false,
+   "brush_goal_18_reached": false,
+   "brush_goal_19_reached": false,
+   "brush_goal_20_reached": false,
+   "brush_goal_21_reached": false,
+   "brush_goal_22_reached": false,
+   "brush_goal_23_reached": false,
+   "brush_goal_24_reached": false,
+   "brush_goal_25_reached": false,
+   "brush_goal_26_reached": false,
+   "brush_goal_27_reached": false,
+   "brush_goal_28_reached": false,
+   "brush_goal_29_reached": false,
+   "brush_goal_30_reached": false,
+   "brush_goal_31_reached": false,
+   "brush_goal_32_reached": false,
+   "brush_goal_33_reached": false,
+   "brush_goal_34_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 9.0,
+    "log_step": 54,
+    "evidence_zh": "观察：视频约 9.0–11.3 s，机器人手持刷子在空中调整，灰色实体刷头与绿色目标刷头在正面和俯视中朝向错开；视频 11.5–12.5 s 末段仍错位。log step 54 对交付轨迹的回放报告目标8的 goal_distance_m=0.08445，未通过目标8。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 44,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的脚本以测得的手内刷子变换计算掌部目标，再运行局部逆解（log step 8、32）；同一握法的诊断在零基索引7即目标8处反复求解仍留下约0.57 rad朝向残差（log step 35），而随机初值离线逆解对同一握法的目标8曾得到接近零残差（log step 40），说明该目标存在替代臂姿。log step 44 将 robust 默认设为false，生成器使用该局部解法；log step 52、54 的最终交付仍只到7/34，与视频 9.0–12.5 s 的姿态错位吻合，支持未求得并执行合适的关节轨迹。上述诊断是会话根因证据，不把其他测试的掉刷动作计入交付。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，也没有成功参照视频，无法独立重算每个角点误差或读取交付中各关节的限位状态；节点时刻取自已检查的绿色目标切换帧，精度约一个视频帧。根因的数值诊断来自同握法的会话测试，不能据此证明所有合法抓法或后续目标均不可达；log step 55 的任务不可行结论仅是agent自述。reward未报告goal_distance_m，故该原生指标value留null；交付回放在log step 54报告的距离只用于证据。"
+ },
+ "summary_zh": "机器人单手夹住灰色刷柄，抬升并转动刷子，在视频约 4.20–8.47 s 依次通过前7个目标，最终进度7/34。第8个目标处持续持刷但朝向错位，最终交付的两次回放均停在7个目标；控制脚本与同握法诊断支持轨迹或逆解失败。无逐帧状态日志或成功参照，未把会话其他测试的掉刷及agent关于整个任务不可行的判断当作交付事实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前7个目标的切换时刻与视频一致，目标8未达成、断点在目标8（操作中）、位姿不准+轨迹或逆解有日志与评分器读数支持，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": "2026-10-29T11:36:22Z",
+  "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/dextoolbench_brush_blue_brush_sweep_forward-privileged--2xdeqtn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_blue_brush_sweep_forward-privileged--2xdeqtn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "536922c83a7ea040fe872d21e4f89b6f2715c03ba3b6c848d4432a6d45b9d48b",
+   "video_sha256": "28cff327c52ead3763839e85d553ff621ee97e65a80d8a01231c679884d1e5d9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_blue_brush_sweep_forward/trajectories/dextoolbench_brush_blue_brush_sweep_forward-standard--6wkzvxs.json

@@ -0,0 +1,624 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_blue_brush_sweep_forward-standard--6wkzvxs",
+ "taskKey": "dextoolbench/brush_blue_brush_sweep_forward",
+ "dag_sha256": "204f00e8a050b366a3db9edd5334fe7d6fb6682346eeea285ec9f68a31f86bc8",
+ "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,
+   "sim_error": 0,
+   "grader_error": 0,
+   "control_steps": 1700,
+   "calls": 77,
+   "elapsed_s": 3088.7,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "resets": 0,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 34,
+   "failed_on_timeout": 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/dextoolbench_brush_blue_brush_sweep_forward-standard--6wkzvxs/replay.mp4",
+  "duration_s": 34.04,
+  "fps": 25.0,
+  "frames": 851,
+  "sha256": "b621f8649b89d3d3667d32665967dfae48d358864d100c2a00450766ad224eca"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 34,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_goal_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "观察：视频 0.0 s 的正面和侧面中，实体灰色刷子留在桌面，刷柄近水平，绿色目标刷柄倾斜抬高，两者未贴合；log step 4 的服务初态为 goal_index=0、goals_reached=0。"
+     },
+     {
+      "t": 29.44,
+      "log_step": 71,
+      "text_zh": "观察：视频 28.0–29.1 s，机器人灵巧手在刷柄上方合拢；视频 29.4–30.1 s 手向上抬起，灰色刷子仍留在原桌面位置，没有随手移动。log step 71 的服务输出仍为 reached 0、idx 0。"
+     },
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "观察：视频 31.2–34.0 s 再次接近、合手及上抬后，实体刷子仍在桌上，绿色目标没有切换；log step 75 再次试抬后的服务输出为 reached 0、idx 0。评分器 reward.goals_reached=0、n_goals=34，确认首目标全程未被锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–30.1 s、31.2–34.0 s，KUKA末端的Sharpa灵巧手接近灰色刷柄、合手并上抬，实际为未夹住刷柄的抓握尝试；刷子一直留在桌面，未建立可带动刷子的对向夹持。按未碰到目标的抓取尝试记录作用端和尝试方式，不表示成功抓握；局部轻触无接触传感数据可核实。"
+     }
+    ]
+   },
+   "brush_goal_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第2个目标须在前1个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第2个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第3个目标须在前2个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第3个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第4个目标须在前3个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第4个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第5个目标须在前4个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第5个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第6个目标须在前5个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第6个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第7个目标须在前6个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第7个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第8个目标须在前7个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第8个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第9个目标须在前8个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第9个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第10个目标须在前9个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第10个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第11个目标须在前10个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第11个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第12个目标须在前11个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第12个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第13个目标须在前12个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第13个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第14个目标须在前13个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第14个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第15个目标须在前14个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第15个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第16个目标须在前15个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第16个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第17个目标须在前16个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第17个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第18个目标须在前17个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第18个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第19个目标须在前18个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第19个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第20个目标须在前19个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第20个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第21个目标须在前20个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第21个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第22个目标须在前21个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第22个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第23个目标须在前22个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第23个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第24个目标须在前23个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第24个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第25个目标须在前24个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第25个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第26个目标须在前25个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第26个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第27个目标须在前26个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第27个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第28个目标须在前27个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第28个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第29个目标须在前28个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第29个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第30个目标须在前29个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第30个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第31个目标须在前30个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第31个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第32个目标须在前31个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第32个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第33个目标须在前32个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第33个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "brush_goal_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 75,
+      "text_zh": "推断：第34个目标须在前33个目标按序通过后才锁存。视频 0.0–34.0 s 检查中绿色虚影始终未切换，末段试抬后实体刷子仍留在桌面；log step 75 服务仍报告 reached 0、idx 0，评分器 reward.goals_reached=0、n_goals=34。因此第34个有序目标从未通过，也未进入其操作阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_goal_01_reached",
+   "t": 29.4,
+   "log_step": 71,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 28.0–29.1 s 机器人灵巧手在桌上刷柄附近合拢，视频 29.4–30.1 s 抬手时实体灰色刷子未随手离桌，仍与倾斜的绿色首目标错开。视频 31.2–34.0 s 的第二次尝试也未夹起刷子；log step 71、73、75 的服务输出均为 reached 0、idx 0。首目标的抓取及移位过程已启动但始终未完成，后续目标没有进入。"
+  },
+  "unmet": {
+   "brush_goal_01_reached": false,
+   "brush_goal_02_reached": false,
+   "brush_goal_03_reached": false,
+   "brush_goal_04_reached": false,
+   "brush_goal_05_reached": false,
+   "brush_goal_06_reached": false,
+   "brush_goal_07_reached": false,
+   "brush_goal_08_reached": false,
+   "brush_goal_09_reached": false,
+   "brush_goal_10_reached": false,
+   "brush_goal_11_reached": false,
+   "brush_goal_12_reached": false,
+   "brush_goal_13_reached": false,
+   "brush_goal_14_reached": false,
+   "brush_goal_15_reached": false,
+   "brush_goal_16_reached": false,
+   "brush_goal_17_reached": false,
+   "brush_goal_18_reached": false,
+   "brush_goal_19_reached": false,
+   "brush_goal_20_reached": false,
+   "brush_goal_21_reached": false,
+   "brush_goal_22_reached": false,
+   "brush_goal_23_reached": false,
+   "brush_goal_24_reached": false,
+   "brush_goal_25_reached": false,
+   "brush_goal_26_reached": false,
+   "brush_goal_27_reached": false,
+   "brush_goal_28_reached": false,
+   "brush_goal_29_reached": false,
+   "brush_goal_30_reached": false,
+   "brush_goal_31_reached": false,
+   "brush_goal_32_reached": false,
+   "brush_goal_33_reached": false,
+   "brush_goal_34_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 29.4,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 28.0–30.1 s，机器人手指在灰色刷柄上方合拢后空手抬起，刷子原位留桌；视频 33.2–34.0 s 再次抬手时同样如此，没有出现先夹起再滑落的过程。所需的夹持接触未建立，而非持物后丢失；log step 75 的试抬后服务仍报 reached 0。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 68、71、73、75 中，agent脚本用关节角增量控制手臂下降和上抬，并发送固定手指闭合预设；视频 28.0–30.1 s、31.2–34.0 s 显示这些动作未使手指围住实体刷柄，抬手时没有带动刷子。失败落实在接近及闭合动作的控制，无法从现有证据进一步区分接近轨迹、握型几何或定位误差的贡献；log step 70 的手指数组维度错误已在 log step 71 修复，不能作为最终失败的直接原因。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志、接触对或力数据，绿色虚影和低分辨率遮挡了部分指尖区域，无法排除短暂轻触，亦无法确定具体控制子类；只能确认没有建立有效夹持。无成功参照视频；goal_distance_m 未在评分器字段报告，保留 null。视频时刻直接取自检查帧，未以 agent 工作时间换算。"
+ },
+ "summary_zh": "评分回合为未重置的单次实时回合：机器人多次移动手臂并两次尝试合手抓刷子，实体刷子未被夹起，34个有序目标均未通过，最终为0/34。断点是“刷子达目标1”的操作中，视频 29.4 s 及视频 33.2–34.0 s 的空手上抬显示未建立夹持，根因可归为控制。缺少状态和接触数据，具体定位、接近轨迹及握型因素无法细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "0/34、断点在目标1操作中、没建立接触、控制根因（带不确定说明）与视频一致；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": "2026-10-29T11:37:02Z",
+  "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/dextoolbench_brush_blue_brush_sweep_forward-standard--6wkzvxs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_blue_brush_sweep_forward-standard--6wkzvxs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "58e223b8d7b280193b90a0708919c0482a1370f53416b7889762123abc2d8dad",
+   "video_sha256": "b621f8649b89d3d3667d32665967dfae48d358864d100c2a00450766ad224eca",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-privileged--27rjmbe.json

@@ -0,0 +1,664 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_red_brush_sweep_right-privileged--27rjmbe",
+ "taskKey": "dextoolbench/brush_red_brush_sweep_right",
+ "dag_sha256": "ecd315bdedfe165f67df5c8fb6ff6cb831da321ad7c1394e78085f12c5382b46",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 38,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 1075,
+   "control_steps_used": 1075,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 122,
+   "agent_resets": 181,
+   "agent_control_steps": 115987,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 150,
+   "agent_trace_videos": 6,
+   "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/dextoolbench_brush_red_brush_sweep_right-privileged--27rjmbe/replay.mp4",
+  "duration_s": 11.967,
+  "fps": 30.0,
+  "frames": 359,
+  "sha256": "43827e18e80810fb42d5e526a189f26f531e357a04c4e53c41d692f3b318e4bf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 38,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–7.5 s，单臂灵巧手下降、合指接触灰色实体刷的柄部；视频 7.5 s 后刷子随手上升，原桌面位置逐渐空出。绿色幽灵刷为当前目标，不是另一件实体物体。"
+     },
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0、9.0、10.0、11.0–11.93 s，灰刷仍倾斜，正面和侧面可见其刷头位置及朝向与绿色目标不吻合；绿色目标未切换。inputs/run.json 的评分器字段 goals_reached=0、n_goals=38、deterministic=1，确认首个位姿从未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.0–7.5 s，左型灵巧手的拇指与对侧手指在灰刷柄部合拢；视频 7.5–11.93 s，刷子随该手离开原桌面位置并上升。刷子自身是受评物体。"
+     }
+    ]
+   },
+   "brush_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第2个位姿受前1个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第3个位姿受前2个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第4个位姿受前3个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第5个位姿受前4个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机��人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第6个位姿受前5个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第7个位姿受前6个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第8个位姿受前7个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第9个位姿受前8个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第10个位姿受前9个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第11个位姿受前10个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第12个位姿受前11个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第13个位姿受前12个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第14个位姿受前13个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第15个位姿受前14个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第16个位姿受前15个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第17个位姿受前16个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第18个位姿受前17个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第19个位姿受前18个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第20个位姿受前19个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第21个位姿受前20个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第22个位姿受前21个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第23个位姿受前22个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第24个位姿受前23个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第25个位姿受前24个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第26个位姿受前25个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第27个位姿受前26个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第28个位姿受前27个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第29个位姿受前28个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第30个位姿受前29个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第31个位姿受前30个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第32个位姿受前31个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第33个位姿受前32个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第34个位姿受前33个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标��终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第35个位姿受前34个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第36个位姿受前35个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第37个位姿受前36个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   },
+   "brush_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–11.93 s 的绿色目标始终停在首个位姿，机器人只接近、抓起并抬升灰刷，没有进入后续示范序列；inputs/run.json 评分器记录 goals_reached=0/38。第38个位姿受前37个目标按序通过的条件限制，故本节点全程未达成，也未被单独尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_pose_01_reached",
+   "t": 8.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.5–8.5 s，机器人已用灵巧手夹持并抬升灰刷，但刷子在正面呈倾斜状态，刷头仍低于绿色首目标；至视频 11.93 s 仍未对齐，绿色目标从未切换。评分器 goals_reached=0/38，首个位姿是本次实际操作且始终未完成的步骤。"
+  },
+  "unmet": {
+   "brush_pose_01_reached": false,
+   "brush_pose_02_reached": false,
+   "brush_pose_03_reached": false,
+   "brush_pose_04_reached": false,
+   "brush_pose_05_reached": false,
+   "brush_pose_06_reached": false,
+   "brush_pose_07_reached": false,
+   "brush_pose_08_reached": false,
+   "brush_pose_09_reached": false,
+   "brush_pose_10_reached": false,
+   "brush_pose_11_reached": false,
+   "brush_pose_12_reached": false,
+   "brush_pose_13_reached": false,
+   "brush_pose_14_reached": false,
+   "brush_pose_15_reached": false,
+   "brush_pose_16_reached": false,
+   "brush_pose_17_reached": false,
+   "brush_pose_18_reached": false,
+   "brush_pose_19_reached": false,
+   "brush_pose_20_reached": false,
+   "brush_pose_21_reached": false,
+   "brush_pose_22_reached": false,
+   "brush_pose_23_reached": false,
+   "brush_pose_24_reached": false,
+   "brush_pose_25_reached": false,
+   "brush_pose_26_reached": false,
+   "brush_pose_27_reached": false,
+   "brush_pose_28_reached": false,
+   "brush_pose_29_reached": false,
+   "brush_pose_30_reached": false,
+   "brush_pose_31_reached": false,
+   "brush_pose_32_reached": false,
+   "brush_pose_33_reached": false,
+   "brush_pose_34_reached": false,
+   "brush_pose_35_reached": false,
+   "brush_pose_36_reached": false,
+   "brush_pose_37_reached": false,
+   "brush_pose_38_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.0–11.93 s，灰色实体刷随手抬起，但其长轴倾斜、刷头与绿色首目标存在明显位置和朝向差异；正面、侧面及斜视均未出现整体吻合。该差异持续到交付轨迹结束，评分器记录首目标未通过。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 7.5–11.93 s 显示机器人能够带起刷子，但未把刷子姿态控制到首目标。会话中的 log step 137、142 给出的抬升测试显示刷子四元数随抬升改变；log step 138、171 的首目标对齐测试均未通过，随后失去抬升状态。agent 在 log step 148 自述接触布局会让刷子扭转，log step 182 自述旋腕时仍失抓并决定保存确定性抬升轨迹，log step 208 明确交付仅达 0/38。结合可见交付结果，支持抓取后姿态控制未解决这一控制层根因；会话测试的掉落不作为本次交付的失败现象。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或成功示范；视频分辨率和手指遮挡不足以确定接触力、精确滑转量及各角点误差，评分器也未报告 goal_distance_m。能确认夹持抬升后仍未对齐，但无法把根因进一步区分为抓取接触几何、逆解或反馈控制；本次视频未显示完整掉落，不把其他会话测试的失抓标为本次现象。所有时刻均直接取视频帧，未将 agent 工作时间或控制步换算为视频时间。"
+ },
+ "summary_zh": "机器人在评分轨迹中用灵巧手夹持并抬起灰色实体刷，但未达到绿色首目标，38 个有序位姿最终均未完成。断点为首个位姿操作中：视频 8.0–11.93 s 刷子位置与朝向持续偏离目标，日志中的多次抬升和对齐测试支持控制层问题。缺少状态日志及精确接触数据，无法进一步确认具体控制子类，其他会话测试中的掉落未计入本次交付。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "38个节点全未达成与评分器 goals_reached=0/38 一致；视频中灰刷被灵巧手抓起并抬升但倾斜、未与绿色首目标吻合，断点（首位姿、操作中）、位姿不准现象和控制根因均有帧与日志支持，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": "2026-10-29T11:33:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--27rjmbe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--27rjmbe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d85bae27f682da417f06e8f775df5d22de56bb09faa06b23315679a9d9646fe",
+   "video_sha256": "43827e18e80810fb42d5e526a189f26f531e357a04c4e53c41d692f3b318e4bf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-privileged--bvvrexc.json

@@ -0,0 +1,670 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_brush_red_brush_sweep_right-privileged--bvvrexc",
+ "taskKey": "dextoolbench/brush_red_brush_sweep_right",
+ "dag_sha256": "ecd315bdedfe165f67df5c8fb6ff6cb831da321ad7c1394e78085f12c5382b46",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 38,
+   "failed_on_timeout": 1,
+   "deterministic": 1,
+   "n_actions": 1800,
+   "control_steps_used": 1800,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 22,
+   "agent_resets": 24,
+   "agent_control_steps": 14600,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 17,
+   "agent_trace_videos": 6,
+   "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/dextoolbench_brush_red_brush_sweep_right-privileged--bvvrexc/replay.mp4",
+  "duration_s": 12.033,
+  "fps": 30.0,
+  "frames": 361,
+  "sha256": "52400f0084fb3e385714f0ed7b00218a0eb658473f2f52a60e8c848ea472af69"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 38,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.6 s，机器人灵巧手在灰色实体刷的刷头附近合指夹持；实体刷仍在白色桌面上，明显低于绿色目标刷，未与目标重合。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–3.1 s，机器人抬手时实体刷倾斜、相对手指转动，刷柄仍靠近桌面；视频 3.2 s 手已离开刷子上方，实体刷留在桌上。视频 3.5–12.0 s 未见刷子再次被带起或绿色目标换位。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "观察：视频 12.0 s，灰刷仍在桌上，绿色目标仍悬在其上方；log step 28 对最终保存轨迹的 replay 输出 reached=0、n_goals=38、failed=True，与 run.json 的评分器字段 goals_reached=0、deterministic=1 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.8–3.1 s，单臂末端左型灵巧手的拇指和其余手指在实体刷刷头附近合拢夹持，尝试抬升；刷子倾斜后未随手上移，视频 3.2 s 手刷分离。接触对象是受评刷子本身。"
+     }
+    ]
+   },
+   "brush_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第2位姿需要前1个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第3位姿需要前2个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第4位姿需要前3个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第5位姿需要前4个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试��"
+     }
+    ]
+   },
+   "brush_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第6位姿需要前5个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第7位姿需要前6个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第8位姿需要前7个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第9位姿需要前8个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第10位姿需要前9个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第11位姿需要前10个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第12位姿需要前11个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第13位姿需要前12个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第14位姿需要前13个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第15位姿需要前14个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第16位姿需要前15个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第17位姿需要前16个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第18位姿需要前17个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第19位姿需要前18个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第20位姿需要前19个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第21位姿需要前20个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第22位姿需要前21个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第23位姿需要前22个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第24位姿需要前23个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第25位姿需要前24个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第26位姿需要前25个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第27位姿需要前26个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第28位姿需要前27个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第29位姿需要前28个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第30位姿需要前29个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第31位姿需要前30个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第32位姿需要前31个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第33位姿需要前32个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第34位姿需要前33个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第35位姿需要前34个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第36位姿需要前35个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第37位姿需要前36个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   },
+   "brush_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 28,
+      "text_zh": "推断：视频 0.0–12.0 s 中实体刷未到达首个绿色目标，末帧仍留在桌上；run.json 的评分器字段 goals_reached=0，log step 28 最终轨迹 replay 的 reached=0。按有序锁存验收，第38位姿需要前37个位姿先通过，因此本节点全程未进入有效验收，也未被实际尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_pose_01_reached",
+   "t": 3.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.8–3.1 s，机器人夹持刷头并尝试抬升以接近首个绿色目标，但实体刷只倾斜、刷柄仍靠近桌面；视频 3.2 s 手刷分离，灰刷留在桌上。至视频 12.0 s 仍未重新抓起并到达目标；评分器 goals_reached=0，首个位姿始终未修复。"
+  },
+  "unmet": {
+   "brush_pose_01_reached": false,
+   "brush_pose_02_reached": false,
+   "brush_pose_03_reached": false,
+   "brush_pose_04_reached": false,
+   "brush_pose_05_reached": false,
+   "brush_pose_06_reached": false,
+   "brush_pose_07_reached": false,
+   "brush_pose_08_reached": false,
+   "brush_pose_09_reached": false,
+   "brush_pose_10_reached": false,
+   "brush_pose_11_reached": false,
+   "brush_pose_12_reached": false,
+   "brush_pose_13_reached": false,
+   "brush_pose_14_reached": false,
+   "brush_pose_15_reached": false,
+   "brush_pose_16_reached": false,
+   "brush_pose_17_reached": false,
+   "brush_pose_18_reached": false,
+   "brush_pose_19_reached": false,
+   "brush_pose_20_reached": false,
+   "brush_pose_21_reached": false,
+   "brush_pose_22_reached": false,
+   "brush_pose_23_reached": false,
+   "brush_pose_24_reached": false,
+   "brush_pose_25_reached": false,
+   "brush_pose_26_reached": false,
+   "brush_pose_27_reached": false,
+   "brush_pose_28_reached": false,
+   "brush_pose_29_reached": false,
+   "brush_pose_30_reached": false,
+   "brush_pose_31_reached": false,
+   "brush_pose_32_reached": false,
+   "brush_pose_33_reached": false,
+   "brush_pose_34_reached": false,
+   "brush_pose_35_reached": false,
+   "brush_pose_36_reached": false,
+   "brush_pose_37_reached": false,
+   "brush_pose_38_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.6 s，机器人手指在刷头附近合拢；视频 2.8–3.1 s，刷子在抬手过程中发生相对转动，未整体随手离开桌面；视频 3.2–3.4 s，手已空着移开，刷子留在桌上。这是夹持后的丢失，之后直到视频 12.0 s 都未恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 1.8–3.2 s 显示机器人所选刷头夹���在抬升时不能稳定承载刷子，刷体相对手指翻转并脱离。会话日志 log step 26 的第一组闭指测试在抬升后记录物体高度约0.558 m、手掌高度约0.732 m；log step 27 选择该组刷头抓点和闭指参数生成交付轨迹，log step 28 重放仍为0/38。结合视频，所选接触布局未形成可随手抬升的稳定夹持；这些会话测试不用于逐帧接触或视频时间定位，亦未验证可行替代握法。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功参考视频，绿色目标模型遮挡部分拇指与刷头接触，无法量化夹持力、精确分离接触布局与运动跟踪的影响，替代握法是否可行未知。reward 未报告 goal_distance_m，故该原生指标值留 null；log step 28 的 replay 输出虽报告距离，但未作为评分器 reward 字段替代。日志仿真时钟未映射到视频，所有视频锚点均取自实际查看的帧。"
+ },
+ "summary_zh": "机器人在刷头附近合拢夹持并尝试抬升，但刷子倾斜后脱离，约视频 3.2 s 手刷分离，首个位姿未完成，最终为0/38。所选抓取和接触设计未能稳定承载刷子，后续机械臂运动未恢复首步。无状态日志及成功参考视频，部分接触被绿色目标模型遮挡，无法进一步量化夹持力或验证替代握法。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首个位姿未达、0/38 与评分器字段一致；视频 1.8–3.4 s 夹持后刷子倾斜脱手、此后留在桌上，断点、现象（没保持住）与根因（抓取和接触设计，推断标注）均有帧和日志支持，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": "2026-10-29T11:35:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--bvvrexc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--bvvrexc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7d2bc71d9c4f4eae847d882ffa907aba54b9f88f2076eceef6140324cdff2548",
+   "video_sha256": "52400f0084fb3e385714f0ed7b00218a0eb658473f2f52a60e8c848ea472af69",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/screwdriver_long_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_vertical-privileged--qzsqfld.json

@@ -0,0 +1,1485 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_screwdriver_long_screwdriver_spin_vertical-privileged--qzsqfld",
+ "taskKey": "dextoolbench/screwdriver_long_screwdriver_spin_vertical",
+ "dag_sha256": "0a646242fb4dc7eee76c89b55579cb3bf93170430ec2704bcb94e6397bd9f322",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 100,
+   "failed_on_timeout": 1,
+   "deterministic": 1,
+   "n_actions": 1800,
+   "control_steps_used": 1800,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 21,
+   "agent_resets": 22,
+   "agent_control_steps": 16560,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 15,
+   "agent_trace_videos": 6,
+   "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/dextoolbench_screwdriver_long_screwdriver_spin_vertical-privileged--qzsqfld/replay.mp4",
+  "duration_s": 12.033,
+  "fps": 30.0,
+  "frames": 361,
+  "sha256": "666dc82f4f29bf7e8de5a8e97075d282dd641badef153ff23a42f7a2258f97af"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 100,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_001_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1–1.7 s，Sharpa HA4手指合拢包住灰色螺丝刀柄并将工具提离桌面，但灰色工具长轴与绿色虚影不同向，未见实体与虚影对齐。绿色模型为评分器显示的当前目标工具位姿。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–3.2 s，灰色螺丝刀从手部脱离并落回白色桌面；视频 3.4–12.0 s，手继续转动，螺丝刀仍躺在桌上，绿色目标保持在桌面上方。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "观察：inputs/run.json 的评分器字段 goals_reached=0、n_goals=100、deterministic=1；log step 19保存最终交付并从起点回放，服务返回 reached=0、steps=1800，与视频首目标始终未切换的画面一致。首目标未通过，故该事件从未锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.1–1.7 s，单只Sharpa HA4灵巧手的拇指与其余手指合拢包夹螺丝刀柄，机械臂将其提离桌面；视频约 3.0 s 工具脱手，之后未重新抓起。螺丝刀本身是受评对象。"
+     }
+    ]
+   },
+   "goal_pose_002_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第2个目标须在前1个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_003_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第3个目标须在前2个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_004_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第4个目标须在前3个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_005_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第5个目标须在��4个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_006_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第6个目标须在前5个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_007_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第7个目标须在前6个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_008_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第8个目标须在前7个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_009_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第9个目标须在前8个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_010_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第10个目标须在前9个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_011_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第11个目标须在前10个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_012_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第12个目标须在前11个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_013_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第13个目标须在前12个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_014_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第14个目标须在前13个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_015_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第15个目标须在前14个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_016_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第16个目标须在前15个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_017_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第17个目标须在前16个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_018_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第18个目标须在前17个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_019_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第19个目标须在前18个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_020_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第20个目标须在前19个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_021_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第21个目标须在前20个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_022_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第22个目标须在前21个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_023_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第23个目标须在前22个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_024_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在��面。第24个目标须在前23个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_025_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第25个目标须在前24个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_026_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第26个目标须在前25个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_027_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第27个目标须在前26个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_028_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第28个目标须在前27个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_029_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第29个目标须在前28个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_030_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第30个目标须在前29个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_031_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第31个目标须在前30个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_032_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第32个目标须在前31个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_033_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第33个目标须在前32个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_034_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第34个目标须在前33个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_035_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第35个目标须在前34个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_036_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第36个目标须在前35个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_037_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第37个目标须在前36个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_038_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第38个目标须在前37个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_039_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第39个目标须在前38个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_040_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第40个目标须在前39个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_041_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第41个目标须在前40个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_042_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第42个目标须在前41个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_043_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未��换，灰色工具脱手后仍留在桌面。第43个目标须在前42个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_044_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第44个目标须在前43个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_045_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第45个目标须在前44个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_046_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第46个目标须在前45个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_047_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第47个目标须在前46个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_048_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第48个目标须在前47个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_049_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第49个目标须在前48个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_050_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第50个目标须在前49个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_051_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第51个目标须在前50个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_052_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第52个目标须在前51个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_053_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第53个目标须在前52个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_054_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第54个目标须在前53个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_055_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第55个目标须在前54个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_056_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第56个目标须在前55个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_057_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第57个目标须在前56个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_058_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第58个目标须在前57个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_059_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第59个目标须在前58个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_060_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第60个目标须在前59个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_061_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第61个目标须在前60个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_062_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第62个目标须在前61个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_063_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第63个目标须在前62个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_064_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第64个目标须在前63个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_065_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第65个目标须在前64个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_066_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第66个目标须在前65个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_067_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第67个目标须在前66个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_068_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第68个目标须在前67个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_069_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第69个目标须在前68个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_070_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第70个目标须在前69个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_071_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第71个目标须在前70个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_072_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第72个目标须在前71个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_073_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第73个目标须在前72个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_074_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第74个目标须在前73个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_075_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第75个目标须在前74个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_076_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第76个目标须在前75个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_077_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第77个目标须在前76个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_078_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第78个目标须在前77个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_079_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第79个目标须在前78个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_080_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第80个目标须在前79个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_081_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付��起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第81个目标须在前80个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_082_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第82个目标须在前81个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_083_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第83个目标须在前82个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_084_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第84个目标须在前83个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_085_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第85个目标须在前84个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_086_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第86个目标须在前85个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_087_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第87个目标须在前86个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_088_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第88个目标须在前87个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_089_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第89个目标须在前88个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_090_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第90个目标须在前89个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_091_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第91个目标须在前90个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_092_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第92个目标须在前91个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_093_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第93个目标须在前92个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_094_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第94个目标须在前93个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_095_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第95个目标须在前94个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_096_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第96个目标须在前95个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_097_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第97个目标须在前96个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_098_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第98个目标须在前97个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_099_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第99个目标须在前98个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   },
+   "goal_pose_100_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 19,
+      "text_zh": "推断：评分器累计 goals_reached=0/100，且 log step 19 对最终交付的起点回放返回 reached=0；视频 0.0–12.0 s 当前绿色首目标未切换，灰色工具脱手后仍留在桌面。第100个目标须在前99个目标按序通过后才可锁存，因此本节点全程未达到，也未进入其操作阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goals_reached",
+   "unit": "goal",
+   "threshold": 100,
+   "direction": "higher_better",
+   "value": 0
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_001_reached",
+   "t": 3.0,
+   "log_step": 19,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.7 s 机器人已提起螺丝刀，仍未对齐首个绿色目标；视频 2.8–3.2 s 工具脱手落回桌面，视频 3.4–12.0 s 没有再次拿起或完成对齐。评分器 goals_reached=0，log step 19确认最终交付回放仍为0/100；失败发生于首目标的持物调姿过程。"
+  },
+  "unmet": {
+   "goal_pose_001_reached": false,
+   "goal_pose_002_reached": false,
+   "goal_pose_003_reached": false,
+   "goal_pose_004_reached": false,
+   "goal_pose_005_reached": false,
+   "goal_pose_006_reached": false,
+   "goal_pose_007_reached": false,
+   "goal_pose_008_reached": false,
+   "goal_pose_009_reached": false,
+   "goal_pose_010_reached": false,
+   "goal_pose_011_reached": false,
+   "goal_pose_012_reached": false,
+   "goal_pose_013_reached": false,
+   "goal_pose_014_reached": false,
+   "goal_pose_015_reached": false,
+   "goal_pose_016_reached": false,
+   "goal_pose_017_reached": false,
+   "goal_pose_018_reached": false,
+   "goal_pose_019_reached": false,
+   "goal_pose_020_reached": false,
+   "goal_pose_021_reached": false,
+   "goal_pose_022_reached": false,
+   "goal_pose_023_reached": false,
+   "goal_pose_024_reached": false,
+   "goal_pose_025_reached": false,
+   "goal_pose_026_reached": false,
+   "goal_pose_027_reached": false,
+   "goal_pose_028_reached": false,
+   "goal_pose_029_reached": false,
+   "goal_pose_030_reached": false,
+   "goal_pose_031_reached": false,
+   "goal_pose_032_reached": false,
+   "goal_pose_033_reached": false,
+   "goal_pose_034_reached": false,
+   "goal_pose_035_reached": false,
+   "goal_pose_036_reached": false,
+   "goal_pose_037_reached": false,
+   "goal_pose_038_reached": false,
+   "goal_pose_039_reached": false,
+   "goal_pose_040_reached": false,
+   "goal_pose_041_reached": false,
+   "goal_pose_042_reached": false,
+   "goal_pose_043_reached": false,
+   "goal_pose_044_reached": false,
+   "goal_pose_045_reached": false,
+   "goal_pose_046_reached": false,
+   "goal_pose_047_reached": false,
+   "goal_pose_048_reached": false,
+   "goal_pose_049_reached": false,
+   "goal_pose_050_reached": false,
+   "goal_pose_051_reached": false,
+   "goal_pose_052_reached": false,
+   "goal_pose_053_reached": false,
+   "goal_pose_054_reached": false,
+   "goal_pose_055_reached": false,
+   "goal_pose_056_reached": false,
+   "goal_pose_057_reached": false,
+   "goal_pose_058_reached": false,
+   "goal_pose_059_reached": false,
+   "goal_pose_060_reached": false,
+   "goal_pose_061_reached": false,
+   "goal_pose_062_reached": false,
+   "goal_pose_063_reached": false,
+   "goal_pose_064_reached": false,
+   "goal_pose_065_reached": false,
+   "goal_pose_066_reached": false,
+   "goal_pose_067_reached": false,
+   "goal_pose_068_reached": false,
+   "goal_pose_069_reached": false,
+   "goal_pose_070_reached": false,
+   "goal_pose_071_reached": false,
+   "goal_pose_072_reached": false,
+   "goal_pose_073_reached": false,
+   "goal_pose_074_reached": false,
+   "goal_pose_075_reached": false,
+   "goal_pose_076_reached": false,
+   "goal_pose_077_reached": false,
+   "goal_pose_078_reached": false,
+   "goal_pose_079_reached": false,
+   "goal_pose_080_reached": false,
+   "goal_pose_081_reached": false,
+   "goal_pose_082_reached": false,
+   "goal_pose_083_reached": false,
+   "goal_pose_084_reached": false,
+   "goal_pose_085_reached": false,
+   "goal_pose_086_reached": false,
+   "goal_pose_087_reached": false,
+   "goal_pose_088_reached": false,
+   "goal_pose_089_reached": false,
+   "goal_pose_090_reached": false,
+   "goal_pose_091_reached": false,
+   "goal_pose_092_reached": false,
+   "goal_pose_093_reached": false,
+   "goal_pose_094_reached": false,
+   "goal_pose_095_reached": false,
+   "goal_pose_096_reached": false,
+   "goal_pose_097_reached": false,
+   "goal_pose_098_reached": false,
+   "goal_pose_099_reached": false,
+   "goal_pose_100_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.5–1.8 s 灰色螺丝刀随合拢的灵巧手离开桌面；视频 2.8–3.2 s，螺丝刀与手分离并落回桌面，随后手在其上方继续运动。视频 11.0、11.2、11.4、11.6、11.8、12.0 s 均显示工具仍躺在桌面，原先建立的持握没有恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志",
+    "t": 3.0,
+    "log_step": 16,
+    "evidence_zh": "推断：视频 1.1–1.7 s 合指时工具改变方向，提起后仍与目标不同向，随后在机械臂调姿中脱手（视频 2.8–3.2 s）；这次包握未能约束工具的相对姿态并承受调姿。log step 12定义固定的各指合拢姿态，log step 16的后续追踪循环保持 hc=hand_close(1)，仅改变臂关节而不根据工具滑转调整手指；log step 19使用该脚本默认抓取参数生成并回放最终文件。可行替代的存在由成功参考 inputs/oracle/oracle.json 的 success=1及参考视频 2.0–6.0 s 持物对齐并转为竖直的画面支持；参考只用于验证存在可行方案，不充作本次进度证据。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志，视频部分手指接触点被手掌遮挡，不能确定首先失效的是哪一指接触，也不能量化夹持力与滑移。评分器未报告 goal_distance_m，故该原生指标保留null；log step 19服务回放中的0.27455米只作为日志证据。视频时刻均直接取自已检查帧，未将控制步数或agent时间换算为视频时间。"
+ },
+ "summary_zh": "机器人抓住并短暂提起长螺丝刀，但尚未到达首个目标便在视频约 3.0 s 脱手，工具落回桌面后一直未被重新抓起，最终0/100个顺序位姿达成。固定包握未能在调姿中保持工具，断点为达成位姿1；最终交付的回放与评分器零目标计数一致。缺少接触状态和力记录，无法进一步确定具体失效手指或夹持力。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频一致：首目标始终未达成，视频约1.5 s工具被提起、约3 s脱手落桌，之后未再抓起；断点、现象与根因有证据支持。",
+    "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": "2026-10-29T11:27:26Z",
+  "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/dextoolbench_screwdriver_long_screwdriver_spin_vertical-privileged--qzsqfld/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_screwdriver_long_screwdriver_spin_vertical-privileged--qzsqfld/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e4250567029e1de222f5432018548068c01aaa258427693cdd199873e381f5a",
+   "video_sha256": "666dc82f4f29bf7e8de5a8e97075d282dd641badef153ff23a42f7a2258f97af",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--4q55hso.json

@@ -0,0 +1,752 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--4q55hso",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 1,
+   "deterministic": 1,
+   "n_actions": 2450,
+   "control_steps_used": 1800,
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+   "grader_error": 0,
+   "agent_sessions": 59,
+   "agent_resets": 90,
+   "agent_control_steps": 35686,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 64,
+   "agent_trace_videos": 6
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--4q55hso/replay.mp4",
+  "duration_s": 8.633,
+  "fps": 30.0,
+  "frames": 259,
+  "sha256": "9d09b4d867770fa0fac5e414ab27bb1658d778438f694c624a72414eb6392e03"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频约1.4–2.0 s，iiwa末端的Sharpa左手下降到平铲柄处并合拢手指；视频2.8–3.3 s，灰色实体铲随手抬离桌面，铲柄被弯曲手指包住。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频3.0–4.1 s，机器人持铲停在绿色首目标上方，实体铲与目标的位置、倾斜方向尚有差异；视频7.6–8.6 s仍未与绿色目标完整重合，绿色目标未推进。评分器reward报告goals_reached=0、n_goals=45，确认首目标未计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约1.4–2.0 s，单只Sharpa左手的手指合拢包住平铲柄，随后铲随手上升；视频3.0–8.6 s机器人持铲移动，未见铲脱手。平铲本体是受评对象。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第2目标必须在第1目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第3目标必须在第2目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第4目标必须在第3目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第5目标必须在第4目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第6目标必须在第5目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第7目标必须在第6目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第8目标必须在第7目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第9目标必须在第8目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第10目标必须在第9目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第11目标必须在第10目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第12目标必须在第11目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第13目标必须在第12目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第14目标必须在第13目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第15目标必须在第14目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第16目标必须在第15目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第17目标必须在第16目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第18目标必须在第17目标计数后才可达成，��本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第19目标必须在第18目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第20目标必须在第19目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第21目标必须在第20目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第22目标必须在第21目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第23目标必须在第22目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第24目标必须在第23目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第25目标必须在第24目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第26目标必须在第25目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第27目标必须在第26目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第28目标必须在第27目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第29目标必须���第28目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第30目标必须在第29目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第31目标必须在第30目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第32目标必须在第31目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第33目标必须在第32目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第34目标必须在第33目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第35目标必须在第34目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第36目标必须在第35目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第37目标必须在第36目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第38目标必须在第37目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第39目标必须在第38目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第40目标必须在第39目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第41目标必须在第40目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第42目标必须在第41目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第43目标必须在第42目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第44目标必须在第43目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "推断：视频0–8.6 s，绿色当前目标未推进，机器人只围绕首目标取铲、抬升和调整；评分器reward报告goals_reached=0。第45目标必须在第44目标计数后才可达成，故本节点未达到，且该目标尚未被尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goals_reached",
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": 0
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 3.5,
+   "log_step": 94,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约2.8–3.3 s机器人已把平铲抬起；视频3.5 s实体铲位于绿色首目标上方且朝向仍有差异，此后调整至视频8.6 s末帧仍未使目标推进。评分器reward为goals_reached=0、failed_on_timeout=1，失败发生在首目标的持铲移动过程中；log step 94保存的最终生成轨迹只选用flip=1并报告首目标未达到，log step 95确认交付该2450行文件。"
+  },
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频3.0–4.1 s，灰色实体平铲虽已随手抬起，但铲面在绿色目标之上，铲柄倾角也不一致；视频7.6–8.6 s机器人仍持铲，实体与目标没有完整重合，当前绿色目标始终未推进。评分器reward的goals_reached=0与这一未对准结果一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 59,
+    "evidence_zh": "推断：agent在log step 50明确把评分框绕工具轴翻转180°视为等价，并据此选择替代目标；log step 59的choose_flip及T_goal_eff代码将目标旋转改成R_goal @ F。log step 94最终生成输出flip=1，log step 95交付元数据仍为flips=[1]；其中F=diag(1,-1,-1)，是绕工具长轴翻转180°。然而log step 4展示的评分函数用同序CORNERS直接相减，任务DAG也要求对应角点匹配；即使机器人精确达到该替代姿态，对应角点仍相差约0.0609米（1.5×sqrt(0.03025²+0.0271²)），超过0.015米。该目标设定错误足以使脚本收敛到不被接受的姿态，不能仅归因为动作执行不准。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频，无法从画面量化逐步角点误差，也无法证实agent在log step 96提出的腕姿不可达或缓慢手内滑移猜测，因此不追加够不着、没保持住或控制子类。评分器reward未报告goal_distance_m；log step 94的0.08751米是最终生成脚本的自测读数，原生指标按评分器字段留null。所有时间锚取自视频，未将控制步数或agent工作时间换算为视频时间。"
+ },
+ "summary_zh": "机器人在视频约2.8–3.3 s抓持平铲并抬离桌面，随后向绿色首目标调整，但首目标始终未被计数，最终为0/45。断点为首目标操作中的位姿不准；log step 50、59、94–95显示脚本将绕工具长轴翻转180°当作等价目标并交付，违反对应角点的验收规则。缺少状态日志，无法进一步确定剩余位置误差中逆解、跟踪或手内滑移各自的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "0/45由评分器字段确认；断点首目标、位姿不准、抓握接触与根因（把绕工具轴180°翻转当作等价目标，而评分用有序对应角点）均有视频与log step 4/50/59/94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": "2026-10-29T11:35:54Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-privileged--4q55hso/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--4q55hso/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79c4e46c8b72ad59a7899554d1ef1411e1e93a5fe682ed6e05e55d63f523f326",
+   "video_sha256": "9d09b4d867770fa0fac5e414ab27bb1658d778438f694c624a72414eb6392e03",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--xqncakx.json

@@ -0,0 +1,768 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--xqncakx",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "control_steps": 2449,
+   "calls": 1489,
+   "elapsed_s": 3629.5,
+   "video_rendered": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "no_verdict": 0,
+   "sim_error": 0,
+   "resets": 20,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.463,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.409,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--xqncakx/replay.mp4",
+  "duration_s": 24.52,
+  "fps": 25.0,
+  "frames": 613,
+  "sha256": "63468d7bb046854cb9bfb49eb62f86c56134ba7dafc33bdc58d41485a6728ec2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频0.6–1.6 s，机器人左Sharpa手下降并弯曲手指；俯视中灰色实体平铲已斜置于桌面，朝向与横向的绿色目标铲不同，未见铲柄被拇指和其余手指对向夹住。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–3.2 s，机器人合手后向上移动，灰色平铲仍留在原来的斜置位置，没有随手抬起；视频3.2–24.48 s的检查帧中绿色目标未推进，实体铲也未到达该目标。"
+     },
+     {
+      "t": null,
+      "log_step": 374,
+      "text_zh": "观察：log step 374记录最终第21局启动，抓取和抬升动作后服务返回goal_index=0、goals_reached=0；inputs/run.json的最终评分字段也为goals_reached=0、n_goals=45。日志中的Goal 0对应DAG的目标1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频约1.0–2.4 s，左Sharpa手在平铲附近合指并抬手，平铲未随动。候选方式“空夹”：记录实际合手尝试；未见手指对向夹住铲柄，因此不标已建立的抓握，也没有足够证据标推/扫或压/擦。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标2从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标3从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标4从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标5从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标6从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标7从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标8从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标9从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标10从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标11从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标12从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标13从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标14从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标15从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标16从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标17从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标18从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标19从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标20从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标21从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标22从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标23从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标24从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标25从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标26从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标27从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标28从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标29从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标30从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标31从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标32从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标33从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标34从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标35从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标36从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标37从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标38���未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标39从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标40从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标41从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标42从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标43从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标44从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.48,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json最终评分为goals_reached=0/45；DAG逐目标顺序计数且事件锁存，因此目标45从未计数。视频0–24.48 s的检查帧中绿色目标未推进，机器人仍停留在首目标的抓取及对齐阶段，未开始本目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goals_reached",
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": 0
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 2.4,
+   "log_step": 374,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约1.0–2.4 s，机器人左手下降合指后抬起，灰色平铲仍斜置在桌面附近，未被带起到绿色首目标；直到视频24.48 s仍无目标推进。log step 374确认这是最终第21局的抓取和首目标对齐动作，服务返回goals_reached=0，最终评分亦为0/45。"
+  },
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.4,
+    "log_step": 374,
+    "evidence_zh": "观察：视频0.8–1.6 s，左手在平铲附近合指；视频2.0–3.2 s，手上移而灰色平铲保持斜置，没有出现工具随手离开原处的过程。推断：此次未建立能提起并搬动平铲的抓握接触，首目标因而未达；不是先持稳再掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频0.6–3.2 s显示机器人已执行接近、合指和抬手，但手部动作没有形成能带起工具的抓握；其后检查至视频24.48 s也未修复。log step 374记录控制器已提交抓取抬升轨迹并进入首目标对齐搜索，服务仍报告0目标。证据支持抓取执行控制失败，尚不足以区分接触几何、逆解模型或跟踪误差。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志和成功参考视频；四个视角可以确认未带起平铲，但铲柄附近细小接触受手掌、绿色目标及低分辨率遮挡，不能排除瞬时擦碰。推断：可判定未建立有效抓握，无法核实各指接触对、接触力或进一步细分控制根因；不把会话中前20局的试验计入本局进度。"
+ },
+ "summary_zh": "观察：最终评分第21局完成0/45个目标；机器人下降合指后抬手，灰色平铲仍斜置在桌面附近，直到视频24.48 s绿色首目标未推进。推断：断点为铲达目标1的操作过程，未建立可带起平铲的抓握，根因保留在控制层；后续44个目标均未开始。观察：缺少状态日志，细小接触被遮挡，无法进一步确认接触几何或控制误差来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频和日志一致：最终第21局0/45，机器人0.6–3 s下降合指抬手后静止，未见平铲被带起，目标1断点、没建立接触、根因停在控制均有证据且措辞留有余地；45个节点均为false并给出评分字段依据。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": "2026-10-29T11:36:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--xqncakx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--xqncakx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee7370e6c8171544135801ca37279b7bd9f719ec978fc41a8980b6d4b0e0a21c",
+   "video_sha256": "63468d7bb046854cb9bfb49eb62f86c56134ba7dafc33bdc58d41485a6728ec2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-match/badminton_matchlow_i01/task_dag.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/badminton_matchlow_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-badminton-matchlow-i01",
+ "title_zh": "羽毛球对抗获胜",
+ "summary_zh": "在有效且已结束的羽毛球比赛中，我方 A 被裁判判为战胜二级脚本对手的最终胜者。",
+ "embodiment_zh": "standard-realtime：一台 Franka Panda 七关节单臂，末端为安装工具（固定羽毛球拍，无自由手）；机械臂装于约 1 米立柱上，由双轴龙门底座平移，底座限速 2 米/秒、每轴加速度 15 米/秒平方。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-badminton-matchlow-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "比赛已结束且裁判判我方 A 战胜二级脚本对手：通常先获至少 11 分并领先至少 2 分，或先到 15 分；双方累计击球达到 400 次或已打 40 分（含重赛）时，在该分结束后按比分、最近一个非重赛分的胜者、最初接发球者依次决胜，最后一项在本模式下为对手，同时要求比赛记录有效且已终结、没有被评分器计为我方失败的控制步错误。全场转播或底线、侧面视角可见双方隔网击球及球落地结束各分，需结合完整计分或裁判结束记录确认我方为最终胜者；仍在比赛、仅暂时领先、对手获胜或我方被判整场弃权均未完成，画面缺少计分与胜者信息时不能仅凭最后一球落点认定获胜。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "Panda 单臂末端安装的球拍拍面击打羽毛球；候选接触名称为“击打”，现有接触方式没有瞬时拍击对应项，按 S16 使用其他；不重复标握持球拍。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "承载 Panda 的双轴龙门底座沿轨道移动并支撑机械臂，典型方案在底座移动中配合球拍击球；依 S17 标移动底座的支撑接触。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-4",
+     "inputs/task/standard-realtime/instruction.md:66",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:37-48",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:170-176",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1231-1244",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1703-1727",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:179-203",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:431-432",
+     "inputs/grader/efe_embodied-olympics-match-files/standard-realtime/tests/grade.py:96-147",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:462-476"
+    ],
+    "conf": 6,
+    "note_zh": "按对抗比赛专门规则采用 outcome_only，一个比赛结果节点；每分发球、回击、移动及技能编写均不拆步，球拍开局已安装。评分器对本单座对抗模式要求有效比赛且最终胜者为 A，并排除 agent_sim_error；有效性、记录终结与错误检查是验收条件，不是语义步骤。没有额外保持窗口。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "start_forfeit",
+    "zh": "未按时开赛",
+    "never": null,
+    "criterion_zh": "比赛服务启动后的 1800 秒真实时间内未提交开赛，或未开赛就结束会话，裁判记 no_show 并立即判我方整场负；以开赛与裁判记录确认，不能用视频中机器人静止自行推断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:10-18",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:50",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-362",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:354-360"
+    ]
+   },
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "非最后一分结束后世界冻结进入复盘，从冻结起 300 秒真实时间内未提交 ready，裁判记 ready_timeout 并立即判我方整场负，即使比分领先也不例外。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:10-17",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:51",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:362-375",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:426-437"
+    ]
+   },
+   {
+    "id": "match_abandoned",
+    "zh": "提前离赛判负",
+    "never": null,
+    "criterion_zh": "我方已开赛、比赛尚未结束时结束会话并触发收集，裁判记 abandoned，立即判我方整场负；此项描述提前离赛这一判负事件，不把 14400 秒会话预算本身当作约束。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:18",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:469-478"
+    ]
+   },
+   {
+    "id": "serve_delay_fault",
+    "zh": "发球拖延失分",
+    "never": null,
+    "criterion_zh": "我方发球时，从每分恢复后 1 秒接发方准备好起，经过 3 秒比赛时间仍未使抛球生效，裁判记 serve_fault:undue_delay，立即结束当前一分并给对手加一分及下一次发球权；不是整场取消资格，之后仍可赢得比赛。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:218-231",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1279-1283",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1708-1714"
+    ]
+   },
+   {
+    "id": "unresolved_shuttle_timeout",
+    "zh": "来球超时失分",
+    "never": null,
+    "criterion_zh": "我方已抛起待发的球，从该分的接发准备时刻起达到 600 个控制步（6 秒比赛时间）仍未击中，或有效来球自发出起达到 600 个控制步仍未作出判定，裁判按漏击给我方判失当前一分；只结束该分，不自动否决之后的整场获胜。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:176",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1279-1283",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1655-1656"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/environment/sim/sport/plugin.py:163-200; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:462-476; log per-frame match phase, scores and referee winner; no state log supplied"
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:323-362; log start-window timing, joined status and no_show event"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:354-375,426-437; log review deadline, ready status and ready_timeout event"
+   },
+   {
+    "atom": "match_abandoned",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381; log collect while match in play and abandoned event"
+   },
+   {
+    "atom": "serve_delay_fault",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612; log control step, serve deadline, held state and point fault reason"
+   },
+   {
+    "atom": "unresolved_shuttle_timeout",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629,1655-1656; log control step, leg launch, leg state and timeout point event"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功示范：inputs/oracle_none.txt 说明 7 次目录运行均未成功；仅依据任务文本、场景初态、裁判及参考���源代码规划，未从成功录像核实视觉判据（N2、N8）。",
+  "inputs/states/index.json 的 logs 为空；按 P8，唯一节点的 when、全部约束的 never 以及 success 均为 null，不能安全绑定任何逐帧字段，也没有回放可检验条件与评分一致性；atoms 的 new_code 仅说明应补记的数据，未把终态评分器 verdict 当作已记录世界状态。",
+  "按比赛专门规则只分析最终获胜，不把每分或每次击球变成进度节点；point_share 是连续成绩而无独立通过阈值，不能替代获胜条件（封顶同分时也可能由最近非重赛分决胜）。其定义见 sport.toml:302-307 及 core/score.py:57-89，弃权时为 0。",
+  "按 N7 将开赛、复盘及发球裁判时钟列为约束；其中发球拖延及 6 秒来球兜底仅判当前一分失败，consequence 的立即终止在这两项指该分结束，不能将它们的历史发生一律视为整场失败。一般的击球下网、出界、漏接和发球技术犯规仅影响比分，已由最终胜者判据吸收。",
+  "评分器要求，文本未提：bm.py:176、1627-1629、1655-1656 的 600 控制步（6 秒比赛时间）未决来球兜底会判我方失一分，已列入来球超时约束；我方发球分支从 leg.launch（接发方准备时刻）计时，不从实际抛球时刻计时。",
+  "文本与裁判边界差异：文本称发球击中时低于 1.15 米，bm.py:1616 仅在大于 1.15 米时判高球犯规，因此恰好等于 1.15 米可接受；最终胜者按代码的计分处理。",
+  "技能调用次数、失败次数及版本数只作附加记录，instruction.md:66 明确没有独立技能测试决定胜负，fexam_reward.py:24-33 未修改 success；无技能交付节点或技能失败约束。sport.toml:236 明确自碰撞只记录且不处罚，关节速度反射只暂时停机，均不作为整场否决约束。",
+  "比赛验收还要求评分器记录有效、已终结且无 agent_sim_error（grade.py:108-147）；这些属于验收和故障归属，不能增加语义步骤。当前仅提供 standard-realtime 模式，无其他模式需合并；原生连续成绩不参与二元胜负阈值。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本与裁判一致支持一个获胜结果节点，计分阈值、决胜顺序、初态及判负时钟均有源码依据；但无成功示范和状态日志，所有条件缺少逐帧绑定与回放验证，视觉计分可见性也未核实。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点“赢得比赛”（对抗·获胜）符合文本“Success = you win the match”，无多余或缺失步骤；task_class atomic、outcome_only 合理；开赛/复盘/离赛三项判负约束与裁判时钟一致；发球拖延与来球超时仅判失一分，作为 N7 约束并已在 open_questions_zh 说明 consequence 的取舍。无状态日志、无示范，when/never/success 为 null 合规且已列入 open_questions。conf 6 与证据缺乏相称。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T10:42:27Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_matchlow_i01/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_matchlow_i01/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "38c6ba8a709ad995ef602f992c3bb77da33a43b1438310533616b01b58665b2c",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}