Add 108 trajectories (phase 2, remaining runs; batch S15)

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--2jk928g.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--2jk928g",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1061,
+   "sim_steps": 1061,
+   "horizon": 1950,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 10.02,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 26,
+   "agent_resets": 2,
+   "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/bigym2-flip-cutlery-i00-privileged--2jk928g/replay.mp4",
+  "duration_s": 21.24,
+  "fps": 25.0,
+  "frames": 531,
+  "sha256": "0763823d2c2f85c2fb8d0fb47d5b2eb2da0b5d8e4d0fb5acf5670055a73f3bb6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，勺子的宽勺头露在白色杯口上方，尚非反向放回状态。"
+     },
+     {
+      "t": 11.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4–12.8 s，机器人左夹爪下降到杯口，杯勺受扰移动；随后夹爪抬升、转腕，勺子没有随夹爪离杯搬运。视频 13.6–16.2 s 仍能看到宽勺头朝上露在杯口，未形成细柄朝上的反向放回状态。"
+     },
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.4–17.0 s，机器人左夹爪在杯旁运动时将白杯碰倒，勺子散落在台面；视频 20.24–21.20 s 杯子仍侧倒，勺子横躺，机器人未再拾取或反向放回。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=0、replay_success=0、deterministic=1、fell=0；未报告勺子角度或连续成功步数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 10.4–12.8 s 左夹爪在杯口拨碰杯勺，未见把勺子稳定夹住带离；视频 16.4–17.0 s 左夹爪在杯旁运动又将白杯推倒。右夹爪没有参与杯勺操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–9.0 s 机器人双足支撑转身、横向走近柜台；视频 10.4–21.20 s 双足继续在地面支撑上肢操作，未见跌倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 11.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 10.4–12.8 s 机器人左夹爪在杯口尝试夹取，却未建立能随手抬起勺子的夹持；视频 13.6 s 勺头仍朝上留在杯中。后续空手旋腕、回到杯旁并在视频 17.0 s 左右碰倒杯子，至视频 21.20 s 未修复，因此断在勺子反向放回步骤的抓取阶段。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.4,
+    "log_step": null,
+    "evidence_zh": "推断：视频 10.4–12.8 s 左夹爪虽在杯口碰动杯勺，但没有形成可搬运的对向夹持；视频 13.6–14.0 s 夹爪已旋转并离开，勺头仍向上留在杯中。所需的抓握未建立，而非已抓住后掉落。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 16.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 16.4–17.0 s 机器人左夹爪在白杯旁运动，杯子随接触倾斜并侧倒，勺子落到台面；视频 21.20 s 杯子仍倒着。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 51,
+    "evidence_zh": "推断：视频 10.4–14.0 s 左夹爪在杯口没有夹住勺子，却继续抬升与旋腕，说明本次抓取动作未实现所需接触。与交付轨迹对应的生成试验在 log step 51 报告 err_grasp=0.03817 m，held_grasp、held_lift、held_flip 均为 false；log step 55 将该次 traj1 复制为交付文件，并记录夹爪未夹持成功。log step 59 确认重新生成的 1061 行动作与交付备份相同。上述证据支持控制失败，尚不足细分为接触几何设计或轨迹跟踪问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法精确确认瞬时指尖接触、夹持力、勺子朝向角及连续成功计数；但勺头持续朝上、未随手离杯以及最后杯倒勺横躺均可见，足以判定节点未达到。根因停在控制，现有画面和生成试验诊断不足以区分抓取几何与轨迹或逆解误差。"
+ },
+ "summary_zh": "机器人走近柜台并用左夹爪尝试取勺，但未建立有效抓握，之后旋腕时勺头仍朝上留在杯中，勺子反向放回始终未达到（0/1）。机器人随后在视频 16.4–17.0 s 碰倒杯子，至视频 21.20 s 杯倒勺横躺；视频与交付生成诊断支持控制失败，但无状态日志，无法进一步确定接触几何或轨迹误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点在抓取阶段、没建立接触+被挡/碰撞、根因停在控制，均与视频和日志 step 51/55 的 held_*=false、err_grasp=0.038 m 一致，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:36:44Z",
+  "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/bigym2-flip-cutlery-i00-privileged--2jk928g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--2jk928g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "43dae846128452fe00e82514fcae77fbc330b1be0c6582be6cffdb3c0431228e",
+   "video_sha256": "0763823d2c2f85c2fb8d0fb47d5b2eb2da0b5d8e4d0fb5acf5670055a73f3bb6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--4q6gozn.json

@@ -0,0 +1,184 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--4q6gozn",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 234,
+   "sim_steps": 234,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 6.19,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 19,
+   "agent_resets": 489,
+   "agent_replays": 12,
+   "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/bigym2-flip-cutlery-i00-privileged--4q6gozn/replay.mp4",
+  "duration_s": 4.72,
+  "fps": 25.0,
+  "frames": 118,
+  "sha256": "eb55e5724aae946ed6484bd4c3ea184ebb18ab4cde58f35d22c81c706169524a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 的两个外部视角均显示白杯在台面上，勺头露在杯口上方，尚未反向放回。"
+     },
+     {
+      "t": 1.92,
+      "log_step": null,
+      "text_zh": "观察：视频 1.68–1.84 s，机器人左夹爪的两指在杯口上方夹住勺头附近；视频 1.92–2.16 s，勺子随左夹爪上升，原杯口不再有勺头露出，勺子离开杯子。"
+     },
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.24–2.80 s，机器人左腕带着勺子翻转，勺子由勺头朝上变为勺头朝下、细柄朝上；右夹爪留在身体旁，没有参与杯勺操作。"
+     },
+     {
+      "t": 4.68,
+      "log_step": null,
+      "text_zh": "观察：视频 3.52–3.84 s，勺子向杯内落下，左夹爪张开并逐步撤离；视频 4.08–4.68 s，细柄斜向上露出杯口，勺头留在杯内，两只夹爪均与杯勺分开，杯子仍立在台面。"
+     },
+     {
+      "t": 4.68,
+      "log_step": 134,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、sim_steps=234、fell=0；log step 134 对最终交付文件的两次独立回放均返回 success=true、executed_rows=234，且末态哈希相同。"
+     },
+     {
+      "t": 4.68,
+      "log_step": 134,
+      "text_zh": "推断：log step 134 的最终生成脚本在 control step 166 完成放回定位，166/50=视频 3.32 s，与视频 3.28–3.36 s 的杯口定位姿态吻合；最终 control step 234/50=视频 4.68 s，与末帧一致。结合评分器成功及视频末段持续的反向入杯、撤手状态，完整50控制步验收至视频约 4.68 s 已满足，节点从此记为真；此前仅完成物理放回时不提前计入完整保持窗。无状态日志，精确角度、微小接触及逐步计数由成功判定佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.7–3.5 s，机器人左侧二指夹爪夹住露出杯口的勺头附近，提起勺子并随左腕翻转，再将勺头朝下放回杯口，随后张开撤离；右夹爪始终在身体旁。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.6 s，机器人迈步靠近柜台，同时抬左臂接近勺子；之后双腿支撑身体完成提勺、翻转和放回，直至视频 4.68 s 保持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪取出勺子、翻转后放回白杯，松手撤离，唯一节点“勺子反向放回”在视频约 4.68 s 完成完整保持窗验收，终态为1/1。评分器记录成功，两次最终文件回放均在234控制步成功且末态一致；无状态日志，视频支持反向入杯与离手，精确角度、接触和连续50步由评分器结果佐证，两个原生指标的具体数值未在评分器字段报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频和评分器结果一致：左夹爪取勺、翻转、放回杯后撤手，成功，唯一节点最终为真，起点按保持窗记为约4.68 s合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--4q6gozn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--4q6gozn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b8618f6b90884bd4aaf764df5f6fa22886c7f331c3da40b8db91604f7bc080e1",
+   "video_sha256": "eb55e5724aae946ed6484bd4c3ea184ebb18ab4cde58f35d22c81c706169524a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--cbefkws.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--cbefkws",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 447,
+   "sim_steps": 447,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 6.64,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 56,
+   "agent_resets": 5,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-privileged--cbefkws/replay.mp4",
+  "duration_s": 8.96,
+  "fps": 25.0,
+  "frames": 224,
+  "sha256": "fb1cf5d9709e95d84e6044af78f75379d671191237a3e70ba47c864540bd052f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s中白杯直立在柜台，宽勺头露在杯口上方，初始朝向尚未反转。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频3.8–4.6 s中机器人左侧二指夹爪合拢在勺头附近；视频4.8–5.2 s中勺子随左夹爪升起并完全离开杯口，杯子仍留在台面。视频5.4–6.4 s中左腕转动，使勺头由朝上变为朝下，细柄朝上。"
+     },
+     {
+      "t": 7.92,
+      "log_step": null,
+      "text_zh": "观察：视频6.84–7.20 s中左手将反转的勺子降入白杯，细柄露在杯口上方；视频7.52–7.68 s中杯子短暂倾斜，随后恢复直立。视频7.92–8.92 s中左夹爪已张开并与杯勺分离，右手一直在胸前，勺子保持勺头向下、细柄向上并倚靠杯内。"
+     },
+     {
+      "t": 8.92,
+      "log_step": 91,
+      "text_zh": "观察：inputs/run.json的评分器字段success=1、replay_success=1、deterministic=1、sim_steps=447；log step 91对交付文件的独立回放亦返回success=true、executed_rows=447。视频8.92 s末帧仍显示勺子反向留在杯中，两只夹爪均已离开。"
+     },
+     {
+      "t": 8.9,
+      "log_step": null,
+      "text_zh": "推断：结合视频约7.9–8.92 s的离手终态和评分器成功结果，包含50控制步（约0.98秒）保持窗口的目标在视频约8.9 s达成并保持到结束，达成时刻约有0.3秒不确定性；未把仍持勺的空中翻转计为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频3.8–5.2 s中左侧二指夹爪夹住勺头附近并将勺子抬离杯口，随后持勺翻转和放回；视频7.92 s前已张开撤离。右手未参与抓取杯勺。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–2.5 s中机器人双足支撑并向柜台靠近，随后躯干前倾、双腿支撑站立，配合左手完成取勺、翻转和放回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪取出勺子，在空中翻转后降回白杯并张开撤离；包含约1秒保持窗的唯一目标在视频约8.9 s达成，终态1/1，评分器及交付文件独立回放均判成功。无状态日志，精确角度、逐帧接触对和连续成功计数无法直接核验；视频7.52–7.68 s杯子短暂倾斜时的具体接触来源也无法确定，但视频末段杯勺已离手且反向关系持续成立。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点“勺子反向放回”在视频约8.9 s达成、终态true，与评分器success=1及帧所见一致；contact_actual（左夹爪抓握、腿/躯干支撑）与帧相符，成功运行无失败断点，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:25Z",
+  "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/bigym2-flip-cutlery-i00-privileged--cbefkws/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--cbefkws/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c13ee5847876adb37bc26755947b9ed6ca4ac31ce57cede70cfe5645e391bf7",
+   "video_sha256": "fb1cf5d9709e95d84e6044af78f75379d671191237a3e70ba47c864540bd052f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--dhxxsjz.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--dhxxsjz",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 805,
+   "sim_steps": 805,
+   "horizon": 1950,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 9.6,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 53,
+   "agent_resets": 0,
+   "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/bigym2-flip-cutlery-i00-privileged--dhxxsjz/replay.mp4",
+  "duration_s": 16.12,
+  "fps": 25.0,
+  "frames": 403,
+  "sha256": "51e18f410bcc3886c0c29fbaa63569963c2fccbe20d9742062d2feacbe7b3e23"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.6 s，白色杯子在台面上，勺头露出杯口朝上，未呈反向放回状态。"
+     },
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.2 s，机器人左夹爪在杯口处闭合后上提，杯子倾斜并随左手一起离开台面；视频 8.4–10.4 s，左手转腕时杯子仍贴在夹爪处，未出现独立翻转后离手放回的勺子。"
+     },
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6–11.4 s，机器人左手张开撤回，勺子落在台面上，杯子掉出台面；视频 12.0–16.08 s，勺子横躺在台面靠近机器人一侧，杯子侧倒在地面，机器人未再次取放。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 156,
+      "text_zh": "观察：log step 153–154 生成并保存805步交付轨迹，log step 156 独立回放执行805步、success=false，末态哈希与生成时相同；评分器字段 deterministic=1、replay_success=0。视频末帧杯勺分离，与该失败结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.8–10.4 s，机器人左手二指夹爪在杯口处闭合夹持勺子并上提、转腕，同时把杯子带起；视频 10.6–11.4 s 张开撤回。右手未参与杯勺操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–6.8 s，机器人双足支撑靠近柜台、躯干前倾；视频 6.8–16.08 s 在站立支撑下完成左手提起、转腕和撤回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 7.0,
+   "log_step": 153,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.0 s，机器人左夹爪操作勺子时把杯子带倾，视频 7.6 s 杯子随手离台；其后转腕、张开未将勺子反向放回，视频 16.08 s 杯子在地面、勺子在台面。该步骤始终未修复。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 7.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.8–7.6 s，机器人左夹爪在杯口处闭合并提勺时，本应留作放回容器的杯子一起倾斜、升离台面；视频 8.4–10.4 s，杯子继续随左腕转动，勺子没有独立于杯子完成翻转。"
+   },
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 10.6–11.4 s，机器人左手张开撤回时，勺子未以勺头向下的姿态进入杯子，而是掉落在台面上，杯子则掉出台面；视频 16.08 s 两物仍分离。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：log step 153 的交付生成脚本将左爪闭合目标设在靠近杯口的勺柄上端���闭合后直接上提并转腕；视频 6.8–10.4 s 显示该夹持把杯子一起带起，接触布局未能将勺子从杯口分离，因而无法独立翻转后放回。成功参考视频 2.0–4.6 s 显示可行替代：左手单独提勺翻转，杯子留在台面，最后细柄朝上且夹爪离开；此参考仅证明替代方案存在，不作为本次进度证据。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，不能确定夹爪与勺子、杯沿的具体接触对、力及滑移量，也不能量化勺子朝向角和连续成功计数。agent 在 log step 157、171 的说明自述勺子落地，但本次视频 11.2–16.08 s 显示勺子留在台面、杯子落地，物体去向以视频为准；log step 159–169 的双手换握及其他诊断未更新交付文件，不计入本次进度。"
+ },
+ "summary_zh": "机器人左手在杯口处夹持并上提、转腕，但将杯子一起带起，未完成唯一节点“勺子反向放回”（最终0/1）。视频 7.0 s 起的带杯运动未修复，视频 16.08 s 勺子横躺台面、杯子侧倒地面；接触布局未分离杯勺是有视频和交付脚本支持的根因推断。没有状态日志，无法精确判断杯沿接触和滑移量，且agent关于勺子落地的自述与评分视频不符。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧与标签一致：左手在杯口夹持并把杯子带起，勺子最终落在台面、杯子落地，节点未达成，断点与现象、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": "2026-10-30T04:39:35Z",
+  "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/bigym2-flip-cutlery-i00-privileged--dhxxsjz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--dhxxsjz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "abdf1ef8b2217985ef43a545abd179be9aff62f0b04f62d314e3d69f9b9b458a",
+   "video_sha256": "51e18f410bcc3886c0c29fbaa63569963c2fccbe20d9742062d2feacbe7b3e23",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--ivzn3av.json

@@ -0,0 +1,179 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--ivzn3av",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 429,
+   "sim_steps": 429,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 5.16,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 19,
+   "agent_resets": 4,
+   "agent_replays": 4,
+   "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/bigym2-flip-cutlery-i00-privileged--ivzn3av/replay.mp4",
+  "duration_s": 8.6,
+  "fps": 25.0,
+  "frames": 215,
+  "sha256": "e343052f4916a4277bfa65518b0bb18616f67ff76ffe6afe0f87ddc0187384d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白杯在柜台上，勺头露在杯口上方，尚未反向放回；参考成功视频 0.0 s 也呈现这一初始朝向。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 4.2–4.8 s，机器人左夹爪在杯口上方合拢夹住勺子；视频 5.2–5.8 s，勺子随左夹爪上升，杯口不再留有原先露出的勺头，整把勺子离开杯子；右夹爪一直在机器人胸前，未参与持杯或翻勺。"
+     },
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–7.4 s，机器人左夹爪带勺子翻转并降低到杯口上方；视频 7.48 s 勺子仍在下降，视频 7.60–7.80 s 勺头落入杯内、细柄露在杯口上方，左夹爪张开并开始后撤。视频 8.04–8.56 s，细柄仍从杯口斜向上伸出，左夹爪已退到杯子后方，右夹爪未接触杯勺。参考成功视频 4.40–4.68 s 的反向放回结果同样表现为细柄露出、夹爪离开。"
+     },
+     {
+      "t": 8.56,
+      "log_step": null,
+      "text_zh": "推断：视频约 7.6 s 起的反向杯勺接触、离手状态保持到视频 8.56 s 末帧；评分器 reward 的 success=1、replay_success=1、deterministic=1、fell=0 支持所需50控制步保持窗已通过。区间记为这一有效保持段的起点，视频起点约有0.1秒误差；没有状态日志，不能从图像独立量出精确角度或逐控制步接触标志。"
+     },
+     {
+      "t": null,
+      "log_step": 46,
+      "text_zh": "观察：log step 46 中 agent 写入最终生成脚本，依次安排左夹爪夹勺、抬起、翻转、下降、张开和保持腕朝向后撤；log step 48 发起生成及两次回放，log step 51 自述最终交付429控制步。评分器 reward 实际记录 n_actions=429、sim_steps=429，与本次视频的动作顺序及长度相符；未采用 log step 39–40 中较早484控制步版本作为本次节点证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.2–5.8 s，机器人左二指夹爪合拢夹住勺子露出的勺头区域并将勺子提离杯口，随后保持夹持翻转和下降，视频约 7.6 s 张开释放后撤；右夹爪未参与操作，不标双臂协作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.0 s，机器人双足踏地向柜台靠近并站稳；此后腿和躯干保持站立支撑左臂完成翻勺放回，直到视频 8.56 s 末帧仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪夹住勺子，取出后翻转并释放回白杯，唯一目标节点最终达成（1/1），评分器确认回放成功且未跌倒。视频约 7.6 s 起可见勺头向下、细柄露出，随后夹爪撤离，结果保持至视频 8.56 s 末帧，与参考成功视频的结果一致。没有状态日志，50度边界��逐步接触标志和精确保持窗由成功评分支持，区间起点为视觉估计；评分器未单独报告两个原生指标，其值均保留null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点勺子反向放回在视频约7.6 s达成、保持至末帧，与帧所见及评分器成功一致；接触标注（左手抓握、腿/躯干支撑）与帧相符；无失败，failure=null 正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:36:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--ivzn3av/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--ivzn3av/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "90e9de2ad1a31a989b27000b52238e2b7b599b2927241d6a4c3fae7445207615",
+   "video_sha256": "e343052f4916a4277bfa65518b0bb18616f67ff76ffe6afe0f87ddc0187384d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--jxexhmw.json

@@ -0,0 +1,171 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--jxexhmw",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 17.23,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 71,
+   "agent_resets": 127,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-privileged--jxexhmw/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "42a468fec0dba527f9e74faef32e21e66c70847335cda5db7670a8647cff8d95"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双外部视角均显示白杯在台面，勺头露在杯口上方，机器人两只夹爪位于杯子后方，未夹住杯子或勺子。"
+     },
+     {
+      "t": 19.0,
+      "log_step": 61,
+      "text_zh": "观察：视频约 1、3、5 至 37 s 的每两秒抽帧均显示机器人基本保持原位站姿，两手未伸向勺子，杯勺未被取起或翻转。log step 61 中 agent 的脚本新建会话后重复同一个 hold_row 共1950行并保存为交付轨迹，服务返回 success=False、fell=False。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 81,
+      "text_zh": "观察：视频 38.0–39.0 s 密集抽帧和视频 39.0 s 末帧仍显示勺头朝上、两手在杯子后方，未出现取勺、翻转或反向放回。成功参考视频 4.6 s 则可见细柄朝上且操作手已经撤离，说明本次相同视角能显示的目标变化始终没有发生。log step 81 的 agent 最终自述交付的是保守保持轨迹、未完成翻转；其关于交付轨迹曾走近并抬高手臂的描述不符合本次视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 0.0,
+   "log_step": 61,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–39.0 s 的全程抽帧及首尾密集帧显示机器人始终基本原位站立，夹爪未启动取勺或翻转。log step 61 保存1950行恒定 hold_row 占位轨迹，log step 74 将现有动作嵌入生成脚本，log step 76 验证重生成动作数组完全一致；会话中后来测试的伸手和交接动作没有出现在评分视频中。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 61,
+    "evidence_zh": "观察：视频 0.0 s、约 1–37 s 的每两秒抽帧及视频 38.0–39.0 s 密集帧中，机器人双手保持在杯子后方，勺头始终朝上，评分轨迹未启动勺子的抓取、翻转或放回；log step 61 的交付脚本只重复初始保持动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 73,
+    "source_zh": "日志",
+    "evidence_zh": "推断：保留占位轨迹的背景是操作控制未调通：会话测试 log step 60 的闭合和抬手后两手 held 均为 False、勺子位置未变；log step 72、73 分别打印左手到抓取目标仍有约0.092 m、0.101 m误差，闭合和抬手后勺子仍在原位且两手 held 均为 False。log step 77 将交付描述为抓取仍在调试时保留的保持轨迹，log step 81 承认始终未抓稳勺子。上述是会话测试对最终保留基线原因的支持，不是评分视频中的抓取事件；不足以进一步区分接触设计、逆解或跟踪问题。"
+   }
+  ],
+  "gap_zh": "未提供状态日志，评分器也未报告勺子角度和连续成功步数，故两项原生指标为 null。评分视频明确显示未启动操作；控制根因依据会话测试推断，无法独立验证 agent 对平衡反射、关节极限和杯子碰撞的具体解释，因此不细分控制子类，也不将测试中的碰撞或抓取失败标成本次现象。"
+ },
+ "summary_zh": "评分轨迹基本原位站立至视频 39.0 s，勺头始终露在杯口上方，勺子反向放回节点从未达到，最终0/1。断点为勺子反向放回的首步前，现象是没尝试；交付为恒定保持动作，会话中反复到位及抓取失败支持控制根因。无状态日志，具体控制机制和原生指标无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频全程机器人站在台边、双手未动、勺头始终朝上，节点未达成、断点首步前/没尝试、交付为恒定保持轨迹（log 61/74/76）均与证据一致；控制根因遵循 FAIL-22 的写法，以会话测试为推断并如实说明局限。未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--jxexhmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--jxexhmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40b47e909849f044e9967a85d80b78fdc14767d00d1324e40e5626edd6c7ba27",
+   "video_sha256": "42a468fec0dba527f9e74faef32e21e66c70847335cda5db7670a8647cff8d95",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--q8zb4ek.json

@@ -0,0 +1,179 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--q8zb4ek",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1256,
+   "sim_steps": 1256,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 11.2,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 21,
+   "agent_resets": 17,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.586,
+   "peak_memory_gb": 1.193,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-privileged--q8zb4ek/replay.mp4",
+  "duration_s": 25.16,
+  "fps": 25.0,
+  "frames": 629,
+  "sha256": "5f7c3da6ab4b054dd3a6fdd2a8f18c185aade7e8526fe37fa1fa88e922065db1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头白杯立在柜台上，勺头露在杯口上方；视频14.0 s仍是这个朝向，初始并未满足反向放回。"
+     },
+     {
+      "t": 17.52,
+      "log_step": null,
+      "text_zh": "观察：视频15.0–16.5 s机器人左夹爪的两指合拢夹住勺头；视频17.0–17.52 s勺子随左手上升，细柄完全离开原来的杯口，杯子留在台面。视频18.0–21.52 s左手持勺旋转，勺头转向下方、细柄转向上方。"
+     },
+     {
+      "t": 24.28,
+      "log_step": null,
+      "text_zh": "观察：视频23.52 s左夹爪仍夹着反向的勺子在杯口上方；视频23.80–24.12 s夹爪张开，勺头落入杯中。视频24.28–25.12 s左夹爪撤离，勺子留在杯中，细柄露在杯口上方；右夹爪一直位于腰旁，未握杯或勺。"
+     },
+     {
+      "t": 25.12,
+      "log_step": 38,
+      "text_zh": "观察：视频25.12 s末帧仍为勺头向下、细柄向上且双手离开杯勺；评分器reward给出success=1、replay_success=1、deterministic=1、fell=0。log step 34和log step 38的独立交付文件回放均报告成功，executed_rows=1256且末态哈希一致。"
+     },
+     {
+      "t": 25.1,
+      "log_step": null,
+      "text_zh": "推断：视频约24.1 s释放后，反向勺子与杯子接触且双夹爪离开，保持至视频25.12 s末帧；结合评分器成功，含50控制步连续保持窗的节点在视频约25.1 s达成并保持至结束。无逐帧状态日志，精确接触边界和50度角阈值由视觉趋势与成功结果共同确认，时间为近似值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频15.0–23.52 s机器人左手二指夹爪夹住勺头，提起、翻转并送回杯口上方，随后张开撤离；右手未参与固定杯子。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双足支撑身体，视频约1–9 s小步靠近柜台，之后站立配合左手取勺、翻转和放回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪夹住勺头，将勺子提离白杯、翻转并放回；视频约24.1 s松手，含连续保持窗的“勺子反向放回”节点在视频约25.1 s达成，最终1/1。评分器及log step 34、log step 38的独立交付回放均确认成功，无失败断点。没有状态日志，杯内勺头受杯壁遮挡，精确接触边界、朝向角度和连续控制步数不能逐帧独立测量；末态视觉与成功参考一致，验收由本次评分器成功结果补充确认，两个原生指标未在reward中单独报告，值留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧与标注一致：初始勺头露在杯口，约17.5 s勺子被左手提离杯口，21 s空中翻转，约24.4 s起勺头在杯中、细柄朝上且夹爪离开；评分器成功，节点时间约25.1 s可接受，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:38:48Z",
+  "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/bigym2-flip-cutlery-i00-privileged--q8zb4ek/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--q8zb4ek/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6fd9ee94dae526d0d603b6bb20ab9996a49904fc624f5427c201260579c6f612",
+   "video_sha256": "5f7c3da6ab4b054dd3a6fdd2a8f18c185aade7e8526fe37fa1fa88e922065db1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--swzeyvf.json

@@ -0,0 +1,200 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--swzeyvf",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "horizon": 1950,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 15.08,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 104,
+   "agent_resets": 2,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.76,
+   "peak_memory_gb": 4.37,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.835,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-privileged--swzeyvf/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "d5547169ab07f9920b1c9db9b36812041676a5b461a0a58e153da38161238081"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白杯中露出勺头，尚未反向。视频 0–28.7 s 的全段粗看及视频 19.24–28.72 s 的密集帧仍显示勺头朝上留在杯口，未出现反向离手的结果。"
+     },
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 29.24–30.24 s，机器人左夹爪夹住勺头并将勺子带离杯口；视频 31.24–34.32 s，勺子随左手转动，细柄转至上方，但仍被夹爪夹持，且偏在杯口外侧。"
+     },
+     {
+      "t": 34.4,
+      "log_step": 166,
+      "text_zh": "观察：视频 34.32 s 勺子仍夹在左夹爪中，视频 34.40–34.68 s 下放运动使勺子脱离夹爪、翻倒落到杯外台面；视频 36.44–36.68 s 左夹爪才明显张开。log step 166 的最终生成脚本在下放段保持 grip=1，完成下放后才命令 grip=0。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 170,
+      "text_zh": "观察：视频 34.68–39.0 s（含最后一秒），勺子一直留在杯外台面，没有被重新夹起；两视角均未出现参考成功视频 4.68 s 所示的细柄留在杯口上方、手已离开的结果。log step 170 对最终1950行交付文件的回放报告 success=false、fell=false；评分器亦报告 replay_success=0、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 29.24–34.32 s，机器人左侧二指夹爪夹住勺头，提离杯口并翻转；视频约 34.4 s 下放时失去勺子。右夹爪未参与固定杯子。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双足支撑站立并向柜台靠近，配合左臂伸手和后续翻转操作；视频 39.0 s 仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "value": null,
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better"
+  },
+  {
+   "name": "success_streak_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 34.4,
+   "log_step": 166,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 29.96 s 左夹爪已将勺子提离杯口，视频 34.32 s 仍夹着翻转后的勺子；视频约 34.4 s 机器人下放左手时勺子脱离，落在杯外台面，直到视频 39.0 s 也未取回。因此失败发生在勺子反向放回的操作中。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 34.4,
+    "log_step": 166,
+    "evidence_zh": "观察：视频 34.32 s 左夹爪仍夹着勺子，视频 34.40–34.68 s 勺子从夹爪脱出、翻倒落到杯外台面；视频 36.44–36.68 s 才出现计划张开。log step 166 的最终脚本在下放各段使用 grip=1，之后才设为0。推断：这是下放期间丢失已建立的夹持，不是完成放置后的不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 166 的最终脚本先闭合左夹爪、逐步抬升并旋转勺子，再在夹爪保持闭合的情况下执行下放，最后才张开；视频 29.96–34.32 s 显示勺子已被取出并翻转，而视频约 34.4 s 下放左手时夹持失效，勺子落在杯外。推断：控制过程未能维持搬运中的勺子接触和姿态；现有证据不足以区分夹持几何、逆解轨迹与实际跟踪误差，根因保留在控制大类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；双视角可以判断勺子落在杯外及夹持丢失，但无法量化接触力、精确反向角或50控制步连续计数，评分器也未报告DAG的两项原生指标。log step 118 等会话测试输出存在截断，未用于补造评分轨迹的节点时刻；根因不能可靠细分到控制子类。"
+ },
+ "summary_zh": "机器人用左夹爪取出并翻转了勺子，但未完成“勺子反向放回”，节点最终为0/1。视频约 34.4 s 下放过程中夹持丢失，勺子落在杯外台面，至视频 39.0 s 未修复；根因归为控制。无状态日志，无法进一步确定接触失效的控制子类，原生角度和连续成功步数也未由评分器报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标注一致：勺子在约29-34 s被左夹爪取出并翻转，34.3-34.8 s下放时脱手落在杯外台面，未修复；节点未达成，断点与现象/根因合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:42:48Z",
+  "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/bigym2-flip-cutlery-i00-privileged--swzeyvf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-privileged--swzeyvf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5b6eadce4deedc8cda6eed1e42b72d3f954e121732041ca7f62cb67e2c44dbd3",
+   "video_sha256": "d5547169ab07f9920b1c9db9b36812041676a5b461a0a58e153da38161238081",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--bx8vazf.json

@@ -0,0 +1,201 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--bx8vazf",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 93,
+   "rows": 1950,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1411.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--bx8vazf/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "cde83dff19614a2fa05825798fac418720e28de3866c9dc8291a5b550c3edf48"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白杯在台面上，勺子的宽勺头露在杯口上方，未反向。"
+     },
+     {
+      "t": 10.4,
+      "log_step": 62,
+      "text_zh": "观察：视频 9.8–11.8 s，机器人左夹爪在杯子靠机器人一侧闭合后抬起，夹爪与露出的勺头分离，勺子仍留在杯中且勺头朝上；log step 62 的机器人调用确实将左夹爪命令设为闭合，log step 67、71 随后命令抬手。未见勺子随手离杯。"
+     },
+     {
+      "t": 27.5,
+      "log_step": 120,
+      "text_zh": "观察：视频 25.0–28.8 s，左夹爪再次靠近、闭合和抬起，勺头仍露在原杯口上方；视频 29.0–33.0 s 的翻腕也未带动勺子。agent 在 log step 120 自述首次释放检查发现勺子仍直立，该自述仅作日志佐证。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–39.0 s（含最后一秒的密集帧及视频 39.0 s 末帧），左手再次靠近杯口并撤回，勺头持续朝上，未出现细柄朝上、勺头朝下的反向放回状态。评分器字段 live_success=0、replay_success=0、deterministic=1；本节点未达的判断来自画面中的勺子朝向，并非仅由零分反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 9.8–11.8 s、26.5–28.0 s，左侧二指夹爪闭合后空手抬起，勺子仍在杯中；候选方式“空夹尝试”。未见两指夹住勺子，故不能标为实际抓握；右夹爪未参与杯勺操作。视频 36.8–37.1 s 左夹爪贴近杯口，微小擦碰无法从像素确定，不据此补记推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–39.0 s，机器人双足在地面支撑站立，躯干随左臂操作调整，未见跌倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "value": null,
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better"
+  },
+  {
+   "name": "success_streak_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 10.4,
+   "log_step": 62,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.4 s，左夹爪闭合后开始抬起，杯内勺子没有随之移动，仍为宽勺头朝上；视频 25.0–33.0 s 的重试及视频 39.0 s 末帧均未修复。log step 62、67、71 分别记录闭爪及随后抬手命令。该断点是反向放回过程中首次未成功建立抓取的粗略视频锚点。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 10.4,
+    "log_step": 62,
+    "evidence_zh": "观察：视频 9.8–11.8 s 左夹爪闭合、抬升时，勺子仍在杯内，手与勺子之间可见间隔；视频 12.0–20.0 s 的翻腕为空手动作，视频 26.5–28.8 s 再次闭爪抬手也未带起勺子。操作所需的夹持接触未建立，未见先持住再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 62 在既定左臂姿态下命令左夹爪完全闭合，log step 67、71 继续抬手，log step 81 的脚本随后执行翻转路径；视频 9.8–11.8 s 显示这组接近与闭爪动作没有将勺子夹在两指之间，随后只改变空夹爪姿态，导致翻转无法传到勺子。视频 26.5–33.0 s 重试仍出现相同结果，因此可归为抓取执行的控制失败；现有记录不足以区分末端定位、接触几何或反馈环节的具体子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐步接触读数，无法确定视频 36.8–37.1 s 杯口附近是否发生轻微擦碰，也不能细分抓取控制失败的具体机制。run.json 未报告 spoon_angle_to_down 和 success_streak_steps 的数值，原生指标保留 null；这些缺口不影响从持续可见的勺头朝上判断节点未达。"
+ },
+ "summary_zh": "机器人用左夹爪反复接近、闭合、抬手和翻腕，但勺子始终留在杯中且勺头朝上，“勺子反向放回”最终为 0/1。首次空夹约在视频 10.4 s，后续重试未修复，现象为没建立接触，根因仅归到控制。无状态接触日志和原生指标读数，具体控制机制及杯口处轻微擦碰无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点 spoon_flipped_in_mug（操作中，约视频 10.4 s）与现象“没建立接触”、根因停在“控制”均有视频支持。我用 run.json 的提交行数累计（至 step 62 共 520 行×0.02 s = 10.4 s）核对了 10.4 s 的锚点，与视频一致。勺头在 0、8–12、20、31、38.9 s 的帧中始终朝上，没有翻转。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:50:18Z",
+  "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/bigym2-flip-cutlery-i00-standard--bx8vazf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--bx8vazf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7956afa8d0cf68b4f8099e2b9a272f65d464ed2e1d2fb8b1445c3cd7bca26aa5",
+   "video_sha256": "cde83dff19614a2fa05825798fac418720e28de3866c9dc8291a5b550c3edf48",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--cqalfzg.json

@@ -0,0 +1,209 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--cqalfzg",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 63,
+   "rows": 1950,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1080.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.394,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--cqalfzg/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "ccecb967b4003f756a3567f563e463dcf8ddcbc3832ced47d6c2350ce1a30c81"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的右侧外部视角中，勺头朝上露在白杯口外，初态尚未反向。"
+     },
+     {
+      "t": 9.52,
+      "log_step": 133,
+      "text_zh": "观察：视频 9.52–10.0 s，机器人左夹爪在杯子靠机器人一侧闭合，未包住仍露在杯口上方的勺头；视频 10.8–12.0 s 左手升起并转腕，勺子仍留在原杯中。推断：log step 8 给出控制周期 0.02 s，log step 133 的闭爪阶段为 control_steps 475–500，对应视频约 9.5–10.0 s；升手阶段结束于 control_steps 535，即视频约 10.7 s，与视频 10.8 s 的升手画面核对一致。"
+     },
+     {
+      "t": 18.4,
+      "log_step": 170,
+      "text_zh": "观察：视频 17.2–24.8 s，机器人改用右手，右夹爪在杯子上方闭合、抬升及转腕，但勺头始终露在原杯口上方，未随夹爪离杯。"
+     },
+     {
+      "t": 27.4,
+      "log_step": 193,
+      "text_zh": "观察：视频 26.0–33.8 s，机器人再次用左手向柜台伸出、闭爪及转腕，勺子仍以原朝向留在杯中；未看到勺子取出、倒转或反向放回。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 218,
+      "text_zh": "观察：视频 36.0–37.8 s 的最后一次左手动作仍未将勺子取出；视频 38.0、38.2、38.4、38.6、38.8 和 39.0 s，双手撤回，勺头仍斜向上露在杯口外。log step 218 的实况服务在 control_steps=1950、sim_time_s=39.0 返回 done=true、reason=failed、outcome=timeout，与评分器 success=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 9.52–10.0 s、18.0–18.4 s、26.8–27.4 s 和 36.2–36.6 s，机器人左右二指夹爪先后尝试靠近杯勺并闭合，均未形成可见的夹持或携带；杯勺较小，部分手指被台沿遮挡，短暂擦碰及具体接触方式无法确认，故不将闭爪指令记作实际抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频全程机器人双足在地面支撑身体；视频 3.0–8.2 s、34.0–35.8 s 可见脚步调整和身体移位，配合手臂靠近柜台操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 9.5,
+   "log_step": 133,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 9.5–10.0 s，机器人第一次左手闭爪时夹爪与杯口勺头错开；视频 10.8–12.0 s 左手空手升起转腕，勺子未离杯。后续右手及左手重试直到视频 39.0 s 均未形成勺子反向放回的结果，首次抓取失败未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.5,
+    "log_step": 133,
+    "evidence_zh": "观察：视频 9.52–10.0 s，机器人左夹爪闭合位置在勺头旁边；视频 10.8–12.0 s 夹爪抬起、转腕时，勺头仍在白杯口上方，手中没有勺子。视频 18.4–22.8 s 的右手动作及视频 26.8–37.8 s 的左手重试同样没有建立能夹出勺子的抓握。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人未将夹爪送到能夹住勺头的位置，控制模型与实际全身姿态的偏差是有据可查的因素。log step 132 的脚本按固定关节航点和 pitch=0.60 插值后直接闭爪、抬升；视频 9.52–10.0 s 显示夹爪实际与勺头错开。log step 175 的 agent 自算诊断指出按实际腰角重算的右夹爪位置比其目标约高 0.108 m（该距离未独立核实）；log step 176 的实况本体读数直接给出 pitch 指令 0.70 时腰关节实际位置约 0.297 rad。后续脚本仍分段执行闭爪、抬升、翻转，视频中勺子没有跟随，故归因于控制，证据不足以细分轨迹、反馈或接触设计。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或杯勺接触传感记录；两外部视角足以确认勺子未翻转、未被取出，但部分手指被台沿遮挡，不能确定是否有短暂擦碰。评分器未报告 spoon_angle_to_down 或 success_streak_steps 数值；控制偏差的具体来源无法进一步区分。",
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  }
+ },
+ "summary_zh": "本次无重置实况回合完成 0/1 个节点：机器人先后用左手、右手及左手重试，但勺子始终以勺头朝上留在白杯中。视频约 9.5 s 首次闭爪未建立有效抓握，随后空手执行抬升和转腕，后续未修复；日志中的腰部指令与实际姿态偏差支持控制层归因。无状态日志，短暂擦碰及精确朝向角、连续成功计数无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "勺子全程留在杯中、final=false、断点在首次左手闭爪（约9.5 s）均与视频一致；没建立接触与控制归因有日志依据，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:35:35Z",
+  "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/bigym2-flip-cutlery-i00-standard--cqalfzg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--cqalfzg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2bdcae8412ed41072042f1ee0913c00c119ba77e01e9b14386eac35af5fcc817",
+   "video_sha256": "ccecb967b4003f756a3567f563e463dcf8ddcbc3832ced47d6c2350ce1a30c81",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--g98avot.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--g98avot",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1920,
+   "sim_steps": 1920,
+   "calls": 28,
+   "rows": 1720,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 3078.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--g98avot/replay.mp4",
+  "duration_s": 38.44,
+  "fps": 25.0,
+  "frames": 961,
+  "sha256": "76cbb86f91c5a03e558342f72a13e7a0a145c2d492ff79a13a9c3f44d40c8add"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两个外部视角均显示白杯在台面上，勺头露在杯口上方，初态尚未反向。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 30,
+      "text_zh": "观察：视频 3.5–5.5 s 机器人右夹爪在杯子近身一侧、低于杯口的位置合拢后撤回，勺子仍留在杯中，未随夹爪抬起；log step 30 的抓取调用结束后，agent 在 log step 31 自述“closed on nothing”。"
+     },
+     {
+      "t": 18.75,
+      "log_step": null,
+      "text_zh": "观察：视频 14.25–14.75 s 及 17.75–19.0 s，右夹爪伸向杯侧，杯子被推移并短暂倾斜，勺头仍在杯口上方；视频 22.5–29.5 s 后续张合夹爪也没有取出勺子。"
+     },
+     {
+      "t": 38.4,
+      "log_step": 80,
+      "text_zh": "观察：视频 30.5–38.4 s 右手转向身体附近及头顶，杯中勺头持续朝上；已逐帧抽查视频末秒 37.4、37.6、37.8、38.0、38.2 和 38.4 s，均未出现细柄朝上、勺头朝下的反向状态。log step 80 服务终态为 control_steps=1920、done=False，评分字段 live_success=0；节点未达成的判断依据可见朝向，不仅依据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 14.25–14.75 s、17.75–19.0 s 机器人右夹爪的指端从杯侧推动白杯，使杯子位移并摇摆，未见相向夹住勺子或杯子。此前和此后的闭爪多为空夹，不能记作实际抓握；左手未参与夹持杯勺。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–38.4 s 机器人双脚支撑身体，先走近柜台，后续调整站位并配合右臂伸手操作；全景可见其保持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "value": null,
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better"
+  },
+  {
+   "name": "success_streak_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 5.0,
+   "log_step": 30,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.0 s 首次抓取中右夹爪在杯口下方空合，勺子没有离杯；此后机器人继续伸手、闭爪和推杯，但视频 38.4 s 勺头仍朝上，该步骤始终未修复。log step 30 是首次抓取调用，log step 75 的后续抓取调用又返回脚本输出“NO GRASP - abort”。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.0,
+    "log_step": 30,
+    "evidence_zh": "观察：视频 4.5–5.5 s 右夹爪在杯子近身侧、明显低于勺头处闭合后撤，勺子仍留在杯中；视频 22.5–29.5 s 再次张合也未将勺子带起。所需的夹持接触没有建立；视频 14.25–19.0 s 确有推杯接触，但并非夹住勺子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.0,
+    "log_step": 30,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：伸臂期间身体位移与关节跟踪偏差使抓取点失配。log step 20 服务本体感知的骨盆位置为 (0.358,0.017) m，log step 30 抓取后变为 (0.201,-0.001) m、偏航约 -0.202 rad；同一调用打印的肩俯仰目标 -1.268 rad、实测 -0.521 rad，肩侧摆目标 0.736 rad、实测 0.133 rad。视频 3.5–5.5 s 可见右手停在杯口下方后空合；log step 37、43 还打印了末端相对脚本目标的明显残差。证据支持控制误差，不能进一步确定底层伺服、所用逆解模型与目标更新各自的贡献。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 23.5,
+    "log_step": 68,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 把台面上的勺子投影误当成实体，造成后续抓取位置错误。log step 65、67 自述勺子已躺在台面，log step 68 据此重建抓点 G2=(0.686,0.114,0.870) m 并执行抓取，log step 72 继续朝该点闭爪；视频 22.5–29.0 s 显示实体勺头始终露在杯口，而右手在杯旁及台面上方张合。log step 74 agent 随后明确纠正“the spoon on the counter was its shadow”。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法给出精确指端接触对、勺子角度及连续成功计数；这不影响从外部视角判定勺头始终未反向。控制归因保留在“控制”层，日志中的命令与实测偏差不足以区分底层伺服、逆解模型或目标更新的具体责任；两项原生指标未在评分字段报告，均填 null。"
+ },
+ "summary_zh": "机器人走近柜台，多次尝试用右夹爪抓勺和推翻，实际推得杯子位移、摇摆，但勺头直到视频 38.4 s 仍朝上，“勺子反向放回”始终未达成，进度为 0/1。首次空夹约在视频 5.0 s；日志与视频共同支持身体及手臂控制偏差，后续还发生把台面投影误认成实体勺子的感知错误。无状态日志，精确接触对、角度和成功连续计数不可核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（勺头至视频 38.4 s 始终朝上）、断点、没建立接触、控制与感知根因均有帧和日志支持；控制步到视频时间的换算（50 步/秒，step 30 累计 265 步≈5.3 s，总 1920 步=38.4 s）与视频一致。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:50:26Z",
+  "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/bigym2-flip-cutlery-i00-standard--g98avot/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--g98avot/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54f8686ee336d3a92df46fba595b1e93e83d483b5f605d1c7ace711d94272f83",
+   "video_sha256": "76cbb86f91c5a03e558342f72a13e7a0a145c2d492ff79a13a9c3f44d40c8add",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--iuav4f9.json

@@ -0,0 +1,177 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--iuav4f9",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1849,
+   "sim_steps": 1849,
+   "calls": 45,
+   "rows": 1387,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 722.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--iuav4f9/replay.mp4",
+  "duration_s": 37.0,
+  "fps": 25.0,
+  "frames": 925,
+  "sha256": "4c0a3afff536e055cfd15317207a6bf3bfa1fe91054457f3a11b64ad0d605321"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双外部视角显示白杯立在台面上，宽的勺头露在杯口上方，尚未反向。"
+     },
+     {
+      "t": 33.6,
+      "log_step": 62,
+      "text_zh": "观察：视频 32.4–33.8 s 左夹爪闭合夹住勺子并上抬；勺子随夹爪离开杯口，杯口原先露出的勺头消失，细柄悬在夹爪下方；右夹爪在机器人身前，未参与夹持杯勺。"
+     },
+     {
+      "t": 35.88,
+      "log_step": 63,
+      "text_zh": "观察：视频 34.2–35.88 s 左夹爪带着勺子旋转，宽勺头转到下方并进入杯口；随后夹爪张开，细柄露在杯口上方。视频 36.0–36.96 s 勺子保持此方向，白杯仍在台面上，机器人保持站立。"
+     },
+     {
+      "t": 36.96,
+      "log_step": 64,
+      "text_zh": "推断：log step 3 服务规格给出 control_dt=0.02 s；log step 62 的抬勺终点 control step 1682 对应视频约 33.64 s，已与视频 33.6 s 的离杯画面核对。log step 64 服务报告 control_steps=1849、done=True、reason=success，对应视频约 36.98 s，与视频末帧 36.96 s 相符；inputs/run.json 的 live_success=1、replay_success=1、deterministic=1。结合视频末帧，判定反向、杯勺接触、双夹爪手指不接触及连续50控制步条件已满足，将含保持窗的节点完成时刻锚定在视频 36.96 s（约37.0 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左手二指夹爪夹住勺子，视频 33.6 s 可见勺子被提离杯口；随后带勺翻转、放回并松开。右手未同时操作杯子或勺子。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在地面承重，在柜台前调整站位和躯干姿态，并在左手夹勺、翻转及放回期间维持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪夹起勺子、翻转并放回白杯，视频 36.96 s（约37.0 s）完成包含连续保持窗的唯一目标，最终为1/1；实况和回放评分均成功。视频末段可见勺头朝下、细柄露出杯口及机器人保持站立，与参考成功视频的结果一致。没有状态日志，精确角度、手指微接触及50控制步保持计数由服务成功状态和回放成功字段佐证；两个原生指标未报告数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功任务，标注与视频一致：33.6 s 左夹爪夹勺离杯，36.96 s 勺头朝下、细柄露出杯口，终值 1/1；时钟换算有核对，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:25Z",
+  "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/bigym2-flip-cutlery-i00-standard--iuav4f9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--iuav4f9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b4f94bdda6766e7eeccdd2d910b7224e2186c885db48a6a38b1829ea0d9839e2",
+   "video_sha256": "4c0a3afff536e055cfd15317207a6bf3bfa1fe91054457f3a11b64ad0d605321",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--pb6nlbk.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--pb6nlbk",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 590,
+   "sim_steps": 590,
+   "calls": 14,
+   "rows": 590,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 3570.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.214,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.26,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--pb6nlbk/replay.mp4",
+  "duration_s": 11.84,
+  "fps": 25.0,
+  "frames": 296,
+  "sha256": "56ef7a5059b37455a0ac0d957bebdf232ccea4694524f4ceeaae308de8d0c323"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，白杯直立于台面，勺头露在杯口上方，尚未反向。"
+     },
+     {
+      "t": 7.4,
+      "log_step": 79,
+      "text_zh": "观察：视频6.8–7.6 s，机器人左夹爪夹住勺头并把勺子提离杯子，原先在杯内的长柄随之升起；视频7.8–8.6 s，左腕翻转勺子并移回杯口上方。该过程仍有夹爪接触，不满足节点验收。"
+     },
+     {
+      "t": 9.4,
+      "log_step": 91,
+      "text_zh": "观察：log step 91的机器人控制脚本依次下移、张开左夹爪并撤爪。视频9.2–9.8 s，勺头斜搭杯缘，细柄向上倾斜；视频10.0–10.4 s，撤爪过程中勺子翻转并从杯子靠机器人一侧落下，没有形成持续约1秒的反向、接触杯子且离爪状态。"
+     },
+     {
+      "t": 11.8,
+      "log_step": null,
+      "text_zh": "观察：视频10.8–11.8 s逐帧检查，杯子仍在台面，勺子没有回到杯口，机器人最后收下双臂。成功参考视频4.68 s的同类视角可清楚看到杯内勺柄露出且夹爪已离开；本次末帧没有该形态。评分器字段live_success=0、replay_success=0，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频6.8–8.8 s，机器人左侧二指夹爪夹住勺头，提离杯子后翻转，再降低到杯口释放。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频4.6–5.8 s，机器人左夹爪在杯口横向调整时拨动露出的勺子，随后退回重新对准抓取。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频1.4–4.0 s，机器人双脚支撑并小步向柜台靠近；之后站立支撑左臂操作勺子。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 10.0,
+   "log_step": 91,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人已在视频7.4 s左右提起勺子，并在视频8.6 s左右翻转移至杯口；视频9.2–9.8 s开爪后勺头斜靠杯缘，视频10.0–10.4 s撤爪时勺子翻出杯缘并掉下。到视频11.8 s结束未重新放回，本步未修复。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 10.0,
+    "log_step": 91,
+    "evidence_zh": "观察：log step 91提交了计划中的张爪、等待和撤爪动作；视频9.2–9.8 s勺头落靠杯口，随后视频10.0–10.4 s在撤爪阶段旋转翻出并向机器人一侧下落，杯子留在台面。释放后的杯勺关系未能保持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 87与91的控制脚本目标是翻转后降至杯口、张爪再后撤，目标顺序与任务一致；视频7.0–8.8 s已实现夹持、提起和翻转，但视频9.2–10.4 s的释放与撤离未维持杯勺接触和反向姿态，故归于放置释放阶段的控制失误。现有证据不足以区分接触几何、运动跟踪或残余指爪碰触，不细分控制子类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志及逐步杯勺、手指接触对或成功连续计数。视频9.2–10.2 s的杯缘与左夹爪部分重叠，不能精确确定勺子是否持续搭在某根手指上，以及失稳由杯缘滑脱还是撤爪碰触触发；两项原生指标未由评分器报告。勺子下落后的落地点被柜台遮挡，日志中的地面坐标是agent自己的图像估计，未用作状态事实。"
+ },
+ "summary_zh": "机器人用左夹爪夹起勺子、提离杯子并翻转，但放回开爪后勺子斜靠杯缘，在视频10.0–10.4 s撤爪阶段翻出掉落，最终完成0/1节点。断点为“勺子反向放回”的操作中，现象为放后不稳，根因保守记为控制；缺少接触状态日志，无法确定释放处具体的滑脱或碰触机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧确认勺子被夹起翻转，视频9.2–9.6 s勺头斜靠杯缘，10.0–10.4 s撤爪时勺子翻出掉落，末帧杯内无勺；节点未达成、断点、放后不稳现象与保守的控制根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:11:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work_rerun1/runs/bigym2-flip-cutlery-i00-standard--pb6nlbk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/bigym2-flip-cutlery-i00-standard--pb6nlbk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b043bcf73c0e986edeeb7eb16bb1c8b4fbe1ebc77fe3d19a83e910c91c497ff",
+   "video_sha256": "56ef7a5059b37455a0ac0d957bebdf232ccea4694524f4ceeaae308de8d0c323",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--q7ipnkb.json

@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--q7ipnkb",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 620,
+   "sim_steps": 620,
+   "calls": 16,
+   "rows": 16,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 812.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--q7ipnkb/replay.mp4",
+  "duration_s": 12.44,
+  "fps": 25.0,
+  "frames": 311,
+  "sha256": "27098a4765f28cdd43c65ca1f2f40e94b6b56c469482c244adfa8678c63e302c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 双外部视角显示白杯置于台面，勺头露在杯口上方，初始朝向未反转。"
+     },
+     {
+      "t": 7.84,
+      "log_step": null,
+      "text_zh": "观察：视频 5.20–7.80 s 左夹爪从机器人身前伸向杯口旁；视频 7.84–8.16 s 左夹爪快速下探后抬起，勺子仍留在杯内，勺头朝上，没有随夹爪离杯。"
+     },
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.20–10.80 s 左臂空手抬高、翻腕再降向杯旁，勺头持续露在杯口上方；视频 11.04–12.40 s 夹爪打开撤离后仍是此朝向，未出现反向放回的成立区间。"
+     },
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频 12.40 s 末帧仍清楚显示宽勺头在白杯上方；评分器 reward.success、live_success、replay_success 均为 0，且 deterministic=1。节点未达成的判断来自勺子可见朝向及运动，不仅来自零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 7.68–8.16 s 及 10.60–12.40 s，左二指夹爪在杯旁尝试合拢、抬起及打开撤离，勺子没有被夹在两指间或随手移动。候选名称“空夹”：未形成对勺子的包围夹持，故不标抓握；也未见可确认的推扫、压擦或托舀。右夹爪停在胸前，未同时操作杯勺。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–12.40 s，机器人双脚支承于地面，在台前站立并配合左臂伸取；没有可见跌倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 7.84,
+   "log_step": 44,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.68–7.80 s 左夹爪接近杯旁，视频 7.84–7.88 s 下探，视频 7.92–8.16 s 空手抬起；宽勺头始终在杯口上方，直到视频 12.40 s 均未补成抓取或翻转。推断：依据 log step 4 的 control_dt=0.02 s 与 log step 40/44/45 累计控制步 390→395→620，并核对视频下探和抬臂，log step 44 只约对应视频 7.80–7.90 s，之后至视频 12.40 s 的动作属于 log step 45；断点时间仍取抓取出错的近似导航锚点视频 7.84 s。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.84,
+    "log_step": 44,
+    "evidence_zh": "观察：视频 7.68–8.16 s 左夹爪伸至杯边后空手抬起；视频 8.20–10.80 s 左臂继续旋转而勺子始终留在原杯内、勺头朝上，视频 12.40 s 撤手后仍未改变。推断：没有建立翻转所需的有效夹持接触；不将可能的瞬时轻触等同于抓住，也没有已持住后滑落的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未���",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：视频 7.72、7.80 s 左夹爪停在杯旁，勺子未处于两指之间；视频 7.88 s 夹爪下探至杯侧低处，视频 7.92–8.16 s 又空手抬起，视频 9.52 s 手臂高举时宽勺头仍在杯中朝上。log step 39 的脚本按候选高度平面对勺子像素作射线投影；log step 40 将抓取目标设为 [0.665,0.093,0.995]，脚本用关节反馈计算的 grip 却为 [0.672,0.091,0.953]，该计算值不是勺子真值。log step 42 的 agent 自述“fingers are just below the shaft”仅为其判断。log step 45 的实际代码直接以 0.003 m 目标开口抬臂，随后翻腕、降下、松手，未增加重新对准并包围勺子的抓取段；提交 dt=0.9、225 个控制步、clipped=[]。推断：本次夹持位置没有包围勺子，后续动作也沿用了未建立有效夹持的接触安排，因而空手完成抬起和翻腕；这支持抓取和接触设计归因。log step 44 的短时提交和 rot_err=180.0 属于该段的次要问题；log step 45 已改用较长时长、位置逆解与关节增量，仍未补成抓取，不能用先前两项错误独自解释整段失败。",
+    "note_zh": "推断：依据 log step 4 服务 control_dt=0.02 s 及 log step 40/44/45 的累计 control_steps，390、395、620 步分别约对应视频 7.80、7.90、12.40 s；末个时刻为视频末帧，容器时长 12.44 s 多一个 25 fps 帧周期。已用视频 7.80 s 接近结束、7.88 s 下探及 7.92–8.16 s 抬臂核对：log step 44 约为视频 7.80–7.90 s，log step 45 约为视频 7.90–12.40 s。此对应使用控制步而非 agent 工作时间。感知估计错误也是候选，但缺少勺子的世界坐标真值，且 log step 40 的实际到位计算与目标高度有偏差，不能把 perr≈0 当成实际跟踪准确的证明；尚未验证本次具体抓取配置的替代位姿，alt_feasible 留未知。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法确认夹爪是否曾瞬时轻触杯勺，亦无逐帧勺子角度和连续成功计数；这不影响从双外部视角判断有效夹持和反向放回未发生。评分器未报告 spoon_angle_to_down 或 success_streak_steps 的数值，native_metrics 留 null。夹爪与勺子未形成包围且后续未重新抓取有视频和代码支持，但没有勺子世界坐标真值和独立末端跟踪测量，难以进一步区分感知估计、接触位置选择与实际到位偏差各自的贡献；log step 44 的时长及旋转问题也不能单独解释 log step 45 的空手动作。"
+ },
+ "summary_zh": "机器人用左夹爪伸向杯旁并执行抬起、翻腕、降下与撤手，但勺子始终留在杯内且勺头朝上，“勺子反向放回”未达成，最终为 0/1。断点位于视频约 7.84 s 的抓取操作：夹持位置未包围勺子，log step 45 延长动作时长后也未重新对准抓取，根因改为控制·抓取和接触设计，log step 44 的短时提交及旋转误差不再作为主因。无状态日志、勺子坐标真值和原生指标数值，感知与到位偏差的贡献仍难区分，故 conf 由 8 降至 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点（spoon_flipped_in_mug，视频约 7.84 s，操作中）和现象“没建立接触”与视频一致，不需改。问题在根因：把原因记成泛泛的“控制”，并主要用 log step 44 的 dt 错误（3 步）和 180° 旋转残差作证据，但视频 8.2–12.4 s 看到的动作来自 log step 45（dt=0.9，225 个控制步，位置 IK、不含 180° 旋转），时序正确仍从未碰到勺子，所以这两条错误不能解释失败；视频 7.7–7.9 s 手停在杯子旁桌面高度，没到勺柄位置，更像抓取目标位置估计与实际不符。另外 log 步到视频时间的对应没有写明。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：节点未达成、断点（视频约 7.84 s 操作中）、现象“没建立接触”、根因“抓取和接触设计”（alt_feasible 未知）与视频一致，控制步到视频时间的对应已写明，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": "2026-10-30T05:01:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--q7ipnkb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--q7ipnkb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--q7ipnkb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--q7ipnkb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "77e98fb0785229d25e1fd028436dddc43c3ae58e79fb3e6a7a1815b3eafc8fc6",
+   "video_sha256": "27098a4765f28cdd43c65ca1f2f40e94b6b56c469482c244adfa8678c63e302c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--wxyddsf.json

@@ -0,0 +1,213 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard--wxyddsf",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 104,
+   "rows": 1950,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1994.3,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard--wxyddsf/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "cee03bc093aa024ac57b8a00ac63ba4418ba57fbd50cb236147b67e58c494d51"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两外部视角显示白杯直立于台面，勺头露出杯口朝上，尚未反向。"
+     },
+     {
+      "t": 23.3,
+      "log_step": 145,
+      "text_zh": "观察：视频 22.8–26.6 s，机器人左夹爪在杯子靠机器人一侧反复闭合与移动，勺头仍在杯口上方，勺子未随夹爪离杯；log step 145记录闭合命令及双指滑动关节均到约−0.02 m。"
+     },
+     {
+      "t": 33.7,
+      "log_step": 175,
+      "text_zh": "观察：视频 28.8–33.6 s，左夹爪靠近杯口，勺头仍向上；视频 33.64–33.96 s，机器人左手运动碰倒杯子，勺子甩向台面。未看到先抓住勺子再反向放回的过程。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 183,
+      "text_zh": "观察：视频 34.4–39.0 s（包括视频 38.0、38.4、38.8、39.0 s），杯子一直侧倒，勺子平躺在杯旁台面，左夹爪反复空合，未恢复勺子朝下接触杯子的目标；log step 183服务返回done=True、reason=failed、outcome=timeout，control_steps=1950。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "推断：对照参考成功视频 4.6 s可见细柄露出杯口且手已撤离的终态，本次视频始终未出现对应的反向放回状态；碰杯后勺子近水平也不满足向下50度内的条件，因此本节点从未达到。参考视频仅用于辨认目标外观，不作为本次进度证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用左夹爪在杯口及露出的勺头附近碰推；视频 33.64–33.96 s杯子被碰倒、勺子甩落到台面。此前多次闭合没有夹住勺子，未见对杯或勺形成相向夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双足在地面支撑并迈步靠近柜台，随后保持站立、前倾躯干配合左手操作杯勺（视频 0.0–39.0 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 23.3,
+   "log_step": 145,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22.8–23.4 s，机器人左夹爪在杯子靠机器人一侧空合，未夹起勺子；随后视频 23.4–33.6 s的重试仍未让勺子随手离杯，视频约 33.7 s又碰倒杯子，直到视频 39.0 s均未完成反向放回。log step 145记录此次闭合，log step 175记录后续抓取、抬起、翻转动作命令，但画面未显示勺子被持有。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 23.3,
+    "log_step": 145,
+    "evidence_zh": "观察：视频 22.8–26.6 s，左夹爪多次在勺子旁闭合，勺子仍在原杯内、勺头朝上，没有进入两指之间并随手抬起；视频 28.8–33.6 s的继续尝试也未建立抓握。这里缺少的是取勺所需的夹持接触，后续碰到杯勺不等��抓住。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 33.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 33.60–33.96 s，机器人左夹爪在杯口附近运动时碰动杯勺，白杯明显倾倒、向外翻滚，勺子飞出后落在台面；视频 34.4–39.0 s杯子保持侧倒，勺子未被重新拾回。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent的末端定位及执行控制未能把夹爪送到能夹住勺子的位姿。log step 116中脚本求解的预抓位置为[0.666,0.020,0.918] m，而其利用实测关节计算的到达位置为[0.377,0.162,1.086] m；log step 125中目标肩俯仰约−3.024 rad，返回的实测值约−0.063 rad，存在明显指令与执行差异。视频 22.8–26.6 s的空合及视频约 33.7 s的碰杯支持操作控制未对准的判断；尚不能确定差异来自运动学建模、轨迹分支还是执行跟踪，故不细分子类。"
+   }
+  ],
+  "gap_zh": "未提供状态日志、物体真实位姿、接触对及连续成功计数；无法量化精确夹角、确定每次擦碰的具体链接，或区分运动学模型误差与轨迹/跟踪问题。原生指标spoon_angle_to_down和success_streak_steps未在评分器字段中报告，均留null；这些缺口不妨碍从可见勺头朝向、空夹及最终横卧状态判断目标未达。",
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  }
+ },
+ "summary_zh": "观察：机器人靠近柜台后多次尝试左手抓勺，但勺子没有被夹起或反向放回，最终完成0/1节点；视频约 33.7 s左夹爪还碰倒杯子，视频 39.0 s勺子仍横卧在杯旁台面。推断：失败主要是末端定位与执行控制未能建立有效抓握，日志也记录了明显的指令与实测关节差异。无状态日志及接触对，无法细分控制根因或给出两项原生指标的数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达、断点（视频约23.3 s，log step 145 = control step 1167 ≈ 23.3 s）、碰倒杯子（视频约33.6 s）与终态（勺子横卧、杯倒）均与帧和日志一致；根因停在“控制”并写明不细分，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:48:35Z",
+  "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/bigym2-flip-cutlery-i00-standard--wxyddsf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard--wxyddsf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b9aa24adde1112590c7c7ac2412f49c29d41ff21c4c5849670fb288ba4e77e9e",
+   "video_sha256": "cee03bc093aa024ac57b8a00ac63ba4418ba57fbd50cb236147b67e58c494d51",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--beftxex.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--beftxex",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 4,
+   "rows": 71,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 125.6,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.989,
+   "max_lag_s": 0.0017,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 1879,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.363,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.313,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.829,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard-realtime--beftxex/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "3e4c23ccda41d95ccccb3f6eec42148c0da85b3aa0294e00d43492d4ab222d08"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始双外部视角中，白色杯子位于台面，勺头朝上露在杯口上方；双夹爪位于机器人身前、杯子后方，没有夹住杯勺。"
+     },
+     {
+      "t": 1.5,
+      "log_step": 16,
+      "text_zh": "观察：视频 0.0–3.75 s 的密集帧显示机器人小幅靠近台面后站定，双手未伸向勺子，杯勺未被拿起；log step 16 的服务记录仅处于 approach 阶段，control_steps=72、rows=71。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 24,
+      "text_zh": "观察：视频全段每约2秒的帧及视频 38.0–39.0 s 的密集末段帧中，勺头始终向上露在杯口，双手未进行取勺、翻转或放回，末帧机器人仍站立；log step 24 的服务状态为 control_steps=1950、done=true、reason=failed。目标朝向从未出现，故节点无满足区间，终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.5 s 机器人双足承重、小幅向台面接近，之后原地站立支撑；这是操作前接近阶段，未见夹爪接触杯子或勺子，不计抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 1.5,
+   "log_step": 16,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 1.5 s 初始小幅接近结束后，机器人一直保持双手在身前的姿势；到视频 39.0 s 仍未伸手取勺，勺头保持初始向上。log step 16 仅记录 approach 阶段，log step 24 服务记录回合已失败结束。推断：只有接近准备，实际取勺、翻转、反向放回操作未启动；以接近停止处作导航锚点。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 1.5,
+    "log_step": 24,
+    "evidence_zh": "观察：视频 0.0–39.0 s 双夹爪未向杯口伸出或夹持勺子，勺子未离开初始位置，勺头始终朝上；机器人仅在开头小幅接近，此后站立。log step 24 显示服务已运行到 control_steps=1950 并结束；这段完整评分回合没有启动杯勺操作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在实时回合的执行安排上依赖 agent 后续逐轮生成分阶段指令，未在启动前准备可持续推进的取勺翻转流程。log step 7 服务已明确每控制步0.02秒、最多1950步、指令耗尽后保持末条目标；log step 15 启动程序，log step 16 仅完成71行 approach。随后 agent 在 log steps 17–21 查看图片、放大图片并离线求解臂部运动学，直到 log step 22 才写出下一段 approach2 指令，而 log steps 23–24 已显示 episode_done。评分器字段 held_steps=1879、rows=71，与视频约 1.5–39.0 s 一直站定相符。这支持跨阶段执行策略未适配不停表的回合，不能把控制步上限本身当作根因。"
+   }
+  ],
+  "gap_zh": "观察：没有提供状态日志；inputs/run.json 的 log step 14 仅保留不完整编辑文本，未包含完整控制器实现，因此无法确定程序等待下一阶段指令的内部机制，也不能断言控制脚本崩溃。两个原生指标 spoon_angle_to_down 和 success_streak_steps 未由评分器报告，均填 null；节点未达可由清晰可见的初始朝向保持直接判定。"
+ },
+ "summary_zh": "观察：机器人仅在视频开头小幅靠近台面，此后站立至视频 39.0 s，双手未操作杯勺，勺头始终朝上；“勺子反向放回”从未满足，最终为0/1。推断：断点在该步骤的首步前，现象为没尝试；日志显示 agent 启动实时回合后仍通过查看图像和离线运动学计算逐段准备后续指令，执行规划未适配连续运行的回合。观察：无状态日志，且控制器代码未完整保留，具体阶段交接机制及原生数值指标无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.0 与 38.5 s 帧对比：机器人只小幅靠近台面，勺头始终朝上，双手未动；节点未达、断点首步前、没尝试，与证据一致。根因的 log 依据（steps 15-25，held_steps=1879）成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:52:35Z",
+  "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/bigym2-flip-cutlery-i00-standard-realtime--beftxex/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--beftxex/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f44dccb8ca141c26cfcbbb01d0c3d97c5e572267128a88c0cd5e4fd8a25a24f4",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
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+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe.json

@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 394,
+   "rows": 3900,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 706.1,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.989,
+   "max_lag_s": 0.0044,
+   "stalls": 0,
+   "stalled_s": 0.0,
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+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 1.037,
+   "resource_enforced": 0,
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+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.307,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.886,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "4b5ae064a7a0f7271c04cb7e845f5bc4b451b5a9885b66072ba360bc639b05c0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0 s 的外部侧视画面显示勺子立在白杯内，宽勺头露在杯口上方，初态未反向。"
+     },
+     {
+      "t": 13.4,
+      "log_step": null,
+      "text_zh": "观察：本次视频 13.20–13.60 s 的双外部视角显示机器人右夹爪向杯口下降，杯子被碰动，勺子在杯中偏转；右夹爪随后降到杯口以下，没有把勺子夹住并带离杯子。"
+     },
+     {
+      "t": 22.4,
+      "log_step": 34,
+      "text_zh": "观察：本次视频 21.6–22.8 s，机器人右夹爪向上抬离杯子，勺子仍留在杯中；视频 23.2–29.2 s 右腕转动时勺子也未随手翻转。log step 34 的控制器输出虽称 lift、flip，但画面没有显示持勺。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 36,
+      "text_zh": "观察：本次视频 37.8–39.0 s 逐 0.2 s 检查，宽勺头始终朝上露在杯口，未形成勺头朝下、细柄向上的结果；log step 36 的机器人服务状态为 control_steps=1950、done=true、reason=failed。成功参考视频 4.00 s 与 4.68 s 可见细柄向上露出杯口，仅用来辨识目标外观，不作为本次达成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 13.28–13.60 s，机器人右夹爪在杯口附近碰动白杯，使杯子移位、杯中勺子偏转；视频 15.2–21.2 s，右夹爪在杯身侧面继续贴靠。未见两指对向夹住勺子，故不记抓握；左夹爪保持抬起，未参与杯勺操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–12.0 s，机器人双脚支撑身体并向柜台靠近；视频 12.8–39.0 s 操作期间持续站立，由双腿和躯干支承上肢动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 13.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 13.4 s，机器人右夹爪接近杯口时碰动杯子并降到勺头下方；视频 15.2–21.2 s 未夹住勺子，视频 21.6–29.2 s 抬手和翻腕均未带动勺子离杯翻转，至视频 39.0 s 仍未补成。断点为正在尝试的“勺子反向放回”。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 13.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 13.20–13.60 s 右夹爪从杯口附近降到杯侧，勺子只在杯中偏转；视频 21.6–24.0 s 夹爪抬高、转腕时勺子仍由杯子支承，��被两指夹持带起。这里未建立的是取勺所需的抓握接触，虽有对杯子的碰触，仍不构成抓住勺子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 13.4–21.2 s，机器人右夹爪实际下降并停在杯侧，未在露出的勺子上形成对向夹持；视频 21.6–29.2 s 仍继续抬手、翻腕，未修正取勺失败。log step 31 的 agent 说明目标为抓勺、抬起、翻转、释放；log step 34 的控制器输出在未持勺时仍进入 lift、flip，支持具体操作执行未闭合到有效抓取，归入控制。现有证据不足以进一步确定接触设计、逆解或反馈控制中的哪一项主导。"
+   }
+  ],
+  "gap_zh": "无状态日志或接触对、接触力及逐步目标误差记录；视频足以确认勺头未反向和未形成持勺，但不能精确还原每根手指与杯勺的瞬时接触。log step 28 中控制器 compute 部分被截断；log step 33–34 还记录了先后不同的视觉定位覆盖值，因此不能把失败唯一细分为接触设计、逆解或反馈控制，也不能将后来的定位修正当作初次失误的已证实原因。评分器未报告勺子角度和连续成功步数，两项原生指标均留空。"
+ },
+ "summary_zh": "本次单次实况中，机器人站立靠近柜台并用右夹爪尝试取勺，但“勺子反向放回”始终未达成，最终为 0/1。视频约 13.4 s 起，夹爪碰动杯子却未建立持勺接触，随后空手抬升、翻腕，视频 39.0 s 勺头仍朝上，归因保留为控制。无状态接触日志且控制器关键代码截断，无法可靠细分控制子类；角度和连续成功计数未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频一致：勺子全程未被夹持或翻转，最终未达成，断点、现象（没建立接触）与根因（控制，子类不明）有证据支持，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": "2026-10-30T04:52:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0ce19352f521b0ec1829b1d42496a9961bc42abff37efd09dd764407b86f230e",
+   "video_sha256": "4b5ae064a7a0f7271c04cb7e845f5bc4b451b5a9885b66072ba360bc639b05c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--h4fuasq",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 373,
+   "rows": 1850,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1295.5,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.991,
+   "max_lag_s": 0.001,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 104,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.612,
+   "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/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "9dad3cb0a60aee05412032e28a4d58a7194a2e85f96293bea22ebdcba6a674d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的双外部视角中，杯子位于柜台上，勺头朝上露在杯口，初始不满足反向放回。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.0 s 的加密帧中，机器人向柜台靠近并将双臂垂下，未见夹爪夹住勺子；视频 3.2 s 起机器人停在柜台旁，勺子仍在原杯中且勺头朝上。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 29,
+      "text_zh": "观察：视频 12.0、24.0、36.0、37.0 s 及视频 38.0–39.0 s 的加密结束帧均显示机器人垂手站立，杯勺未被取起，勺头仍露在杯口上方；没有翻转并放回的画面。log step 29 中机器人服务 status 返回 control_steps=1950、done=True、reason=failed；评分器 success=0 与所见一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.2 s，机器人双脚承重向柜台靠近，此后站立支撑至视频 39.0 s；夹爪未对勺子或杯子建立抓握，不记录任务典型方案中的夹爪接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 3.2,
+   "log_step": 26,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 3.2 s，机器人已靠近柜台并垂下双臂；视频 3.2–5.0 s 的密集帧、视频 6.0、12.0、24.0、36.0 s 及视频 38.0–39.0 s 的结束帧中，机器人均站在柜台旁，没有伸手取勺、翻转或放回，杯中勺头仍朝上。log step 26、27 的控制器输出持续为 ph=walk，骨盆位置基本不变，操作阶段未启动；按 docs/03_trajectory.md Step 3.1，属于首步前。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 3.2,
+    "log_step": 27,
+    "evidence_zh": "观察：视频 3.2–5.0 s 的密集帧、视频 6.0、9.0、12.0、15.0、18.0、21.0、24.0、27.0、30.0、33.0、36.0 s 及视频 38.0–39.0 s 的结束帧均显示机器人在柜台旁垂手站立，没有伸手、取勺或翻转，勺头仍朝上。log step 26、27 的控制器输出持续为 ph=walk；log step 27 最后输出 time cap; standing 和 controller exit，log step 29 服务返回 done=True、reason=failed。勺子操作在本次评分回合中从未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.2,
+    "log_step": 27,
+    "source_zh": "日志 / agent 自述 / 视频",
+    "evidence_zh": "推断：行走控制及阶段切换逻辑使控制器停滞。log step 26、27 的控制器输出反复为 ph=walk、pelvis_x 约 0.431；agent 在 log step 27 自述行走越过停止点且 vx 被限制为非负，在 log step 35 自述目标停止位置约为 0.308、到达判定未通过，因而一直未进入操作阶段。视频约 3.2–39.0 s 的停步和垂手状态支持这一停滞诊断；log step 27 发出的阶段跳转没有在视频中产生伸手动作。log step 30 才修改后退速度及阶段超时保护，发生在 log step 29 服务已确认回合失败之后，不能计作本次修复。",
+    "note_zh": "原执行代码的行走分支位于 log step 14 被截断的中段，具体夹限和停止阈值取自 agent 诊断，未独立核实；仅标控制大类，不进一步区分反馈控制与控制器阶段逻辑。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告 spoon_angle_to_down 或 success_streak_steps，故两个原生指标 value 均为 null；杯勺朝向与操作未发生可由外部视角判断。原执行脚本的行走分支在输入日志中被截断，无法独立核实 agent 所述停止阈值、前向夹限及越过停止点的精确时刻，断点视频约 3.2 s 为停步阶段的导航锚点。",
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  }
+ },
+ "summary_zh": "机器人只向柜台靠近并保持站立，始终没有取出、翻转或重新放入勺子，唯一目标“勺子反向放回”全程未达到，最终为 0/1。断点为首步前，现象为没尝试：机器人已站在柜台旁，控制器却持续停留在 walk，后续操作未启动，视频 39.0 s 勺头仍朝上，服务最终报告失败。阶段切换停滞的控制归因有日志和视频支持，但原行走代码中段被截断，agent 所述夹限和停止判定细节无法独立核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达、时钟与 log 引用基本正确；但断点 where 与现象不对：机器人已走到柜台旁（视频 3 s 起即在柜台前），勺子翻转步骤的操作从未开始，应为首步前 + 没尝试，而不是转场 + 步态（步态指行走不足/过短/偏离，此处行走已到达且超过停止点，只是状态机卡在 walk，无阶段推进）。根因 控制 可保留。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点未达、断点（首步前）、现象（没尝试）、根因（控制，推断已标明且说明了日志截断的证据缺口）与视频和 log 一致；未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:01:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "10d91c4fd22adc991e42a66cccc56d2d52e1666d03c0d61e69d6c63250cf6c3c",
+   "video_sha256": "9dad3cb0a60aee05412032e28a4d58a7194a2e85f96293bea22ebdcba6a674d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--jq2qqw7.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--jq2qqw7",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 1192,
+   "rows": 7128,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1086.8,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.995,
+   "max_lag_s": 0.0037,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 660,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.549,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.164,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard-realtime--jq2qqw7/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "cfab75dfa468d82bf7f63a05b2d646df83da0ee1595743b6d602eb69c93de33e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白杯立在台面，勺子细柄在杯内、宽勺头露在杯口上方，初态不满足反向放回。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 15.0–19.75 s 的双外部视角显示机器人活动手臂下探，夹爪降至杯口下方，在柜台旁空合；视频 20.0–31.5 s 的重试期间勺头仍露在原杯口，未见勺子随手移动。log step 41 的实际控制器日志记录三次 grasp attempt 均为 EMPTY；该输出与画面一致，不把此前 mock dry-run 的抓取成功算入本次回合。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 42,
+      "text_zh": "观察：视频 32.0–36.5 s 机器人抬起并转动空夹爪，勺子留在杯内；视频 38.0–38.9 s 每隔约0.1秒及视频 39.0 s 末帧仍可见宽勺头朝上。未出现成功参考视频 4.6 s 所示的细柄朝上、夹爪撤离的反向结果；log step 42 的服务状态为 done=True、reason=failed，评分器 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–39.0 s 机器人双足接触地面，靠近柜台并支撑伸臂和空抓尝试。活动夹爪未夹住勺子或杯子，未记录实际抓握接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 18.0,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 17.5–19.0 s 机器人夹爪落在杯口下方，未夹住仍在杯中的勺子；视频 20.0–31.5 s 的后续尝试也未使勺子离杯，视频 39.0 s 仍未翻转。log step 41 的实际运行输出三次空抓，与画面相符；本步骤的取勺接触失败始终未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 18.0,
+    "log_step": 41,
+    "evidence_zh": "观察：视频 17.5–31.5 s 机器人夹爪多次在杯口下方运动、空合，勺子宽勺头持续留在杯口上方；视频 32.0–36.5 s 抬臂时夹爪为空，杯内勺子未跟随。log step 41 的控制器将三次闭爪都判为空抓，未见曾经夹住后滑脱的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：控制器未把末端送到取勺位置，导致空抓。log step 39 的实跑输出在抬臂阶段报告 move timeout err=0.4490；log step 41 连续报告运动误差，下降结束时脚本计算的夹爪高度为0.576米、杯沿参考高度为0.960米，随后三次空抓。视频 17.5–31.5 s 也显示夹爪处于杯口下方，视频 32.0–36.5 s 空手运动，支持执行控制失败；这些脚��计算值未当作真实物体状态或精确测量。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志和逐步接触对，无法核验瞬时轻触或接触力；两项原生指标未在评分器字段中报告，值保留null。agent 在 log step 46 猜测 FK/Jacobian 的关节轴符号错误并称可能擦碰柜台，这些具体机制未经独立验证，根因停在“控制”，不增标碰撞。",
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  }
+ },
+ "summary_zh": "机器人靠近柜台并尝试取勺，但视频 17.5–31.5 s 的抓取阶段未建立夹持，随后空手抬臂；视频 39.0 s 勺子仍以勺头朝上的初始姿态留在杯中，节点从未达到，最终0/1。断点为“勺子反向放回”的操作中，现象为没建立接触，日志与画面共同支持控制执行失败。缺少状态和接触日志，无法证实 agent 所猜测的运动学轴符号错误或柜台碰撞，两项原生指标未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、最终0/1与视频一致：全程勺头朝上留在杯中，夹爪在杯口下方空合；断点、没建立接触与控制根因有视频和实跑日志支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:51:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--jq2qqw7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--jq2qqw7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c9c0c9671c9cb183e9630c09b81f1f51bebad0727028480d450f4b008c34e1d6",
+   "video_sha256": "cfab75dfa468d82bf7f63a05b2d646df83da0ee1595743b6d602eb69c93de33e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 1,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 2061.6,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 0.0,
+   "max_lag_s": 0.0,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.317,
+   "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/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "05cb3f729da67731837e186daeed3d35299da7d48cd740ff1a6204a10366e775"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频仅有视频0.00 s一帧（总长0.04 s，亦为末帧）；右侧外部近景清楚显示勺头仍朝上露在白杯口外，机器人两只夹爪位于柜台近侧，未握住勺子。勺子未呈现本节点要求的反向放回姿态。"
+     },
+     {
+      "t": null,
+      "log_step": 6,
+      "text_zh": "观察：机器人服务在log step 6报告control_steps=0、rows=0、running=false；inputs/run.json的最终评分字段亦记录n_actions=0、sim_steps=0、rows=0。log step 66–67仅是agent脚本的离线逆运动学计算，没有提交机器人动作，不能据此计入翻转或放回进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段记录n_actions=0、sim_steps=0；本次视频0.00 s为初态，未交付可执行的动作轨迹，未发生本步骤的操作接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 68,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 68的最终消息为“This request was blocked by Gemini's filters”；此前log step 66–67只计算候选关节位姿，评分字段n_actions=0、sim_steps=0，视频0.00 s仅显示未操作的初态。推断：模型供应商过滤在首个动作提交前中断会话，尚无物理失败步骤可定位，按外部因素中断规则记unknown。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 68记录模型供应商过滤中断，最终评分记录无动作、无控制步，本次视频仅有视频0.00 s的初始一帧；inputs/未提供状态日志，两项原生指标亦未报告数值。推断：中断前没有已执行的物理失败或已完成并验证的交付，按CASES.md FAIL-5及D37当前处理属于待重测的外部因素中断；现象与根因均留空，不将其归为机器人没尝试、控制或规划失败。"
+ },
+ "summary_zh": "本次视频0.00 s仅见初态，勺头仍朝上露在白杯口外，“勺子反向放回”未达成，终态进度为0/1。log step 66–67只有离线逆运动学计算，log step 68记录模型供应商过滤中断，评分字段确认零动作、零控制步，因此按外部因素中断处理，断点记unknown／首步前，现象与根因留空。缺少实际执行片段及状态日志，不能评价接触方案或控制能力，应重测。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：视频��一帧初态，log step 68为模型供应商过滤中断，评分字段n_actions=0、sim_steps=0，节点未达成，断点unknown、现象与根因留空并有gap_zh，符合FAIL-5。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:49:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ae8fb6687df7a26bc78959e2280a5482bd2d41f4d780d33f29eb2c1278e97a4",
+   "video_sha256": "05cb3f729da67731837e186daeed3d35299da7d48cd740ff1a6204a10366e775",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9.json

@@ -0,0 +1,207 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 20,
+   "rows": 1750,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 394.6,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.993,
+   "max_lag_s": 0.012,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 200,
+   "late_steps": 0,
+   "requests_refused": 14,
+   "request_busy_s": 0.465,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.203,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.284,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "c73793d575a89ffc4d43ecc21797acb5fe7e9d98a8837e023786ee8008d09703"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白色杯子放在台面，勺头露在杯口上方，尚未反向。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–7.0 s 密集帧中，机器人右夹爪伸向杯子前方并闭合、上抬；视频 4.5 s 夹爪与杯勺仍分离，视频 5.5 s 上抬的夹爪内没有勺子，勺子仍在原杯内。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–17.5 s，机器人右臂空手转腕、下降、张爪并撤回，勺子未随夹爪移动；视频 18.0–38.0 s 的巡检帧及视频 38.0–39.0 s 的密集末段均显示勺头仍朝上，未出现反向放回状态。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 78,
+      "text_zh": "观察：视频 39.0 s 末帧仍是勺头露在杯口上方；log step 78 的机器人服务状态为 control_steps=1950、done=True、reason=failed，与 run.json 的 live_success=0 一致。成功参考在其视频 4.6 s 可见细柄朝上，作为判据的外观对照，不计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–17.5 s，机器人双脚支撑身体站在柜台前，配合右臂伸出、空夹、抬臂与撤回。双视角未见夹爪夹住勺子或杯子，未将空夹记为实际抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 5.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 4.5–5.5 s，机器人右夹爪在杯子前方闭合后空手上抬，勺子留在杯中，所需抓取未建立；随后继续空手转腕和撤回，到视频 39.0 s 仍未修复，勺头保持朝上。"
+  },
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.5–7.0 s，机器人右夹爪未围住杯中的勺子，闭合、上抬时夹爪为空，勺子没有离开原位置；视频 12.0–17.5 s 空手下降、撤回后，勺子仍在杯中且方向不变。所需的夹爪与勺子的抓取接触从未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 57 的脚本预先按固定目标计算右臂接近、闭爪、抬起、翻转、释放的整段关节序列；log step 58 可见的运行循环按序提交动作并保存快照，没有根据快照或抓取结果修改动作的分支，log step 66 启动该控制器。视频 4.5–7.0 s 实际空夹后，机器人仍继续视频 8.0–17.5 s 的空手转腕与撤回，说明控制过程未实现所需抓取，也没有纠正这次失配；证据支持控制层归因，尚不足以细分定位、逆解或跟踪误差。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志或物体接触对，无法量化夹爪与勺子的位姿误差；log step 58 的控制器中段在输入日志中被截断。现有视频足以确认空夹及节点未达成，但无法进一步区分目标位置估计、运动学建模与实际跟踪各自的影响；评分器也未报告勺子角度或连续成功步数，两个原生指标保留 null。"
+ },
+ "summary_zh": "机器人右臂进行了接近、闭爪、抬起、转腕和撤回，但勺子始终留在杯中且勺头朝上，“勺子反向放回”全程未达成，最终为 0/1。断点在视频约 5.0 s 的空夹，现象为没建立接触，固定动作序列随后未纠正抓取失配；回合结束后 log step 83 修改的左臂控制器不属于本次视频执行结果。没有状态日志，根因仅归到控制，具体位姿误差来源及原生指标无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0–39 s 帧中勺头始终露在杯口上方，节点未达成、final=false、断点在空夹处、现象没建立接触均与帧一致；根因停留在控制符合 03 的“子类不明则停在控制”。log step 57/58/66/78/83 均存在，无时钟转换问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:49:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8af0f92c33329cb8b31fb533e3353a1366547db47a0803ed8851909f2c423f19",
+   "video_sha256": "c73793d575a89ffc4d43ecc21797acb5fe7e9d98a8837e023786ee8008d09703",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl.json

@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--zmylnsl",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "d9ee5df67d97ab2e65dbaec88f77999fc9c4bddb1b09ca8db1291a4a33025a7a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1950,
+   "sim_steps": 1950,
+   "calls": 479,
+   "rows": 3744,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 676.5,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.989,
+   "max_lag_s": 0.003,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.452,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.162,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.337,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl/replay.mp4",
+  "duration_s": 39.04,
+  "fps": 25.0,
+  "frames": 976,
+  "sha256": "0e239c3aa0f4d13b2930a17eca27fef8a13a7459594298b8ebe46e032175072a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "spoon_flipped_in_mug": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s，白色杯子立在台面，勺子的宽勺头露在杯口上方，尚未反向。"
+     },
+     {
+      "t": 20.88,
+      "log_step": 24,
+      "text_zh": "观察：视频19.92–22.80 s，机器人右爪降到杯子靠机器人一侧的台面附近并闭合，夹爪位置低于露出的勺头；勺子仍在杯中，未随右爪移动。视频23.28–25.20 s，右爪空手抬升、转腕，勺头仍朝上。log step 24记录控制器依次进入close、lift、flip阶段；阶段名不作为抓取成功证据。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 26,
+      "text_zh": "观察：视频25.20–32.00 s及视频38.00–39.00 s的密集帧中，右臂撤开后勺头始终露在杯口上方，未出现细柄朝上、勺头朝下的放回状态；log step 26的服务状态为control_steps=1950、done=true、reason=failed。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "推断：本次视频没有出现勺子离杯、随夹爪翻转再反向接触杯子的过程，因此本节点从未成立。成功参照视频4.68 s在相同双外部视角中可见杯口上方的细柄；本次视频39.00 s仍是宽勺头朝上，参照仅用于核对可见判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频20.40–22.80 s，机器人右爪的下侧指端贴压杯旁台面并小幅移动，实际接触对象为台面；右爪没有夹住杯中的勺子，不记为抓握勺子。左手未参与杯勺操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双足支撑地面，视频开头向柜台小步靠近，随后站立支撑右臂伸出、抬升和撤回；视频39.00 s仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_streak_steps",
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_flipped_in_mug",
+   "t": 20.9,
+   "log_step": 24,
+   "where": "操作中",
+   "evidence_zh": "观察：视频20.40–22.80 s，机器人右爪在杯旁台面高度闭合，未夹住高于杯口的勺子；视频23.28–25.20 s右爪空手抬起并翻腕，勺子仍留在杯中且勺头朝上。之后直到视频39.00 s没有修复这次抓取失败，故断在勺子反向放回的抓取过程。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.9,
+    "log_step": 24,
+    "evidence_zh": "观察：视频20.40–22.80 s右爪闭合的位置在杯旁、低于勺头，视频23.28–25.20 s抬手时夹爪内没有勺子，杯中宽勺头保持原位置与朝向。机器人没有建立后续取出和翻转所需的夹持接触，并非夹住后再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 17的控制脚本以自建运动学模型求右臂关节命令，设定抓取高度为离地1.00米；log step 21启动这份脚本，log step 24记录其继续执行闭爪、抬升、翻腕和释放。视频20.40–22.80 s实际右爪却落在杯旁台面高度，随后空手执行后续动作，说明末端对准与抓取执行未奏效。log step 21的图像校正估计未通过脚本阈值，后续日志没有施加校正的记录；仅凭这些证据不能区分运动学误差、跟踪误差或接触设计的具体责任。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐步杯勺接触对、末端实测位姿或连续成功计数；台面贴压由双外部视角判断，不能给出接触力。agent在log step 27猜测关节符号或轴向不匹配，但没有独立验证，故根因仅标控制，不将该猜测定为具体故障；两个原生指标未在评分器字段中报告。",
+  "unmet": {
+   "spoon_flipped_in_mug": false
+  }
+ },
+ "summary_zh": "机器人尝试用右爪取勺后翻转放回，但视频20.40–22.80 s右爪在杯旁台面附近闭合，之后空手抬升、翻腕，勺子未被取出，唯一目标节点始终未达成（0/1）。断点为勺子反向放回的抓取阶段，现象是没建立接触，证据支持控制执行未能对准并抓住目标；视频39.00 s勺头仍朝上，与服务判负一致。没有状态日志，运动学建模、跟踪与接触设计之间的具体故障来源及原生指标数值无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（操作中，右爪在杯旁台面闭合未夹住勺子）、没建立接触与控制根因均与视频及log一致；视频39 s勺头仍朝上，服务判负。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:50:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0586bc797c471fd6272b63beb84589cefd8e9b3dcea2c0256001fca0d06cdfbe",
+   "video_sha256": "0e239c3aa0f4d13b2930a17eca27fef8a13a7459594298b8ebe46e032175072a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--7iz3qev.json

@@ -0,0 +1,187 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--7iz3qev",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1660,
+   "sim_steps": 1660,
+   "horizon": 4400,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 14.67,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 4,
+   "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/bigym2-pick-box-i00-privileged--7iz3qev/replay.mp4",
+  "duration_s": 33.24,
+  "fps": 25.0,
+  "frames": 831,
+  "sha256": "c35f3a50984340a56d7657530e8f905fad82a7a601cb5bcca56385d52181f2f1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.24,
+      "log_step": null,
+      "text_zh": "观察：视频0.24 s纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面为空；机器人随后走向侧桌。"
+     },
+     {
+      "t": 24.72,
+      "log_step": null,
+      "text_zh": "观察：视频13.2–24.72 s机器人把双手伸到纸箱上部、下蹲并从两侧接触箱体；视频24.72–32.72 s纸箱仅有小幅滑转，未被搬到厨房台面。"
+     },
+     {
+      "t": 33.2,
+      "log_step": 46,
+      "text_zh": "观察：视频32.3–33.2 s及最后一帧，纸箱仍由灰色侧桌承托，双手仍在箱体上部，厨房台面为空；节点全程未成立。log step 46对交付的1660行文件重放返回success=false、fell=false，log step 48恢复该文件，log step 49重新生成的动作哈希一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频21.2–33.2 s左右手从纸箱两侧接触上部并相向靠拢，伴随箱体小幅滑转；候选：夹持。没有单个夹爪包夹整个纸箱，现有接触方式缺少双臂相向夹持，依D12使用其他；未形成成功搬运。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.24–12.2 s机器人以双腿行走接近侧桌，视频17.2–33.2 s双脚支地、双腿屈曲，支撑下蹲和双臂夹箱尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 24.7,
+   "log_step": 45,
+   "where": "操作中",
+   "evidence_zh": "观察：视频24.72 s机器人双手已贴在纸箱上部两侧，随后持续屈膝前倾尝试夹持，直至视频33.2 s纸箱仍在灰色侧桌上，没有抬离并运往厨房台面。log step 45重新生成最终1660行轨迹时输出LIFT FAILED；log step 46重放确认未成功，该版本经log step 48恢复、log step 49核对相同动作哈希后交付。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 24.7,
+    "log_step": 45,
+    "evidence_zh": "推断：视频21.2–33.2 s机器人双手持续抵住纸箱上部，夹持尝试只使箱体轻微滑转，始终未建立可将箱体抬离侧桌的承载效果；这是已接触但夹持作用不足。log step 45最终脚本的自定义诊断同时打印左右指垫接触为true、F=0.0及LIFT FAILED；F是agent脚本计算的接触力指标，并非评分器字段，不能据此独立认定真实接触力恒为零。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 43,
+    "evidence_zh": "推断：log step 39–43显示agent把末端目标改到较高的箱侧位置，用位置IK、积分修正和内向目标调节夹持；log step 45恢复并生成该方案后，虽报告两侧指垫接触，仍以LIFT FAILED结束，log step 49再次生成相同动作。视频24.72–33.2 s对应可见双腕位于箱体上缘、前臂向下且箱体仍受侧桌支撑，说明末端夹持控制未产生有效承载，归控制；现有证据不能可靠细分为接触布局或IK/跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐帧核��指垫接触对、法向力和关节跟踪误差；日志中的F为agent自定义诊断，缺少独立力证据，故不细分控制根因，也不把agent关于前臂姿态导致挤压力不足的解释当成已验证事实。评分器未报告box_bottom_height_error，原生指标值留null。",
+  "unmet": {
+   "box_on_counter": false
+  }
+ },
+ "summary_zh": "机器人走到侧桌、下蹲并用双手接触纸箱上部，但纸箱仅轻微滑转，至视频33.2 s仍在灰色侧桌上，“纸箱放上台面”始终未达成（0/1）。断点在该步骤的夹持搬起阶段，表现为接触作用不足，根因归控制；最终交付轨迹已重放确认未成功，不能把会话中其他试验的运动算入本次轨迹。没有状态及独立接触力记录，无法进一步确定接触布局与IK跟踪各自的影响。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（操作中，box_on_counter）、接触力异常+控制的标注与视频一致：视频全程纸箱留在灰色侧桌，双手在箱上部两侧但未抬起；证据区分了观察与推断，且未把agent的F读数当作评分器字段。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:46:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--7iz3qev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--7iz3qev/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9bda5cd2ae57cd2febb51d63287c9970e3b0c496879f565b1d7bf582e3d85172",
+   "video_sha256": "c35f3a50984340a56d7657530e8f905fad82a7a601cb5bcca56385d52181f2f1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--a57xdxw.json

@@ -0,0 +1,156 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--a57xdxw",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 974,
+   "sim_steps": 974,
+   "horizon": 4400,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 10.56,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 148,
+   "agent_resets": 0,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-privileged--a57xdxw/replay.mp4",
+  "duration_s": 19.52,
+  "fps": 25.0,
+  "frames": 488,
+  "sha256": "25f8f20b2044de5475c3b776b236169b4562d727db4aecbc45f656ef309e13ad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.48,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 两个外部视角均显示棕色纸箱在灰色低侧桌上，白色柜体的木色厨房台面空着，节点初始不成立。"
+     },
+     {
+      "t": 8.8,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–8.8 s 机器人左右臂末端从纸箱两侧相向夹持并举起纸箱；视频 8.8 s 纸箱已离开侧桌，原位置露出，随后机器人站起并迈步搬向厨房台面。"
+     },
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–18.4 s 机器人降低双臂，将纸箱下放到木色厨房台面并向两侧撤手；视频 18.4 s 纸箱已直立在台面上。视频 18.48–19.48 s 的密集画面显示纸箱留在原处、双手分离，末帧未见重新接触或跌倒。"
+     },
+     {
+      "t": 19.48,
+      "log_step": null,
+      "text_zh": "推断：结合视频 18.4–19.48 s 的落台、撤手和保持画面，以及 inputs/run.json 中评分器 success=1、replay_success=1、deterministic=1、fell=0，纸箱放上台面节点在视频末段约 19.5 s 完成连续50控制步的验收，终值为真；以末帧视频 19.48 s 为完成锚点。无状态日志，不能逐步核验指垫接触、保持计数或0.03米高度容差，故完成时刻为近似判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 7.6–17.9 s 左、右臂末端共同从纸箱两侧相向挤持、举起并搬放纸箱；没有单个夹爪包夹整个箱体。候选接触名：夹持，依D12以其他记录。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.0–10.0 s 机器人双脚在地面支撑下蹲与起身；视频 10.0–16.8 s 双腿迈步承重，将双臂夹持的纸箱从侧桌搬向厨房台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双臂相向夹持纸箱，从灰色侧桌举起并搬到厨房台面，下放撤手后纸箱留在台面上，唯一节点于视频末段约 19.5 s 达成，最终1/1。评分器报告成功、重放成功且确定性一致；无状态日志，精确接触、50控制步保持计数和箱底高度误差只能由末段画面结合评分结果支持，原生高度误差未报告数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 box_on_counter 在视频末段（约19.5 s）达成，抽查帧与成功结果一致；接触标签合理，未发现需要修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:47:00Z",
+  "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/bigym2-pick-box-i00-privileged--a57xdxw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--a57xdxw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e1a8480efbfd8217bc56014df60a8167e21c3f02693b6224332598e22dcdc9f3",
+   "video_sha256": "25f8f20b2044de5475c3b776b236169b4562d727db4aecbc45f656ef309e13ad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--kvckmtr.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--kvckmtr",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1207,
+   "sim_steps": 1207,
+   "horizon": 4400,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 10.51,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 104,
+   "agent_resets": 0,
+   "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/bigym2-pick-box-i00-privileged--kvckmtr/replay.mp4",
+  "duration_s": 24.16,
+  "fps": 25.0,
+  "frames": 604,
+  "sha256": "582dbea8e0baab0ff610ef3301caa5535d48a40bab325a99e7dc9761ca2c3f1f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频约0.5 s，棕色纸箱立在灰色低侧桌上，木色厨房台面空着。"
+     },
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频18.0–20.0 s，机器人双手从纸箱两侧夹持并随起身将箱体举离灰色侧桌，箱底与侧桌之间出现空隙；纸箱没有到达厨房台面。"
+     },
+     {
+      "t": 24.12,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–24.12 s，机器人持箱向白色柜体靠近；最后一秒及视频24.12 s末帧，纸箱仍在柜前的双手之间，箱底低于木色台面，台面上未出现离手放置的纸箱。"
+     },
+     {
+      "t": null,
+      "log_step": 149,
+      "text_zh": "观察：log step 149对最终交付文件的重放返回success=false、executed_rows=1207、fell=false；与log step 143重放的末态哈希相同。评分器字段success=0、deterministic=1，与视频中未放上台面的结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频约12.0–24.12 s，机器人左右夹爪分别贴住纸箱两侧，起身举箱并搬向柜前。候选：夹持；两臂相向夹住箱体，未见任一单独夹爪包夹箱体，不符合抓握，按D12使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频中机器人双脚在地面承重，先绕行至侧桌旁，再下蹲、起身并持箱侧向行走到厨房柜前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 23.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约23.0 s，机器人持箱来到厨房柜前，但纸箱下半部仍低于台面，双手仍贴着箱体；到视频24.12 s仍未抬过台面并放下。纸箱放上台面的步骤没有完成，机器人未跌倒。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 23.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频20.0–24.12 s，机器人把纸箱从侧桌上方搬向厨房柜，箱底始终低于木色台面；视频23.0 s及24.12 s，箱体停留在柜前，仍在双手之间，没有到达台面上可放置的位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 142的最终生成脚本在双臂逆解接触后保持相同手臂关节目标，仅把骨盆高度由0.55 m逐渐升至0.74 m，随后保持该臂姿侧向搬运200个控制步即保存结束，没有追加抬臂越过台面的动作。视频19.5–24.12 s核实了这一有限举升与低位搬运结果；结合agent在log step 124、130对追加举升及搬运接触难以维持的自述，支持举箱搬运控制未解决，尚不足以细分为接触设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告box_bottom_height_error，不能量化箱底高度差或逐指确认接触。agent在log step 151自述纸箱“滑回”，但视频最后一秒至24.12 s仍见箱体在双手之间，不能确认完整失持；会话中追加抬臂、松手测试未包含在最终交付轨迹中，不据此标注现象。控制根因的具体子类缺少足够证据。"
+ },
+ "summary_zh": "机器人绕到侧桌旁，双臂夹持并将纸箱举离侧桌，随后搬到厨房柜前，但箱底仍低于台面，直到视频24.12 s仍未放下撤手，最终完成0/1节点。断点为纸箱放上台面，现象是位姿不准；交付控制只完成有限举升与低位搬运，没有解决台面高度所需的后续举升。没有状态日志或高度误差数值，具体控制子类及最终是否失持无法确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点box_on_counter、位姿不准与控制根因均与视频一致：纸箱被双臂举离侧桌并搬到柜前，箱底始终低于台面，未放下。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:48:00Z",
+  "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/bigym2-pick-box-i00-privileged--kvckmtr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--kvckmtr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "21fd04b2a722b28931c8c7d847657e314d86d54c8d02a16ef1067dfbb1966ac9",
+   "video_sha256": "582dbea8e0baab0ff610ef3301caa5535d48a40bab325a99e7dc9761ca2c3f1f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--mxtyu3s.json

@@ -0,0 +1,179 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--mxtyu3s",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 804,
+   "sim_steps": 804,
+   "horizon": 4400,
+   "episode_over": 1,
+   "fell": 0,
+   "replay_s": 11.36,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 31,
+   "agent_resets": 8,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.31,
+   "peak_memory_gb": 2.53,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.248,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-privileged--mxtyu3s/replay.mp4",
+  "duration_s": 16.12,
+  "fps": 25.0,
+  "frames": 403,
+  "sha256": "216c1faf3c5a3928fb5e997a293227c92af1e9038f4571b9adf2511c61c24b08"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头棕色纸箱立在灰色低侧桌上，白色柜体的木色厨房台面为空，放置条件初始不成立。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.2–6.2 s 机器人下蹲，左右臂末端从箱体两侧相向夹持；视频 6.6–7.4 s 纸箱被抬起并离开灰色低桌，随后低桌上的原位置为空。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8–14.8 s 机器人双臂夹持纸箱，双脚交替落地移向白色柜体，纸箱仍悬在木色台面上方，尚未达到离手放置条件。"
+     },
+     {
+      "t": 15.12,
+      "log_step": null,
+      "text_zh": "观察：视频 14.88–15.04 s 机器人降低箱体；视频 15.08–15.44 s 箱底落到木色台面上，左右手向两侧分开，纸箱短暂倾斜后回正；视频 15.6–16.08 s 纸箱仍立在台面内，机器人保持站立。侧视中远侧夹爪与箱体投影重叠，不能仅凭该投影确认指垫接触。"
+     },
+     {
+      "t": 16.08,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、fell=0；视频末帧 16.08 s 显示纸箱留在台面，近侧手已分离，与成功判定一致。"
+     },
+     {
+      "t": 15.1,
+      "log_step": null,
+      "text_zh": "推断：结合视频约 15.1 s 的落台撤手画面、直到视频 16.08 s 的末段保持以及评分器成功判定，放置条件在末段满足规定保持窗口；按持续成立区间的起点记为约视频 15.1 s，而窗口验证完成在视频末段。缺少状态日志，起点精度约半秒；两爪指垫均脱离、0.03 米高度阈值和连续50控制步由成功判定支持，非逐帧数值测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 5.2–15.1 s 左右夹爪从纸箱两侧相向挤压，协同抬升、搬运并降低纸箱，随后两手向两侧撤开。候选名称：夹持；没有单个夹爪合拢包夹箱体，故不标抓握，依 DECISIONS.md D12 使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚接触地面承重，在视频开头向低桌行走、下蹲取箱，视频约 8–14 s 搬箱移向厨房台面，放置时以双腿支撑身体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双臂从两侧夹持纸箱，将其抬离灰色低侧桌并搬到厨房台面，约视频 15.1 s 落台撤手，纸箱保持在台面至视频末帧 16.08 s，最终完成1/1节点。评分器 success=1、replay_success=1、deterministic=1、fell=0 支持验收成功，无失败断点；双臂挤压接触按 DECISIONS.md D12 标为双臂协作×其他（候选夹持）。无状态日志，远侧指垫接触受投影遮挡，精确高度误差及50控制步窗口依评分成功结果支持，区间起点为视觉近似；评分器未报告原生高度误差数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 box_on_counter 的区间起点约视频 15.1 s、final=true 与帧一致：箱子在 15.3 s 倾斜后回正，15.6 和 16.0 s 立在木色台面上，双手已撤开。评分器 success=1，无失败断点，接触标签依 D12。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:41:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--mxtyu3s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--mxtyu3s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "95edd09aa4ad70b25e621c79d249aed9f041283e2cccf542078a2e3351380bc6",
+   "video_sha256": "216c1faf3c5a3928fb5e997a293227c92af1e9038f4571b9adf2511c61c24b08",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--qzjkah4.json

@@ -0,0 +1,192 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--qzjkah4",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 780,
+   "sim_steps": 780,
+   "horizon": 4400,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 6.2,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 50,
+   "agent_resets": 7,
+   "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/bigym2-pick-box-i00-privileged--qzjkah4/replay.mp4",
+  "duration_s": 15.64,
+  "fps": 25.0,
+  "frames": 391,
+  "sha256": "c2aa4f8553992771e3952ba56bba426cb9836e27bf82e791137f12961e3fd91c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5 s 的两外部视角中，棕色纸箱直立在灰色低侧桌上，白柜木色厨房台面上没有纸箱。"
+     },
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.6–14.4 s，机器人将双臂末端移到纸箱两侧上缘附近；纸箱在视频约 12.9 s 短暂倾斜后仍以底边支在灰色侧桌上，没有被搬起。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 165,
+      "text_zh": "观察：视频 14.4–15.6 s，机器人起身、末端上移，纸箱仍直立在原灰色侧桌上，木色厨房台面始终空着；视频末秒的加密抽帧亦无放置。log step 165 重跑交付生成脚本后报告 rows=780、success=False、fell=False，且动作行 identical rows=True。"
+     },
+     {
+      "t": null,
+      "log_step": 136,
+      "text_zh": "观察：log step 133 保存了 780 行交付轨迹；log step 136 对该文件的新进程重放返回 instance_exact=true、executed_rows=780、success=false，末态哈希与生成结果相同。后续 log step 138–156 是另开的会话测试，不能给本视频增加拾取或放置进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 12.8–15.6 s，左右臂末端共同在纸箱两侧及上缘贴靠、合拢，碰得箱体短暂倾斜，但没有夹起箱体。候选：夹持尝试；没有单个夹爪的两指包夹箱体，双臂相向贴压不属于抓握，依 DECISIONS.md D12 使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.5–3.5 s，机器人双脚交替接触地面，走到侧桌前；视频 12.6–15.6 s，双腿支撑身体俯身、起身并进行双臂接触尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 14.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.5 s，机器人在纸箱两侧合拢末端后开始起身，纸箱没有跟随双手离开灰色侧桌；直到视频 15.6 s 仍在侧桌，未进入搬向厨房台面的阶段。log step 133、136、165 均确认交付为同一条未成功的 780 步轨迹。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 12.8–13.1 s，双臂末端接近并碰动纸箱上部，箱体短暂倾斜后仍落在侧桌；视频 14.4–15.6 s，双手随起身上移而箱体不随之上升。推断：有表面触碰，但没有建立搬运所需的双侧承载夹持；未见先夹起后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 130 的交付脚本以箱体世界轴包围盒的 +y 边界设置左手目标、固定世界对齐腕姿态，并直接镜像左臂关节作为右臂目标；log step 132–133 修正调用并保存该方案。此接触布置没有形成承载夹持：视频 12.8–15.6 s 仅见末端在箱体上缘附近贴靠，起身时纸箱仍由侧桌支撑。log step 128 的同方案会话测试也读到左侧未接触、右侧接触，起身后箱底高度不变；该读数仅作控制方案证据，不作为本视频的接触状态。可行替代已验证有：成功参考视频 8–12 s 可见双臂夹持并抬起纸箱，参考视频 19.48 s 可见箱体在木色台面且双手撤开。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，视频无法逐一确认被遮住的指垫接触对及接触力，因此不把 agent 在 log step 166 自述的约 10 N 夹持力作为本次实测，也不能量化夹持不足的具体参数。log step 128、145 等诊断来自会话测试；其接触、力值不替代交付视频。评分器未报告 box_bottom_height_error 数值，原生指标保留 null。"
+ },
+ "summary_zh": "机器人走到灰色侧桌前，用双臂末端贴靠并合拢，但纸箱只短暂倾斜，始终没有被夹起，纸箱放上台面节点全程未达成，最终为 0/1。断点在视频约 14.5 s 的起身搬起尝试，所用接触布置没有建立承载夹持；交付重放可复现失败。没有状态及力日志，具体指垫接触和夹持力仍不确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（约 14.5 s 起身搬起尝试）、没建立接触与抓取和接触设计的判断都与视频一致：纸箱全程在灰色侧桌，双手贴靠上缘未包夹。未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:43:59Z",
+  "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/bigym2-pick-box-i00-privileged--qzjkah4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--qzjkah4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "253c12a64d97909c5185f9f57ec7e82a54cbbc57b1c5e7fe65e2485b322b8a63",
+   "video_sha256": "c2aa4f8553992771e3952ba56bba426cb9836e27bf82e791137f12961e3fd91c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--uzwygtg.json

@@ -0,0 +1,180 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--uzwygtg",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1811,
+   "sim_steps": 1811,
+   "horizon": 4400,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 17.68,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 52,
+   "agent_resets": 23,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-privileged--uzwygtg/replay.mp4",
+  "duration_s": 36.24,
+  "fps": 25.0,
+  "frames": 906,
+  "sha256": "62a8ad06b40a4867da65186b1ac704ca6205fdbcf02da735e04980c4a3195cd6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面为空；初态不满足纸箱放上台面。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 10–14 s，机器人两臂接触纸箱并起身，视频约 13–14 s 箱底与灰色侧桌之间出现间隙；纸箱被举起，但仍在侧桌上方，未置于厨房台面。"
+     },
+     {
+      "t": 28.2,
+      "log_step": null,
+      "text_zh": "观察：视频约 18–27.5 s 纸箱在机器人双手之间下垂，箱底始终低于木色厨房台面；视频约 28.0–28.5 s 箱体脱离双手并落回灰色侧桌，未完成台面放置。"
+     },
+     {
+      "t": 36.2,
+      "log_step": 69,
+      "text_zh": "观察：视频 35.0、35.5、36.2 s，纸箱均留在灰色侧桌，木色台面无纸箱，机器人双手已离箱；log step 69 对最终 1811 行交付轨迹的重放报告 success=False、fell=False，与评分器 replay_success=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频约 10–27.5 s，机器人左右臂末端共同接触纸箱，分别抵住箱体上部及侧面，举起后尝试搬运；没有单个二指夹爪包围箱体。候选：双臂夹持；现有条目缺少这种两末端共同抵夹承载的方式，故使用其他，不标抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0–8 s 机器人双脚支撑并步行接近侧桌，视频约 8–15 s 下蹲、起身，之后在双臂承载纸箱时迈步侧移；双腿承重，脚与地面接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 28.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在视频约 13–14 s 举起纸箱，随后尝试侧移搬运；视频约 28.0–28.5 s 纸箱从双手间落回灰色侧桌，至视频 36.2 s 未重新拿起，厨房台面始终未放上纸箱。断点锚点取完全失去承载的时刻，时间约有 0.5 s 不确定性。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 28.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 13–17 s 箱底明显离开灰色侧桌，证明机器人曾建立承载；视频约 18–27.5 s 箱体在双手之间下垂，约 28.0–28.5 s 双手失去箱体、纸箱落回侧桌。该过程发生在搬向厨房台面的途中，没有在目标台面上完成放置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：双臂搬运控制没有维持纸箱承载，也没有在失持后恢复。log step 15 的 v2 脚本在 carry 中以箱体当前水平位置更新双手目标、保持固定末端目标高度 CAR_Z=0.88，未根据持物状态或箱体高度下滑触发重夹或中止；该步输出记录搬运结束时箱体高度回到 0.625 m、lowered 0 steps，仍继续撤手。log step 63、66 确认最终交付与这份 v2 的 1811 行动作一致；视频约 13–28.5 s 所见举起、下垂和失持与之吻合。现有证据不能进一步区分接触设计与执行跟踪问题，因此只标控制大类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有本次运行的状态日志，评分器未报告 box_bottom_height_error。视频可判断纸箱未放上厨房台面及搬运失持，但不能测得指垫接触力、各臂跟踪误差或精确失持机制，根因不细分；log step 70 关于后续调试中顶边夹持举箱的自述不属于最终交付轨迹，未用作本次节点进度。"
+ },
+ "summary_zh": "观察：交付视频中机器人接近侧桌、双臂抵夹纸箱并将其举起，但纸箱在搬运过程中下垂，约视频 28.2 s 落回灰色侧桌，最终“纸箱放上台面”为 0/1。推断：失败发生在放置步骤的搬运阶段，现象为没保持住，根因为未能稳定承载且未恢复失持的控制问题；无状态、接触力及关节跟踪日志，无法细分控制原因。观察：log step 63、66、69 确认评分使用 v2 的 1811 行轨迹，后续会话调试的举箱结果未进入交付。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（操作中，约视频 28.2 s 纸箱落回侧桌）、现象没保持住与控制根因均有视频与 log step 15/63/66/69 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": "2026-10-30T04:46:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--uzwygtg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--uzwygtg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf7cd3a32696d290d080dc9e0456e8b2608b925956304da1657d1501a5ee3bd2",
+   "video_sha256": "62a8ad06b40a4867da65186b1ac704ca6205fdbcf02da735e04980c4a3195cd6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--yr6nzbc.json

@@ -0,0 +1,184 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-privileged--yr6nzbc",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 756,
+   "sim_steps": 756,
+   "horizon": 4400,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 6.32,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 69,
+   "agent_resets": 0,
+   "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/bigym2-pick-box-i00-privileged--yr6nzbc/replay.mp4",
+  "duration_s": 15.16,
+  "fps": 25.0,
+  "frames": 379,
+  "sha256": "2d863ecf6a9ad4f963cc8aab7fa03834ad522b668161eb0e086f9292d44ee340"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 的两个外部视角中，纸箱在灰色低侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–10.8 s 机器人下蹲并将左右末端向纸箱两侧收拢；视频 11.2–13.2 s 机器人站起、抬臂，纸箱离开灰色侧桌，原支撑位置露出，箱体仍夹在双臂末端之间。"
+     },
+     {
+      "t": 15.12,
+      "log_step": 35,
+      "text_zh": "观察：视频 14.00–15.12 s 的密集帧中，纸箱仍悬在灰色侧桌上方、贴着机器人双侧末端，没有移到左侧木色台面或撤手；log step 35 的生成脚本在举起后保持并保存，未包含搬向台面及放下动作。"
+     },
+     {
+      "t": null,
+      "log_step": 38,
+      "text_zh": "观察：log step 38 对最终交付文件重放，返回 executed_rows=756、success=false、fell=false，末态哈希与 log step 35 保存时一致；评分器 reward 同样报告 deterministic=1、replay_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 7.4–15.12 s，机器人左右臂末端在纸箱相对两侧相向挤压，将箱体举离侧桌并保持。候选：夹持；没有单个夹爪包夹箱体，现有接触方式缺少双臂相向夹持，依 D12 使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–5.0 s 机器人双脚在地面迈步接近侧桌；视频 6.0–15.12 s 双腿承重，下蹲后站起配合举箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 14.2,
+   "log_step": 35,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.2 s，机器人完成抬臂后持箱停留在灰色侧桌旁，至视频 15.12 s 仍未搬到木色厨房台面、放下或撤手。log step 35 明确保存夹持和举起的部分结果，log step 38 验证该文件未成功。推断：断点为纸箱放上台面这一步的操作中；视频 14.2 s 仅锚定举起后停持的阶段，没有可定位的突然掉落或碰撞事件。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 34,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 33 的会话测试中，与最终生成脚本相同参数的 g_0.7_-0.03 先将箱体中心抬到 z=0.869 m，尝试后退后箱体降至 z=0.560 m；log step 34 对该方案尝试侧移，箱体降至 z=0.600 m 或 z=0.560 m，另一些参数下机器人位置几乎未改变。log step 35 随后只保存举起部分，log step 39 的 agent 最终自述搬运仍未解决。推断：这些会话测试支持持箱移动控制未解决，导致最终交付停在举箱阶段；不足以进一步区分接触设计、轨迹求解或反馈控制。这些测试中的下落不作为评分视频的失败现象。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供评分视频、完整会话记录及成功参考视频，但没有状态日志；评分轨迹在举箱后结束，视频 14.00–15.12 s 未显示掉箱、跌倒、受阻或向目标放下失败，故现象层留空，不能把会话搬运测试中的下落移入该层。推断：根因仅能由会话测试支持到控制大类，缺少最终方案搬运过程的接触力、跟踪误差及状态证据；原生指标 box_bottom_height_error 未由评分器报告，保留 null。"
+ },
+ "summary_zh": "观察：评分轨迹中机器人接近侧桌、下蹲，双臂相向夹持并举起纸箱，但至视频 15.12 s 仍持箱停在侧桌上方；纸箱放上台面节点从未达到，最终为 0/1。推断：断点是该放置步骤的操作中，会话搬运测试支持持箱移动控制尚未解决，最终仅交付举箱部分。观察：评分视频没有出现会话测试中的掉箱，故现象层留空；没有状态日志或接触力记录，控制子类无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（操作中，放置步骤）、双臂协作+其他接触与腿支撑均与视频一致；现象层留空并有gap_zh，根因停在控制大类且已说明会话测试局限，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:36:56Z",
+  "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/bigym2-pick-box-i00-privileged--yr6nzbc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-privileged--yr6nzbc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a75bfd6e9182a656442c4bcc5a644f41dcb6c84c0b5ad5b6d69daf06d0d4b436",
+   "video_sha256": "2d863ecf6a9ad4f963cc8aab7fa03834ad522b668161eb0e086f9292d44ee340",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--bizxnnf.json

@@ -0,0 +1,201 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--bizxnnf",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 63,
+   "rows": 4400,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1998.6,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--bizxnnf/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "260e9de2b1cb1593b436937c204c4cbf95035586b674a90e5b554be9e84f9cf5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色纸箱直立在灰色低侧桌上；白色柜体的木色厨房台面上没有纸箱。"
+     },
+     {
+      "t": 15.2,
+      "log_step": 34,
+      "text_zh": "观察：视频 14.0–15.8 s，机器人双手接触纸箱两侧并向上移动，箱体逐渐倾斜，在视频约 15.2 s 翻落回灰色侧桌；没有移到厨房台面。log step 34 的脚本执行站起抬升，log step 36 中 agent 也自述箱体倾倒并滑回侧桌。"
+     },
+     {
+      "t": 32.8,
+      "log_step": 67,
+      "text_zh": "观察：视频 31.4–32.4 s，箱体已离开灰色侧桌，悬在机器人双手之间；视频约 32.8 s 开始从双手之间下坠，视频 33.8–34.0 s 已落到地面。厨房台面仍为空。"
+     },
+     {
+      "t": 81.6,
+      "log_step": 144,
+      "text_zh": "观察：视频 69.2–74.0 s 和视频 80.0–82.8 s，机器人下蹲将双手伸向落地纸箱后重新起身，纸箱仍在地上；视频 87.0–88.0 s 双手空置，纸箱在机器人脚边、灰色侧桌前方，木色厨房台面为空。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 148,
+      "text_zh": "观察：log step 148 中基准服务返回 control_steps=4400、sim_time_s=88.0、done=true、reason=failed、outcome=timeout；run.json 的 live_success 和 replay_success 均为 0，resets=0、deterministic=1。该记录是本次单一连续回合的终止状态，与视频末态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 12.0–15.2 s 和视频 26.0–32.8 s，机器人左右夹爪从纸箱两侧相向接触、挤压并尝试抬起；视频 31.4–32.4 s 箱体悬在双手间。候选：夹持；没有单个夹爪包夹箱体，现有条目缺少双臂相向夹持，依 D12 使用其他。视频 69.2–74.0 s 与视频 80.0–81.6 s 又以双手伸向落地纸箱尝试恢复；不将日志中的夹爪闭合命令当作成功抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚接触地面，双腿在接近侧桌、下蹲和抬升纸箱时承重；视频 32.4–33.4 s 携箱后退时仍由双腿支撑，随后多次下蹲尝试捡回纸箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 15.2,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 15.2 s，机器人首次双手夹持抬升时，纸箱转动后翻落回灰色侧桌；机器人随后继续处理同一纸箱，视频约 32.8 s 又在携箱后退时失去夹持并掉到地面。之后直至视频 88.0 s 都未将纸箱放上厨房台面，此放置步骤始终未完成。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 15.2,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 14.0–15.8 s，纸箱随机器人双手移动后在两手之间倾转，视频约 15.2 s 翻落回侧桌。重新夹持后，视频 31.4–32.4 s 明确可见箱底离开侧桌、箱体悬在双手间；���频约 32.8 s 箱体脱离双手下坠，视频 33.8–34.0 s 落地。此时还未到达厨房台面，亦未执行目标上的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 32.8,
+    "log_step": 67,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 14.0–15.8 s 的抬升和视频 31.4–33.8 s 的携箱后退中，机器人已接触并带动正确纸箱，但双臂未能在身体升高或后退时持续承载它；失败发生在夹持与搬运动作的执行。log step 30、32、34 的脚本执行相向夹持、试抬与站起，log step 67 执行保持手臂关节目标的后退动作，与视频所见过程相符，因此归为控制。现有证据不能进一步确定是接触布局、夹紧力还是运动跟踪的问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，也没有纸箱接触力、接触对、姿态或夹持保持计数的服务读数；评分器未报告 box_bottom_height_error 的数值。外部视频足以确定纸箱从未放上厨房台面并多次失去夹持，但不足以区分接触几何、夹紧力与轨迹跟踪各自的贡献，根因保留在控制大类。"
+ },
+ "summary_zh": "机器人双臂相向夹持纸箱，首次抬升在视频约 15.2 s 翻落回侧桌；重新夹起后又在视频约 32.8 s 后退时滑落，恢复尝试未成功，最终“纸箱放上台面”为 0/1。失败现象为没保持住，根因归为夹持搬运执行中的控制问题；没有状态或接触力日志，不能可靠细分控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "未发现需要修改的错误：视频帧显示纸箱始终未放上厨房台面，约15.2 s首次抬升翻落、约32.8 s携箱后退时掉落到地面，断点、现象（没保持住）与根因（控制，子类未明）均有帧支持，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:52:20Z",
+  "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/bigym2-pick-box-i00-standard--bizxnnf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--bizxnnf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8dfc400aaa5db9ee9c620e5520f043293f239e751a1305a8dd30561b088a3057",
+   "video_sha256": "260e9de2b1cb1593b436937c204c4cbf95035586b674a90e5b554be9e84f9cf5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--hwbcfkk.json

@@ -0,0 +1,201 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--hwbcfkk",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 492,
+   "rows": 946,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1328.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.422,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.012,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--hwbcfkk/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "0d8fab377bbf9ed6f7ad7f080b251351b3453922f513983c33d94e6341aba9b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的两个外部视角显示纸箱在灰色低侧桌上，白色柜体的木色厨房台面空着；两者是不同的支撑面。"
+     },
+     {
+      "t": 64.3,
+      "log_step": 127,
+      "text_zh": "观察：视频 63.3、63.8、64.3、64.8、65.2 s，机器人伸手并闭爪、抬手后，纸箱仍立在原侧桌上，没有随手离桌；log step 127 的脚本依次执行左臂下降、闭爪和抬起，返回左指关节约 -0.0197、-0.0193，接近其完全闭合读数。"
+     },
+     {
+      "t": 70.0,
+      "log_step": null,
+      "text_zh": "观察：视频 69.5、69.8、70.0、70.2、70.5 s，机器人末端碰推箱体，纸箱绕底边翻倒，随后侧躺在灰色侧桌上；这段动作没有把纸箱搬到厨房台面。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 155,
+      "text_zh": "观察：视频 72–88.0 s 的抽帧，包括视频 87.0、87.5、88.0 s，纸箱一直侧躺在原侧桌上，厨房木色台面仍空着；log step 155 的服务最终状态为 control_steps=4400、done=True、reason=failed，评分器 live_success=replay_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 55–63 s 先后伸出右、左臂，视频 69.5–70.5 s 双臂均伸向纸箱近侧，末端推碰纸箱并使其翻倒在侧桌上；没有形成单爪包夹或双臂承重夹持，不记抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚支撑地面，行走接近侧桌，伸手期间屈膝、俯身和调整站位；视频 87–88.0 s 仍由双腿支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 64.3,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 63.3–65.2 s，机器人执行取箱所需的下降、闭爪和抬手，但箱体没有离开侧桌；后续视频约 70.0 s 只将箱体碰倒，至视频 88.0 s 也未搬走。该放置步骤始终未修复，断点锚定首次明确闭爪取箱失败处。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 64.3,
+    "log_step": 127,
+    "evidence_zh": "观察：视频 63.3–65.2 s，机器人闭爪后抬手，纸箱没有随手抬起，仍由侧桌支撑；log step 127 记录左夹爪闭至近完全闭合。所需的承重包夹接触没有建立；此处并非声称手指从未碰到箱体，后续视频约 70.0 s 能看到推碰。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 70.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 69.5 s 箱体仍直立，视频 69.8–70.2 s 机器人末端抵碰近侧箱面，箱体向远离机器人的方向翻转，视频 70.5 s 已侧躺在原桌面。这是后续接近取箱时把目标碰倒，没有发生目标台面上的计划放置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：取��的末端运动与闭爪未能形成承重接触。log step 127 的逆解计算残差约 0.140 m，执行后脚本计算的夹爪高度仍约 0.694 m，随后夹爪闭至近完全闭合；视频 63.3–65.2 s 对应空手抬起、纸箱留桌。log step 139 的双臂逆解及执行位置仍报告约 0.09–0.12 m 残差，视频 76–78 s 也未见双手带走纸箱。结合视频约 70.0 s 的碰倒，可将失败归于取箱控制，但这些自算几何量不足以区分逆解模型、接触布局和跟踪误差的具体贡献。"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触对或力读数，无法精确确定每根手指的瞬时接触及控制失配的细分原因；评分器也未报告 box_bottom_height_error。log step 159 的 agent 自述“无接触”与视频约 70.0 s 可见的推碰翻倒不符，按画面记录实际接触；其箱体尺寸、夹爪开口及不可达判断均为 agent 自算或自述，未作为环境无解的证据。"
+ },
+ "summary_zh": "机器人接近侧桌并多次伸手、闭爪，但没有夹起纸箱，“纸箱放上台面”全程未达成，最终为 0/1。视频约 70.0 s 还可见机器人将纸箱碰倒在原侧桌，至视频 88.0 s 仍未搬走；失败主要表现为未建立承重夹持及后续碰倒，根因可定位到取箱控制。没有状态接触日志，控制误差的具体来源和精确指垫接触无法进一步核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 box_on_counter（操作中）、碰倒现象与视频一致；视频中箱体始终在侧桌上，未见反例。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:38:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--hwbcfkk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--hwbcfkk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "352b77767ff234fcb35ca8e902cf3ba92288ddec3fad93be73fe69dc3fc31048",
+   "video_sha256": "0d8fab377bbf9ed6f7ad7f080b251351b3453922f513983c33d94e6341aba9b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--pbncu9f.json

@@ -0,0 +1,209 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--pbncu9f",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 220,
+   "rows": 4400,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 763.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.216,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--pbncu9f/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "7138f8dfc833b0f8e19848a63c0b614f629511f047544a2ec0fad144b5a27aac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头纸箱直立于灰色侧桌，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 21.5,
+      "log_step": 73,
+      "text_zh": "观察：视频18–23.75 s机器人双臂伸向箱顶附近、合拢后抬手，纸箱仍由灰色侧桌支承，未随手举起；log step 73的脚本执行预抓、挤压与举起序列，但该阶段输出名称不代表实际拿起。"
+     },
+     {
+      "t": 40.5,
+      "log_step": 94,
+      "text_zh": "观察：视频39.5–40.5 s机器人双手在纸箱上部接触并使箱体倾倒，随后纸箱越过侧桌近边落向机器人脚前；视频41–42.75 s可见箱子在地面，双手空着。log step 94执行第二次夹持和举起序列。"
+     },
+     {
+      "t": 55.5,
+      "log_step": 127,
+      "text_zh": "观察：视频52–57 s机器人下蹲、双手下探再起身，纸箱仍在脚前地面，没有随双手抬起；视频72–77 s再次下蹲后仍空手起身，纸箱留在灰桌旁地面。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 141,
+      "text_zh": "观察：视频87–88 s及视频88.0 s末帧，机器人空手站在厨房柜体旁，木色台面为空，未出现纸箱放上台面的状态。log step 141的服务最终状态为control_steps=4400、done=true、reason=failed；评分器success=0、resets=0，与本次连续回合未完成放置一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频39.5–40.5 s左右夹爪同时伸到纸箱上部，接触将箱体推斜并碰落侧桌；未见单个夹爪包夹箱体或双手稳定承载。视频52–55 s还可见双手下探地面纸箱，随后空手抬起。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚接触地面，双腿在视频18–24 s和视频38–42 s伸手操作纸箱时承重，并在后续下蹲、起身及走向厨房柜体时支撑本体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 22.0,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约21.5–23.5 s机器人完成首次合拢、抬手，纸箱仍留在灰色侧桌，放置步骤所需的取箱没有实现；视频39.5–40.5 s后续伸手又将箱子碰落。此后下蹲重试也未将箱子搬起，直到视频88.0 s厨房台面仍为空，因此该步骤一直未修复。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 22.0,
+    "log_step": 73,
+    "evidence_zh": "观察：视频20–23.75 s机器人两夹爪在箱体上部附近合拢并抬手，但纸箱始终留在侧桌，未建立可将其带离桌面的夹持；视频52–57 s下蹲后双手再次空抬，纸箱仍在脚前地面。这里指所需的承载夹持未建立，并非机器人从未碰到纸箱。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 40.0,
+    "log_step": 94,
+    "evidence_zh": "观察：视频39.5–40.0 s机器人左右末端接触纸箱上部时，原先直立的箱体向机器人一侧倾倒；视频40.25–40.5 s纸箱翻过侧桌近边下落，视频41 s已在脚前地面。该碰倒是后一次操作造成的独立失误，不是已稳定持有后的滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 73与log step 94的脚本均用预设双臂关节插值执行靠近、向内挤压、举起；视频21.5–23.5 s显示末端只在箱体上部附近活动、抬手未带箱，视频39.5–40.5 s再执行夹持时反而将箱体碰倒，视频52–57 s再次空抬。结合重复可见的接触执行失败，归为控制；现有证据不足以细分接触几何、逆解或跟踪问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法精确核验每个指垫的接触、作用力及实际末端轨迹，也无法进一步区分控制子类。评分器未报告box_bottom_height_error，故原生指标值为null；这不影响从两外部视角判断台面从未承接纸箱。"
+ },
+ "summary_zh": "机器人多次伸手与下蹲尝试取箱，但未将纸箱搬到厨房台面，唯一节点始终未达成，最终为0/1。视频约22 s首次夹持后箱子仍在侧桌，视频约40 s后续接触又将其碰落地面，之后重试仍空手，直至视频88.0 s台面为空；证据支持控制层面的接触执行失败。没有状态日志，无法细分指垫接触与控制误差来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点box_on_counter未达成、final=false、断点与时间均与视频一致：视频21–25 s箱子仍在侧桌，约40–41 s被碰落地，52–77 s下蹲空手，88 s台面为空。现象与“控制”根因（脚本化开环挤压，证据不足以细分）有证据支持，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:48:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--pbncu9f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--pbncu9f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "961cb6379bb26be5ad4fb96857adf8459505e8256b3bdec17bec10b1572bd3fa",
+   "video_sha256": "7138f8dfc833b0f8e19848a63c0b614f629511f047544a2ec0fad144b5a27aac",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--st4ddvx.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--st4ddvx",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 252,
+   "rows": 4400,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1223.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.18,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--st4ddvx/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "505615addacbfa1fdb78fad60685f5071b5f97c9939d5ae2cd3df1394f402fba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的两个外部视角中，棕色纸箱竖放在灰色侧桌上，白色柜体的木色厨房台面空着。"
+     },
+     {
+      "t": 80.4,
+      "log_step": 116,
+      "text_zh": "观察：视频78.0–82.4 s密集帧中，机器人右夹爪在纸箱近侧前方调整、闭合并向上运动，夹爪内没有带起纸箱；纸箱仍竖立在灰色侧桌原处。log step 116的脚本执行右夹爪关闭和抬臂，但其gripper state=1.0只表示闭合读数，不能证明抓住纸箱。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 119,
+      "text_zh": "观察：视频82.8–88.0 s机器人前倾后再次伸右臂、闭爪和抬臂，末秒的视频87.2、87.6、88.0 s中纸箱仍在灰色侧桌上，未移到厨房台面；机器人保持站立。log step 119收到EpisodeOver: failed / timeout，log step 120的服务状态为control_steps=4400、done=True、reason=failed；评分字段live_success与replay_success均为0。"
+     },
+     {
+      "t": 82.4,
+      "log_step": 116,
+      "text_zh": "推断：本次只有一个无重置的实时回合；log step 115服务读数control_steps=3900，log step 116结束计数为4120，按log step 2接口的control_dt=0.02 s，分别对应视频78.0 s和82.4 s。已用视频82.4–83.2 s随后出现的躯干前倾核对log step 119起始的45控制步前倾动作；4400控制步对应88.0 s，也与视频最后一帧一致。节点值仍由视频判定，未用agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–4.0 s机器人双脚交替接触地面，双腿支撑身体走近灰色侧桌；随后站立支撑伸臂和前倾尝试，直至视频88.0 s。右夹爪多次接近纸箱并空合，未观察到可确认的抓握或双臂夹持接触，因此不复制任务DAG的双臂夹持方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 80.4,
+   "log_step": 116,
+   "where": "操作中",
+   "evidence_zh": "观察：视频79.6–82.4 s机器人右夹爪闭合并抬起，纸箱没有随手离开灰色侧桌；视频83.2–88.0 s前倾后的重试仍未带起箱体。放上厨房台面的步骤在取箱环节受阻，直到回合结束都未完成。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 80.4,
+    "log_step": 116,
+    "evidence_zh": "观察：视频79.6–82.4 s及85.6–88.0 s机器人右夹爪在箱体近侧前方闭合、上抬，纸箱始终留在侧桌，夹爪中没有箱体；未出现先被带起再掉落的过程。推断：搬运所需的有效夹持接触没有建立，而非已有抓持后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人对准并执行抓取的控制未能使右夹爪到达并夹住箱体。视频78.0–88.0 s可见右夹爪多次调整后仍空合；log step 114的agent脚本反复求逆解、补偿关节偏差，自建FK计算的目标误差仍为0.089 m，log step 116闭爪前该脚本计算误差为0.132 m；log step 119虽打印IK e=0.000，执行后其自建FK计算误差仍为0.070 m，视频仍显示空手。数字来自agent自建模型，不当作真实接触测量；足以支持控制未实现有效抓取，尚不足区分接触设计、逆解与跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或指垫接触、接触力记录，无法排除未带动箱体的瞬时擦碰；contact_actual仅记录可确认的腿部支撑，未将失败闭爪写成已发生的抓握。日志中的末端误差来自agent自建FK模型，角部捏取方案的可行性和各类控制误差贡献未获独立验证，故根因保留在“控制”。原生指标box_bottom_height_error未由评分器报告，值为null。"
+ },
+ "summary_zh": "机器人走近侧桌并反复调整右臂，但视频0.0–88.0 s未见纸箱被举离侧桌或搬上厨房台面，“纸箱放上台面”始终未达成，最终0/1。视频约80.4 s闭爪后的空手抬臂及末段重试显示未建立有效夹持，日志也记录对准误差持续存在，根因保留为控制。没有状态和接触记录，无法进一步确定瞬时擦碰及具体控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、纸箱全程留在灰色侧桌的判断与视频一致；断点、现象（没建立接触）和根因（控制，未细分）有证据支持，时钟换算有明示核对。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:42:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--st4ddvx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--st4ddvx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "316437e5ba699a97ecaced543caaec228585859af52a0716c9a21427f8a9ae48",
+   "video_sha256": "505615addacbfa1fdb78fad60685f5071b5f97c9939d5ae2cd3df1394f402fba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--tboaa2m.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--tboaa2m",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 3449,
+   "sim_steps": 3449,
+   "calls": 205,
+   "rows": 3449,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 582.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.198,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.245,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--tboaa2m/replay.mp4",
+  "duration_s": 69.0,
+  "fps": 25.0,
+  "frames": 1725,
+  "sha256": "65a9fba2cf4e8ae1ed4e27693e2b2a7ddb52133c32e7c025088c2881c7924e3c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中纸箱直立在灰色低侧桌上，厨房木色台面为空；初始放置条件不成立。"
+     },
+     {
+      "t": 57.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–57.0 s 中机器人双末端抵住箱体并将其提离灰色侧桌，视频 59.0–63.0 s 中纸箱随机器人退步、侧移，灰色桌上原位置已空；这是真实搬运，但纸箱仍由双手接触。"
+     },
+     {
+      "t": 68.96,
+      "log_step": 63,
+      "text_zh": "观察：视频 64.0–68.96 s 中机器人将倾斜纸箱移至厨房台面近侧边缘并下放，最后一帧两手仍贴着箱体，没有撤手后的保持阶段；故放置节点未达到。对照成功示例视频 19.48 s，可见纸箱已留在木色台面且双手撤开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 24.0–26.0 s、38.0–41.0 s 可见两末端从两侧抵箱试提，随后撤回；视频 56.0–68.96 s 可见两末端相向夹住纸箱两侧，提起、搬运并向台面降放。候选名称：夹持；没有单个二指夹爪包夹箱体，不属于抓握（D12）。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–21.0 s 机器人双脚支承身体并走近侧桌、下蹲；视频 57.0–68.96 s 双腿承重，持箱后退、侧移并走向厨房台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 68.9,
+   "log_step": 63,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 68.4–68.96 s 中机器人仍持箱向厨房台面边缘降放，没有松手完成；log step 63 的控制调用返回 DONE failed fell，服务状态为 done=True、control_steps=3449。推断：断点为正在操作的纸箱放上台面；视频锚点约 68.9 s，跌倒判定来自本次单回合服务而非画面中的完整倒地过程。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 68.9,
+    "log_step": 63,
+    "evidence_zh": "观察：log step 63 中机器人服务在末次双臂降箱控制后返回 failed / fell，回合结束；这是无重置单回合的服务结果。视频 68.6–68.96 s 逐帧仍显示机器人站立持箱，未呈现完整跌倒。推断：按服务的实时跌倒判定记录平衡失败；log step 5 的控制周期为 0.02 s，3449 控制步对应视频约 68.98 s，与视频总长 69.0 s 一致，并以 log step 59 的 3155 步（视频约 63.1 s）搬至台面前的位置在视频 63.0 s 核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "t": 68.9,
+    "log_step": 63,
+    "evidence_zh": "推断：负载放置过程的全身与双臂控制未能维持平衡。log step 61–62 中脚本打印腰部俯仰约 0.50–0.52 rad，log step 62 根据本体感受和脚本正运动学算出的左右末端高度约为 0.773 m 与 0.988 m；视频 66.0–68.4 s 也显示纸箱倾斜、双臂仍在承载。log step 63 脚本保持两手相向挤压，将两末端高度目��同时改为 0.84 m，在 40 个控制步内插值执行，该调用中服务报告 fell。证据支持控制层失败，但不足以确定是接触承载布局、轨迹还是反馈控制的具体问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志。服务在 log step 63 报告 fell，但视频直到 68.96 s 仍显示机器人站立持箱，未能核验跌倒姿态、发生方向或触地过程；保留这一末段差异，不能仅据此认定仿真或评分器异常。日志中的末端坐标由 agent 脚本计算，不是独立物体状态；缺少接触力、关节力矩及重心记录，不能验证 agent 在 log step 65 所称负载过重这一具体解释，因此根因停在控制。评分器未报告 box_bottom_height_error 数值。",
+  "unmet": {
+   "box_on_counter": false
+  }
+ },
+ "summary_zh": "机器人反复用双臂夹持试提，随后将纸箱从灰色低侧桌搬到厨房台面前，但直到视频 68.96 s 仍未撤手，唯一放置节点始终未完成，终态为 0/1。末次降箱调用在 log step 63 收到服务 failed / fell，标为放置操作中的平衡失败，根因归控制。视频末帧仍呈站立姿态，与服务跌倒结果存在末段证据差异；无状态日志可核验具体失衡过程。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达到、断点在放置操作中、平衡/控制标注与视频和服务 failed/fell 读数一致；视频末帧仍站立持箱，文件已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:46:26Z",
+  "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/bigym2-pick-box-i00-standard--tboaa2m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--tboaa2m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c740ef7da7d6997bed9adf413514f577cf9d53df334f94a74886d5b3eaf565bc",
+   "video_sha256": "65a9fba2cf4e8ae1ed4e27693e2b2a7ddb52133c32e7c025088c2881c7924e3c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--ube2khe.json

@@ -0,0 +1,199 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--ube2khe",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1265,
+   "sim_steps": 1265,
+   "calls": 48,
+   "rows": 1265,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 3583.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--ube2khe/replay.mp4",
+  "duration_s": 25.32,
+  "fps": 25.0,
+  "frames": 633,
+  "sha256": "4e12da4e585318764f5f4237eb17ee86937de25c9eac01971a4c410e687df07d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 13.2,
+      "log_step": 68,
+      "text_zh": "观察：视频 12.8–13.6 s，机器人双臂接触箱体并起身，纸箱倾倒后平躺在灰色侧桌上；这不是目标厨房台面上的放置。"
+     },
+     {
+      "t": 17.4,
+      "log_step": 93,
+      "text_zh": "观察：视频 17.0–19.9 s，纸箱离开灰色侧桌，由机器人双臂从两侧夹持，机器人携箱侧移；纸箱仍在双手之间，未离手放上木色厨房台面。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 101,
+      "text_zh": "观察：视频 20.0–20.4 s，纸箱从机器人双手之间翻落到腿前地面，木色厨房台面仍为空。"
+     },
+     {
+      "t": 25.28,
+      "log_step": 144,
+      "text_zh": "观察：视频 24.28–25.28 s，机器人再次下蹲伸手，纸箱仍在脚前地面；直到最后一帧，未出现纸箱接触木色厨房台面并离手保持的状态。评分器 reward.success、live_success、replay_success 均为 0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 12.8–13.2 s、15.0–19.9 s，左右臂末端从箱体两侧相向挤压并抬动纸箱；候选：夹持。没有单个二指夹爪包夹整个箱体，故不标抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚接触地面，在双臂操作纸箱时承重、下蹲和起立，视频 17.5–20.0 s 携箱侧向行走。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 20.0,
+   "log_step": 101,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.4–19.9 s，机器人已抬起纸箱并向厨房台面侧移；视频约 20.0 s 重新调整双臂时纸箱翻出双手，视频约 20.4 s 落到地面。此后机器人虽再次下蹲取箱，至视频 25.28 s 仍未完成唯一的纸箱放上台面步骤。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 20.0,
+    "log_step": 101,
+    "evidence_zh": "观察：视频 17.4–19.9 s 纸箱悬在机器人双手之间、已离开灰色侧桌；视频 20.0–20.4 s 箱体转动、脱离双手并落向地面。纸箱失去夹持发生在搬运中，尚未放到木色厨房台面上。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：搬运中的双臂姿态未能保持夹持。log step 95 的脚本保留持箱臂指令并连续侧移；log step 98 对该段服务返回的本体感知与指令作比较，右腕俯仰指令为 0.2228 rad、实测为 1.0491 rad，存在明显跟踪偏差。log step 101 试图上抬右腕并收紧左臂的同时继续侧移，视频 19.4–20.4 s 可见箱体倾斜后从双手脱落。证据支持控制未能维持持箱姿态，尚不能把原因细分为接触承载布局或具体控制参数。"
+   }
+  ],
+  "gap_zh": "无状态日志或接触力、力矩记录，无法确定掉落的具体受力机制，也无法独立核验指垫接触与毫米级高度误差；节点未完成则由两外部视角中目标台面一直未接收纸箱、结尾纸箱仍在地面直接判断。原生指标 box_bottom_height_error 未在评分器字段中报告。"
+ },
+ "summary_zh": "机器人尝试双臂夹持纸箱，先将箱体翻倒在侧桌上，随后成功举离侧桌并携箱侧移，但从未完成纸箱放上厨房台面，节点最终为 0/1。视频约 20.0 s 纸箱脱离双手并落地，结尾视频 25.28 s 仍在地面；日志中的右腕指令与实测偏差支持控制未能维持夹持。无状态或接触力日志，无法进一步确定受力机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频一致：纸箱被举起侧移约19.8 s后脱手落地，结尾仍在地面，节点未达成；断点、现象（没保持住）与根因（控制，log step 98 右腕指令0.2228/实测1.0491）有据，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:41:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--ube2khe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--ube2khe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3911a94f92cf37756efbb8d7153d57de5787fb9c2914c096be90e1db2b24f779",
+   "video_sha256": "4e12da4e585318764f5f4237eb17ee86937de25c9eac01971a4c410e687df07d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xuytnaj.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--xuytnaj",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 260,
+   "rows": 4342,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 2143.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--xuytnaj/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "d929d8dc32396a3f86b849b0013e2491f3f4d40dc97b900624a0e6393fa39636"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的两个外部视角中，纸箱立在灰色低侧桌上，白色柜体的木色厨房台面为空；初态不满足放置条件。"
+     },
+     {
+      "t": 33.6,
+      "log_step": 39,
+      "text_zh": "观察：视频 27.2–33.2 s 机器人在纸箱前伸手、压碰并调整双臂；视频 33.6–34.8 s 双手抬高后，纸箱仍在灰色侧桌原处，没有随手搬离。log step 39 的脚本发出抬手测试；log step 41 的 agent 自述“Box is lifted and held”，随后在 log step 44 撤回这一判断。"
+     },
+     {
+      "t": 83.48,
+      "log_step": 61,
+      "text_zh": "观察：视频 59.0–82.4 s 多次重试后纸箱仍在灰色侧桌；视频 82.8–83.52 s 双手作用于箱体上缘，箱体向机器人侧倾斜、下角仍在侧桌边缘附近；视频 83.76 s 手箱分离，视频 84.0–84.56 s 纸箱翻落到桌面以下，未到木色厨房台面。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 65,
+      "text_zh": "观察：视频 87.0、87.2、87.4、87.6、87.8、88.0 s 厨房台面持续为空，纸箱在侧桌外、机器人腿旁的低处，双手空着；log step 65 服务返回 control_steps=4400、done=True、reason=failed，与未完成放置一致。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 的参考视频 19.48 s 清楚显示纸箱位于木色厨房台面且双手撤离；本回合两视角均可见该台面，却从未出现这一关系。参考仅用于确认验收画面的可见线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 29.2–33.2 s 及视频 61.0–83.52 s，机器人双夹爪协同伸向纸箱，末端压碰其上缘及侧面，使纸箱发生推移和倾斜；后段一手位于上缘，另一手贴近侧面。未见单个夹爪以两指包夹住箱体，实际压碰不记为抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚接触地面，步行接近侧桌，屈腿、前倾支撑双臂对纸箱的操作，末段站起和转身；视频 88.0 s 仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 33.6,
+   "log_step": 39,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 33.6–34.8 s 首轮抬臂后双手空着，纸箱仍留在灰色侧桌上；机器人随后重试同一个放置步骤，视频 83.76–84.56 s 箱体从桌边翻落，至视频 88.0 s 仍未上厨房台面。推断：首轮未建立可搬运纸箱的夹持，所属放置步骤此后始终未完成，以首轮失败抬手后的画面作断点导航锚点。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 33.6,
+    "log_step": 39,
+    "evidence_zh": "观察：视频 29.2–33.2 s 机器人双手接近并压碰箱体，视频 33.6–34.8 s 手臂抬起而箱体没有随之离���侧桌；log step 39 记录抬手测试。推断：这次拿取虽有表面压碰，却没有建立所需的承载夹持接触，属于失败夹持；不能仅凭夹爪闭合或 agent 在 log step 41 的持物声明认定拿起。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 33.6,
+    "log_step": 51,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 34、37、39 的脚本按计算的双手目标连续执行接近、闭爪、抬手，但视频 33.6–34.8 s 纸箱仍留桌。log step 47 的左臂 IK 位置残差为 0.0892 m；log step 51 再次求解的左臂残差为 0.1029 m，双手挤压目标残差为 0.113/0.106 m，脚本仍继续闭爪并抬手，视频 63.0–68.0 s 纸箱仍留桌。推断：末端定位与接触执行没有可靠形成可承载箱体的夹持，支持控制层根因；现有证据不足以把全部失败唯一归为接触几何、逆解或伺服跟踪中的一个子类。"
+   }
+  ],
+  "gap_zh": "输入没有状态日志、指垫接触对或接触力读数，不能精确判断末段倾斜期间双手的瞬时承载分配；评分器未报告 box_bottom_height_error 数值。agent 在 log step 63、70 声称最后已拿起并搬运、随后释放落地，但视频 82.8–83.52 s 显示箱体在侧桌边缘倾斜，视频 83.76 s 已与抬高的手分离，随后翻落；不采信其稳定搬运及最终计划释放导致落地的叙述。"
+ },
+ "summary_zh": "机器人到达侧桌并多次以双手压碰纸箱、尝试夹持和抬起，但“纸箱放上台面”全程未达成，最终为 0/1。视频 33.6–34.8 s 首轮抬手后纸箱留桌，后续未修复放置步骤，视频 83.76–84.56 s 箱体从桌边翻落；日志中的较大 IK 残差与反复空抬支持控制层根因。缺少接触与力的状态记录，末段不能据 agent 的持物叙述认定稳定搬运，台面高度误差指标也未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、断点、时钟与视频一致（纸箱全程未上木色台面，83.76–84.56 s 翻落）；但根因 item 写成“控制”，不是分类表中控制类下的合法条目，且证据（IK 残差 0.09–0.11 m 后仍继续闭爪抬手）应落到具体子类。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点、时钟与视频一致；第1轮根因争议已由标注者依据规则说明（控制/控制在证据不足时允许），无新证据，不重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:02:06Z",
+  "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/bigym2-pick-box-i00-standard--xuytnaj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--xuytnaj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--xuytnaj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--xuytnaj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7a856b1e3bcc7a3b8299d4ff58ec653d2ddf9bba273342cb1d7f754e52183807",
+   "video_sha256": "d929d8dc32396a3f86b849b0013e2491f3f4d40dc97b900624a0e6393fa39636",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xyrn6t8.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard--xyrn6t8",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 77,
+   "rows": 4400,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 2166.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard--xyrn6t8/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "016ef920bd4c08f7f8ade433e142ea13df0b81015ce1be48afdc4daa59781a1c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 纸箱在灰色低侧桌上，白色柜体的木色厨房台面为空，初态不满足放置。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.24–9.60 s 机器人下蹲、末端靠近纸箱；视频 10.08–12.96 s 机器人起身并空手转向厨房台面，纸箱仍直立在灰色侧桌上。log step 54 的 agent 自述认为已抓起箱子，log step 75 自述箱子已在台面边缘上方，均与这些画面不符，不能计为搬运或放置。"
+     },
+     {
+      "t": 29.4,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–29.2 s 机器人重新下蹲伸手，末端接触箱体近侧；视频 29.4–29.8 s 箱子向机器人一侧倾斜并滑出灰色侧桌，视频 30.0 s 已落到地面，没有移上厨房台面。"
+     },
+     {
+      "t": 45.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.4–53.0 s 机器人多次下蹲、双手下探后起身，箱子仍在脚前地面；视频 54.0–86.0 s 又反复接近和下探，仍未把箱子搬上台面。"
+     },
+     {
+      "t": 88.0,
+      "log_step": null,
+      "text_zh": "观察：视频 87.0、87.2、87.4、87.6、87.8、88.0 s 机器人站立、双手为空，厨房木色台面始终为空；inputs/run.json 的 reward 中 live_success=0、replay_success=0、deterministic=1。对照成功参考视频 19.48 s 可见箱子直立在同一木色台面上且双手撤离，本次没有出现该放置结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 29.2–29.6 s 两臂末端位于纸箱靠机器人一侧的上下缘，接触使箱子倾斜并移出侧桌边缘；未见单个夹爪包夹箱体或双手稳定夹持搬运。视频 43.0–45.0 s 双手再次向地面箱子下探，箱子未随手抬起。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–88.0 s 机器人双脚接触地面，双腿承重并在接近侧桌、转向厨房台面以及反复下蹲伸手时移动和支撑身体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 9.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.6–12.96 s 机器人起身、转向时未带起侧桌上的纸箱，首次取箱未成功；视频 29.4–30.0 s 再次伸手又使箱子落地，后续反复下探一直未修复搬运，视频 88.0 s 厨房台面仍为空。失败发生在纸箱放上台面步骤的取箱操作中。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.24–9.60 s 机器人末端伸到纸箱旁，但视频 10.08–12.96 s 手臂抬起并转向后，箱子仍留在原侧桌。视频 43.0–47.0 s 双手下探再上抬，箱子仍留在地面；所需的夹住并承载箱子的接触没有建立，不能把贴近或碰到箱面计为抓住。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 29.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 29.2–29.6 s 机器人两末端与箱子近侧上下缘接触时，箱子被带向灰色侧桌外侧并倾斜；视频 29.8–30.0 s 箱子落到地面。这里是伸手操作碰动目标物、使其失去桌面支承，并非已经放到厨房台面后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 6.24–12.96 s 的伸手、合爪和抬臂未使纸箱离桌；视频 29.2–30.0 s 接触反而使箱子落地；视频 31.4–86.0 s 反复下蹲伸手仍未形成承载。log step 42、45、48、51、54 记录 agent 脚本的合爪和抬升调用，log step 175、194、259 的 agent 自述也承认后续未抬起箱子；结合画面，失败集中在末端与箱体的接触及取箱控制，现有证据不足以区分接触设计、轨迹跟踪或具体参数。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "输入没有状态日志。外部双视角可判定纸箱未上台面，但指垫局部接触存在遮挡，不能精确确定接触力、每次接触对或关节跟踪误差；运行日志中多次状态检查的输出为空，根因仅标到控制，不细分子类。box_bottom_height_error 未由评分器报告，保留 null。"
+ },
+ "summary_zh": "纸箱放上台面节点始终未达到，最终完成 0/1；首次取箱后机器人空手转向，纸箱仍在侧桌，后续视频 29.4–30.0 s 的伸手使箱子落地，多次下蹲仍未重新拿起。断点为该放置步骤的操作中，表现为未建立承载接触及碰动箱子落桌，根因指向取箱控制；视频 87.0–88.0 s 台面仍为空，与失败评分一致。没有状态日志，局部指垫接触与更细控制原因无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点在取箱操作中、29.4 s 箱子落地、末帧台面为空均与视频一致；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:53:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--xyrn6t8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard--xyrn6t8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c69f0aefa017f61bae914c4b625e17b730a1e38fdbfede7eb4372732dd6aa7ca",
+   "video_sha256": "016ef920bd4c08f7f8ade433e142ea13df0b81015ce1be48afdc4daa59781a1c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--2awieod.json

@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--2awieod",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 1432,
+   "rows": 21405,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 776.4,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.988,
+   "max_lag_s": 0.0068,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.747,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.162,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--2awieod/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "3fe388d65842671b10416a6229e30ee47f9942ab5d68c909b479c91756b20ec0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面上没有纸箱。"
+     },
+     {
+      "t": 16.56,
+      "log_step": 22,
+      "text_zh": "观察：视频 15.84–16.32 s，机器人双臂末端贴在纸箱两侧；视频 16.44–17.04 s，机器人起身并抬手，双手沿箱侧向上滑离，箱底仍在灰色侧桌上，没有随双手抬起。视频 18.24–19.68 s，机器人空手后退，纸箱留在侧桌。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 23,
+      "text_zh": "观察：视频 27.0–34.0 s，机器人在厨房台面前做空手下降、分开双手和撤手动作，纸箱仍在旁边的灰色侧桌上；log step 23 中控制脚本打印 landed 并进入 release，但画面没有发生纸箱放上厨房台面的事件。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 29,
+      "text_zh": "观察：视频后半段粗采样及视频 87.0–88.0 s 每约0.2秒的末段画面均显示机器人留在厨房台面前，纸箱仍直立在灰色侧桌上，目标台面无箱。log step 29 的服务状态为 control_steps=4400、done=true、reason=failed；评分器 live_success=0、replay_success=0、deterministic=1，与未完成放置的画面一致。"
+     },
+     {
+      "t": 19.68,
+      "log_step": 30,
+      "text_zh": "推断：log step 30 的 agent 自述把抬臂和行走解释为已举箱搬运，并猜测在目标边缘滑落；本次视频 16.44–19.68 s 及视频 27.0–34.0 s 直接显示箱子始终留在原侧桌，因此不采纳该搬运叙述。成功参考视频 19.48 s 中纸箱在木色台面上、两手撤离，说明同样的外部视角可辨识目标关系；该参考仅用于辨认完成外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 14.88–16.32 s，机器人左右臂末端从箱体两侧相向贴压，尝试夹持；视频 16.44–17.04 s，末端向上滑离，纸箱没有离桌。候选名称：夹持。两只闭合夹爪作为两侧接触端，没有任一单爪包围箱体，故不标抓握；此处仅记录实际贴压，不表示已建立承重夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频前段机器人双脚接地，双腿支撑身体侧移到侧桌前、下蹲并起身尝试提箱；视频 18.24–28.0 s，机器人空手后退、横移并走到厨房台面前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 16.6,
+   "log_step": 22,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.44–17.04 s，机器人开始起身抬手，但双手离开箱侧，纸箱底部仍由灰色侧桌支承；视频 18.24–19.68 s 机器人已空手后退，之后没有返回重新取箱，直到视频 88.0 s 箱子��在侧桌。失败发生在放置任务的取箱提举阶段，未被后续空手搬放动作修复。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 16.6,
+    "log_step": 22,
+    "evidence_zh": "观察：视频 15.84–16.32 s 可见双手贴压箱侧，但视频 16.44–17.04 s 双手直接上滑越过箱顶，纸箱没有离开灰色侧桌；视频 17.52–19.68 s 两手空着、纸箱仍在原处。未建立搬起箱子所需的稳定承重夹持；这里的没建立接触指必要的夹持关系，实际的箱侧触碰已记录在 contact_actual。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 16.6,
+    "log_step": 22,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 21 中控制脚本依据手部跟踪偏差打印 contact L、contact R 和 squeeze True，log step 22 随后进入 lift、retreat、side，log step 23 又打印 landed 并进入 release；而视频 16.44–19.68 s 显示抬手没有带起纸箱，视频 27.0–34.0 s 显示后续搬放为空手动作。接触及提举控制没有实现承重夹持，控制脚本也没有据纸箱未被带起而纠正或重试，造成该失败持续到终局；缺乏足够证据再细分控制子类。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志或接触力记录，无法核实指垫的精确接触对、夹持力、摩擦及短时承载量，也无法区分接触几何与跟踪控制各自的作用，因此根因仅标控制。箱体所在侧桌和目标台面均可见，节点未达成不依赖上述缺口；评分器未报告 box_bottom_height_error 数值。"
+ },
+ "summary_zh": "机器人接近侧桌、下蹲并用双臂末端贴压纸箱，但在视频约 16.6 s 的提举尝试中双手上滑离箱，未建立能将箱子带离侧桌的承重夹持，纸箱放上台面节点全程未达成，最终为0/1。机器人随后空手走向厨房台面并做搬放动作，视频 88.0 s 纸箱仍在原侧桌；log step 30 的 agent 搬运叙述与画面不符，以视频为准。证据支持控制失败，但无状态和力记录，不能进一步确定夹持失效的具体控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频逐帧核对：纸箱全程未离开灰色侧桌，15.8–17 s 双手贴压后上滑离箱，之后空手后退、走到台面前，88 s 台面无箱；节点未达成、断点、现象（没建立接触）与根因（停在控制，无法细分）均有证据支持，agent 的搬运叙述已被正确否决。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:56:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--2awieod/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--2awieod/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4ed36c94f2e03f50797cf1497838824b9726aeb0ad4478f56189985a0996e4b0",
+   "video_sha256": "3fe388d65842671b10416a6229e30ee47f9942ab5d68c909b479c91756b20ec0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--aubp59t.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--aubp59t",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
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+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 4400,
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+   "calls": 870,
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+   "elapsed_s": 328.3,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.993,
+   "max_lag_s": 0.0166,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 1.512,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.219,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.829,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--aubp59t/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "5a307507682f739a8eabf01f73f6ea58b30dae671221e1e44a6ea8cd23b6dc28"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 34.8,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–33.5 s，机器人下蹲、双手抵近箱体，纸箱短暂倾斜后仍在灰色侧桌；视频 34.5–37.5 s，机器人站起并抬高手臂，双手离开纸箱，箱子没有随手升高，随后机器人空手移向厨房台面。"
+     },
+     {
+      "t": 75.2,
+      "log_step": null,
+      "text_zh": "观察：视频 68.5–75.2 s，机器人返回纸箱旁，再次下蹲并把末端伸向箱体；视频 75.5–78.5 s，手臂再次空抬，纸箱仍留在灰色侧桌。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 26,
+      "text_zh": "观察：视频 87.0–88.0 s，纸箱仍直立在灰色侧桌，木色厨房台面为空，机器人空手站立；log step 26 的服务状态为 control_steps=4400、done=true、reason=failed，评分字段 live_success=0、resets=0。全片所见没有纸箱到达目标台面的时段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 28.0–33.5 s，两臂末端从箱体两侧抵压，纸箱短暂倾斜，未形成能把箱体随双手提起的稳定承载；视频 68.5–75.2 s 重试时可见末端在箱顶和侧面附近抵碰。候选：抵夹；没有单个二指夹爪包夹箱体，双臂相向抵夹的方式按 D12 标其他，不标抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–8.0 s 机器人双脚支撑并走向侧桌；视频 27.0–37.5 s 双腿承重下蹲、起立，视频 40.0–48.0 s 空手走向厨房台面，视频 67.0–71.0 s 返回侧桌重试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 34.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.5–37.5 s，机器人从下蹲姿态站起并抬手，纸箱却留在灰色侧桌，未被双手带起；视频 75.5–78.5 s 重试仍空抬，直至视频 88.0 s 也没有完成纸箱放上厨房台面的步骤。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 34.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 28.8–29.2 s 双臂末端触碰并使纸箱倾斜，但视频 33.0–37.5 s 双手上抬时箱体留在侧桌；视频 75.2–78.5 s 再次出现同样的空抬。这里缺少的是能承载并提起纸箱的有效夹持接触，已有的表面抵碰没有建立这种夹持，未见持箱搬运后脱落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人未能把双手与下蹲、起立动作协调成有效提箱接触。log step 10 的 sequence 按阶段持续时间切换，并用逆解和关节反馈驱动末端；log step 19、22 的指令在收拢双手后按时抬手、行走，没有以纸箱确实随手移动作为进入搬运阶段的条件。视频 34.5–37.5 s 及视频 75.5–78.5 s 均显示箱体留桌而双手继续空抬，支持控制执行未建立有效夹持；现有证据不能进一步区分接触几何、逆解误差或关节跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或指垫接触、夹持力记录，局部指垫又被箱体遮挡，不能精确核实各侧接触对和承载力，也不能细分控制根因。评分字段未报告 box_bottom_height_error，故原生指标值为 null；两外部视角足以确定纸箱未被送到目标台面。"
+ },
+ "summary_zh": "机器人两次接近纸箱并下蹲抵夹，但抬手时均未带起纸箱；纸箱始终留在灰色侧桌，纸箱放上台面节点未达成，最终为 0/1。断点位于视频约 34.5 s 的首次空抬，后续重试未修复，现象为未建立有效夹持，日志与视频支持控制层面的失败。缺少接触力和状态日志，无法进一步区分具体控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "box_on_counter 未达成（final=false，0/1）与视频、log step 26（done=true, reason=failed, live_success=0）一致；断点在视频约 34.5 s 的首次空抬，重试（视频 75.5–78.5 s）同样空抬，现象和停在“控制”的根因均有帧与日志支持，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "effort": "high",
+  "created": "2026-10-30T05:00:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+  "calls": [
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+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--aubp59t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--aubp59t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--dtqezxz.json

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+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--dtqezxz",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
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+   "clock_s": 88.671,
+   "max_lag_s": 0.5004,
+   "stalls": 1,
+   "stalled_s": 0.5,
+   "stalled_share": 0.0056,
+   "held_steps": 16,
+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 2.093,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.32,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.997,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--dtqezxz/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "83c880f0c1ffdf8848b67b61e4e4389249d9016df166aaee0b9a27fd663c73c6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的两个外部视角均显示棕色纸箱直立于灰色侧桌，白色柜体的木色厨房台面为空，初始不满足放置条件。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 138,
+      "text_zh": "观察：视频 9.5–13.8 s 机器人下蹲伸手，随后身体转离纸箱；视频 17.0–21.5 s 夹爪空合、抬起时纸箱仍在侧桌，未随手离桌。log step 138 所读实际 run.log 也记录第一次 GRASP CHECK seen=0/6 和 GRASP FAILED；该脚本检查仅作辅助，未取起由视频判断。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–40.0 s 机器人继续屈臂、伸手重试，但纸箱一直留在侧桌；视频 44.0–84.0 s 的后续转向、举手动作中，夹爪没有携带纸箱，木色台面没有出现纸箱。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 147,
+      "text_zh": "观察：视频 86.5–88.0 s（含最后一秒）纸箱仍在灰色侧桌，机器人双手空着；log step 147 的服务状态为 control_steps=4400、done=true、reason=failed。纸箱从未到达厨房台面，节点终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–9.5 s 机器人双脚着地行走接近侧桌；视频 9.5–40.0 s 双腿承重下蹲取箱，视频 40.0 s 后起身、转向并继续站立。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 12.4–13.2 s 左夹爪及腕部掠过纸箱上缘和侧桌近侧边缘，两外部视角有投影重叠，不能可靠区分指垫是否短暂擦碰箱体或桌沿；后续视频 17.0–21.5 s 可确认没有包夹持箱。不把这一取箱尝试记作抓握或双臂夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 13.0,
+   "log_step": 138,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.4–13.8 s 机器人正在取侧桌上的纸箱，伸手后身体却转离纸箱，未形成夹持；视频 17.0–21.5 s 空夹抬手，纸箱仍在原桌。视频 22.0–40.0 s 的重试没有修复取箱失败，至视频 88.0 s 仍未放上台面；断点归于正在执行的纸箱放上台面步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 17.0,
+    "log_step": 138,
+    "evidence_zh": "观察：视频 17.0–21.5 s 机器人在纸箱旁边空合夹爪并抬手，两个外部视角均显示纸箱仍由灰色侧桌承托，没有被夹爪包夹或带起；视频 22.0–40.0 s 重试后也没有形成搬箱所需的有效夹持。这里指必要的夹持未建立，不排除视频 12.4–13.2 s 有短暂擦碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 134 启动实际回合时选用左臂、standoff=0.45 的控制器；log step 138 读取实际 run.log，脚本算出的下蹲阶段末端位置误差约为 0.30–0.41 m，仍推进到 APPROACH、DESCEND、CLOSE、LIFT；log step 136 的下降阶段误差已达约 1.00–1.08 m。视频 9.5–17.0 s 同时显示伸手偏离并转身，视频 17.0–21.5 s 显示空夹抬手，支持控制执行及偏差恢复未能建立取箱夹持。现有证据不足以把它进一步唯一归为逆解、反馈或接触设计。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志或接触对，视频 12.4–13.2 s 的指垫、腕部与箱体或桌沿存在重叠，无法确定短暂接触的对象与方式，也不能核实接触力。log step 158、169 关于臂长、纸箱宽度及推桌导致基座漂移的定量解释属于 agent 事后自述，尺寸与因果尚待核实，因此不据此标够不着、被挡/碰撞或特定控制子类。log step 151 之后的修改及离线 stub 测试均发生在实际回合结束后，不计入进展；原生高度误差指标未报告。",
+  "unmet": {
+   "box_on_counter": false
+  }
+ },
+ "summary_zh": "观察：机器人接近侧桌并下蹲取箱，随后空夹重试、转向并举手，纸箱直至视频 88.0 s 仍在灰色侧桌；唯一节点纸箱放上台面全程未达成，最终为 0/1。推断：取箱时末端明显偏离，控制器在大误差下继续闭爪和抬手，未建立有效夹持，根因仅支持控制。观察：本次没有状态日志，短暂擦碰对象及更具体的控制失效机制无法核实；回合结束后的修改和离线测试不属于评分轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "纸箱全程留在灰色侧桌，唯一节点未达成、最终0/1，断点、没建立接触与控制根因均有视频与日志支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:56:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--dtqezxz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--dtqezxz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "37b3748505e167625787f5e1430aa40dd9f2ac32d574770a2bfbe540e96abd43",
+   "video_sha256": "83c880f0c1ffdf8848b67b61e4e4389249d9016df166aaee0b9a27fd663c73c6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--dxrwayg.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--dxrwayg",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 11680,
+   "rows": 182921,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 924.2,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.993,
+   "max_lag_s": 0.0998,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 140,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 6.822,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.195,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--dxrwayg/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "8052b38f79a3ed6ff01ad5e705f4fbd07e7d6fff761fcaa73dade5bd71b47655"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始两个外部视角均显示棕色纸箱直立在灰色侧桌上，白色柜体的木色厨房台面为空；初态不满足纸箱放上台面。"
+     },
+     {
+      "t": 21.5,
+      "log_step": 44,
+      "text_zh": "观察：视频 20.0–22.5 s 的密集帧中，机器人原地屈腿后向前伸出双夹爪，夹爪与灰色侧桌上的纸箱之间仍有明显空隙；双手抬起时没有纸箱随动，纸箱仍在原处。log step 44 的控制器日志记录两次重试均未举起纸箱，随后输出“grasp failed twice; carrying anyway”。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24–40 s 抽帧中机器人举着空手转向并行走；视频 40.0–44.5 s 密集帧显示机器人放低空手，纸箱仍直立在灰色侧桌上，木色厨房台面没有纸箱。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 46,
+      "text_zh": "观察：视频 48–84 s 每隔约 4 s 的抽帧、视频 87.0–87.9 s 每隔 0.1 s 的帧及视频 88.0 s 末帧均显示纸箱留在灰色侧桌，机器人没有再次取箱；log step 46 的机器人服务返回 control_steps=4400、done=True、reason=failed。因此该节点没有达到的区间，末态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.5–23.5 s 机器人双脚承重屈腿、抬臂，随后视频 24–40 s 双腿支撑转向及行走；这是本次搬放尝试的实际地面支撑接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 43.5–44.5 s 及视频 88.0 s，机器人的左夹爪落在并贴住木色厨房台面；右夹爪垂在身侧。该项记录左夹爪与台面的按压接触；视频 21.0–22.5 s 的双夹爪空夹未包住纸箱，不能记为纸箱抓握或双臂夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 21.5,
+   "log_step": 44,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.0–22.5 s，机器人在离纸箱仍很远的位置伸出、闭合并抬起双夹爪，箱体未离开灰色侧桌；此后机器人空手执行转向和放低手臂，直到视频 88.0 s 都没有修复取箱失败。log step 44 的控制器日志也记录举箱失败后仍进入 carry。失败属于“纸箱放上台面”这一步的取箱操作阶段。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 21.5,
+    "log_step": 44,
+    "evidence_zh": "观察：视频 21.0–22.5 s 两个视角中，机器人双夹爪在箱体之外闭合、抬起，始终没有夹住纸箱；纸箱在灰色侧桌上未随手移动。视频 24–44.5 s 机器人继续举空手移动和放低手臂，��频 88.0 s 纸箱仍在原位，所需的持箱接触从未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 21.5,
+    "log_step": 34,
+    "source_zh": "日志",
+    "note_zh": "控制器的接近与阶段切换逻辑错误；证据不足以进一步确定为轨迹求解或反馈跟踪子类。",
+    "evidence_zh": "推断：log step 34 的启动前补丁在三次视觉未检出后设置 self.box_world=None 并转入 approach；log step 37 记录实际进入该回退，log step 44 记录随后直接以双手前向约 1.22 m 的目标求解夹取，且举箱失败后输出“carrying anyway”。视频 4–20 s 的抽帧显示机器人未走近纸箱，视频 21.0–22.5 s 显示远处空夹，支持接近及失败恢复控制逻辑出错。agent 在 log step 47、50 自述置空 box_world 禁用了接近行走分支；这一具体分支机理来自其自述，未用完整控制器源码独立核实。"
+   }
+  ],
+  "gap_zh": "没有状态日志或指垫接触对，无法给出台面接触力、准确关节限位及原生高度误差数值；这些缺口不影响纸箱全程留在侧桌、放置节点未达到的判断。inputs/run.json 的 log step 33 控制器正文中段被截断，置空回退变量如何禁用行走分支的具体机理仅有 agent 在 log step 47、50 的自述，故根因保留在“控制”层级。"
+ },
+ "summary_zh": "机器人尝试取箱并空手执行后续搬放动作，但纸箱始终留在灰色侧桌，唯一节点“纸箱放上台面”从未达到，末态为 0/1。断点约在视频 21.5 s：双夹爪在箱体之外空夹，所需持箱接触没有建立；日志与视频共同支持接近及失败恢复控制逻辑出错。没有状态日志，且控制器正文中段被截断，具体回退分支缺陷仅有部分代码和 agent 自述支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧与日志均支持：纸箱全程留在灰色侧桌，节点未达到，断点在取箱阶段约21.5 s空夹，现象与根因与证据一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:10:26Z",
+  "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_rerun1/runs/bigym2-pick-box-i00-standard-realtime--dxrwayg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/bigym2-pick-box-i00-standard-realtime--dxrwayg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "df1beeae33bb83c9d3477c14b9da7dfe92431d5d5f4a8dc4f045667e4f64da89",
+   "video_sha256": "8052b38f79a3ed6ff01ad5e705f4fbd07e7d6fff761fcaa73dade5bd71b47655",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--fhkf7tn.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--fhkf7tn",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 800,
+   "rows": 5808,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 158.1,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.989,
+   "max_lag_s": 0.0053,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 1,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.881,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.184,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.827,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--fhkf7tn/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "743b4f4ca98d86337edde64c479f3ab445bc903e381023ce0042c12499106be5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的两个外部视角显示棕色纸箱在灰色低侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–32.0 s 每隔约0.5秒的帧显示机器人空手向侧桌接近，约视频 28.0 s 后位置基本稳定；两夹爪保持在箱体上方附近，未见从两侧夹持、举起或搬移，纸箱仍由灰色侧桌支承。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 28,
+      "text_zh": "观察：全片约每4秒的抽帧及视频 87.0–88.0 s 密集末段帧中，纸箱始终留在灰色侧桌上，厨房台面为空，末态机器人仍站立且空手；log step 28 的机器人服务状态为 control_steps=4400、done=true、reason=failed，评分器 live_success 与 replay_success 均为0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–5.0 s 机器人双脚交替支撑转向，视频 22.5–28.0 s 双腿承重行走接近侧桌，之后保持站立；作用端为双脚、接触对象为地面。未观察到夹爪对纸箱的夹持接触，不照搬DAG的双臂夹持方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 28.0,
+   "log_step": 21,
+   "where": "转场",
+   "evidence_zh": "观察：视频约 28.0 s 机器人空手接近灰色侧桌后基本停留，视频 32.0–88.0 s 的检查帧未见转入夹持搬运，纸箱一直在原侧桌上。log step 21 的控制器输出仍为 mode=approach，log step 28 结束前的输出也仍为 mode=approach；agent 在 log step 27 才请求切换 grasp，并在 log step 28 自述该命令生效前服务已返回 EpisodeOver。推断：失败停在取箱前的空手接近阶段；视频 28.0 s 是停滞开始的粗略导航锚点。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 28.0,
+    "log_step": 21,
+    "evidence_zh": "观察：视频 21.0–32.0 s 的密集检查帧显示机器人仅空手接近侧桌，约视频 28.0 s 后位置基本稳定；视频 28.0、40.0、60.0 s 及视频 87.0–88.0 s 的末段帧中，双手保持伸出，未见从两侧夹持、举起或搬移纸箱，纸箱始终由灰色侧桌支承。inputs/run.json 的 log step 21 输出从控制步1386起平移速度指令为零且 mode=approach；log step 28 的末段控制器输出在控制步3751–4360仍为 mode=approach，服务最终报告 control_steps=4400、done=true、reason=failed，并返回 EpisodeOver。log step 27 才出现切换 grasp 模式的请求；agent 在 log step 28 自述其未及生效。推断：评分局始终停在取箱前的接近阶段，实际夹持和搬放未启动，标记没尝试；视频 28.0 s 取自检查帧，作为停滞开始的粗略导航锚点。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 内有完整回放及运行记录，但没有状态日志。视频与 log step 21、28 的控制器输出支持实际夹持和搬放未启动；log step 13、23 的编辑记录只保留调用片段而未给出控制器主体，因此不能确定未推进的原因是阶段切换逻辑、待完成的动作实现还是其他决策。根因层留空，不从没尝试反推根因，也不将服务结束本身当作根因。log step 28 的服务仅报告 reason=failed，未报告具体终止判据；原生高度误差也未报告。"
+ },
+ "summary_zh": "机器人转向并空手接近纸箱，约视频 28.0 s 后停留在灰色侧桌旁；至视频 88.0 s，纸箱始终未离开侧桌，“纸箱放上台面”未达到，最终进度0/1。失败断点为该节点取箱前的转场阶段，视频与控制器日志支持实际夹持和搬放未启动，现象为没尝试。缺少控制器主体及具体终止判据，根因仍无法可靠确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点 ref 与 contact_actual 均与视频和日志一致（纸箱全程在侧桌，机器人约 28 s 起站定，空手停在箱旁）。但现象层留空不当：视频 28–88 s 约 60 s 的持续站立和日志（controller.log 自 step≈1386 起 approach 模式 v≈0，直到 step 4400 仍为 approach）共同显示抓取/搬放步骤根本没启动，应标没尝试；根因层留空可接受。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点、没尝试现象与空根因层均与视频和日志一致：机器人约28 s到侧桌旁空手伸臂站定，至88 s纸箱始终在侧桌，夹持未启动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:02:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--fhkf7tn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--fhkf7tn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--fhkf7tn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--fhkf7tn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4331a6a74dbee4b01ef214c93bed3e15aa5899ddfd61814ffb1eb7986de8d842",
+   "video_sha256": "743b4f4ca98d86337edde64c479f3ab445bc903e381023ce0042c12499106be5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--vuwpaim.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--vuwpaim",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 982,
+   "rows": 7816,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 2096.8,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.988,
+   "max_lag_s": 0.0051,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.641,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.188,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.248,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-pick-box-i00-standard-realtime--vuwpaim/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "8071de52d35f083fc653fafaf76a3211621e570a580ad30ab830972bf354512b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色纸箱直立在灰色低侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 67,
+      "text_zh": "观察：视频 20.0–25.5 s，机器人双臂向纸箱伸出并收拢，夹爪推碰箱体，使纸箱在灰色侧桌上轻微平移和转动；视频 25.5–27.5 s 双手抬起、机器人转身时，纸箱仍由侧桌支承，没有随双手离桌。log step 67 的 SQUEEZE_BOX、LIFT_BOX、TURN_TO_COUNTER 是控制器阶段名，不是实际夹起的证明。"
+     },
+     {
+      "t": 45.5,
+      "log_step": 69,
+      "text_zh": "观察：视频 42.0–47.5 s，机器人空手在厨房台面上方伸臂、下放、张手和撤回；纸箱仍在旁边的灰色侧桌上，木色台面上没有纸箱。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 75,
+      "text_zh": "观察：视频 48.0–88.0 s 的采样帧及视频 87.04–88.0 s 的密集末段帧均显示纸箱仍在灰色侧桌，厨房台面为空；log step 75 中机器人服务返回 control_steps=4400、done=true、reason=failed，与评分字段 success=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 20.0–25.5 s，机器人左右臂同时向纸箱收拢，夹爪末端推碰箱体并使其在侧桌上小幅移动、转动；未形成可将纸箱带离侧桌的夹持，也未见单个夹爪包夹箱体。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–47.5 s，机器人双脚接触地面，双腿承重并完成转身、走近侧桌和随后空手走向厨房台面的动作；视频 88.0 s 仍站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 24.5,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 23.0–25.5 s，机器人收拢双臂后抬手，纸箱只在灰色侧桌上转动，没有被带起；视频 26.5–32.0 s 机器人空手转向厨房台面，未再返回修复这次夹取失败，直至视频 88.0 s 纸箱仍在侧桌。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 24.5,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 20.0–25.5 s，夹爪虽有推碰纸箱，但双手收拢、抬起后箱体始终留在侧桌；视频 26.5–32.0 s 双手空着转身。推断：所需的承载夹持接触未建立，不能把推碰算作先持住再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：执行中的双臂接近和收拢没有形成承载夹持，控制器也未修正这次失败。视频 20.0–27.5 s 显示机器人伸手推动纸箱后空手抬臂、转身；log step 44 记录预计算的 reach_fwd、squeeze、lift 臂关节目标，log step 67 记录控制器依次进入相应阶段，log step 68–69 记录继续走向台面并执行放置，视频 42.0–47.5 s 核实这些动作均为空手执行。这支持执行控制失败，但不能据此确定是接触几何、运动学模型还是跟踪误差。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或指垫接触、接触力记录，无法确定每只夹爪的精确接触对及控制失败的细分机制；现有日志的控制脚本中段被截断。评分字段未报告 box_bottom_height_error，故原生指标值留空。两外部视角足以确认纸箱未被搬到台面，节点终值不受这些缺口影响。"
+ },
+ "summary_zh": "机器人走近侧桌并伸出双臂，推碰、转动了纸箱，但未夹起，随后空手走到厨房台面执行放置动作；“纸箱放上台面”始终未达成，最终为0/1。断点在视频约24.5 s 的夹取尝试，所需承载夹持未建立，执行控制未修复该失败，纸箱在视频88.0 s 仍在侧桌上。无状态及接触力日志，根因仅归到控制，不进一步细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧显示纸箱始终在灰色侧桌上（0、21、23、25、27、87 s），节点未达成、断点与现象/根因（控制）与证据相符，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:56:46Z",
+  "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/bigym2-pick-box-i00-standard-realtime--vuwpaim/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--vuwpaim/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bc4a590a0a3a14be80386070b9a2e5fc2432c29b907a96e03e7120fea22adb78",
+   "video_sha256": "8071de52d35f083fc653fafaf76a3211621e570a580ad30ab830972bf354512b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--zeo3trd.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-pick-box-i00-standard-realtime--zeo3trd",
+ "taskKey": "bigym2/pick_box",
+ "dag_sha256": "eaea395a805c3e5888e66fd5ae4c398a5551cc49f6e4e8451f96750352750911",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 4400,
+   "sim_steps": 4400,
+   "calls": 911,
+   "rows": 4400,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1241.5,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 87.991,
+   "max_lag_s": 0.0335,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 75,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 1.243,
+   "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/bigym2-pick-box-i00-standard-realtime--zeo3trd/replay.mp4",
+  "duration_s": 88.04,
+  "fps": 25.0,
+  "frames": 2201,
+  "sha256": "e8ab60415f31be6e54749133bf51d9dc90c9d07f75f24b733aa67ce367373c0d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的两个外部视角显示纸箱直立在灰色侧桌上，白色柜体的木色厨房台面为空。"
+     },
+     {
+      "t": 11.3,
+      "log_step": 18,
+      "text_zh": "观察：视频 11.28–13.5 s，机器人下蹲时双臂夹爪在纸箱近侧一高一低，纸箱随接触开始倾斜，随后翻过侧桌近缘落到地面；未见箱体被双手稳定承载。"
+     },
+     {
+      "t": 34.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 29–36.5 s，纸箱仍在侧桌前方地面，机器人伸手后空手抬臂，箱体没有随手离地；视频后续至 88.0 s 未见搬箱到木色厨房台面的动作。"
+     },
+     {
+      "t": 88.0,
+      "log_step": 19,
+      "text_zh": "观察：视频 87.08–88.0 s，厨房台面仍为空，左外部视角下缘可见地上的纸箱，机器人双手空置在胸前。log step 19 的服务终态为 control_steps=4400、done=true、reason=failed；run.json 记录 live_success=0、resets=0。该节点从未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 11.28–13.25 s，机器人两臂同时伸向纸箱，夹爪在箱体近侧高低错开，末端推碰、拨动箱体使其倾斜并落下；没有形成单个夹爪包夹或双臂稳定夹持，故不记抓握或夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–14 s，机器人双脚在地面承重，双腿行走接近灰色侧桌并下蹲；视频 34–88.0 s 又空手起身、转向，未携带纸箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "box_bottom_height_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_on_counter",
+   "t": 11.3,
+   "log_step": 18,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.28–13.5 s，机器人在侧桌前下蹲、伸臂时碰动纸箱，箱体逐渐倾斜并掉到侧桌前方地面。视频 29–36.5 s 的后续伸手、抬臂没有带起箱体，视频 88.0 s 厨房台面仍为空；这一放置步骤此后未修复。"
+  },
+  "unmet": {
+   "box_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 11.3,
+    "log_step": 18,
+    "evidence_zh": "观察：视频 11.28 s，机器人夹爪抵近纸箱近侧的上下部位；视频约 11.5–13.25 s，接触中的箱体在侧桌上倾倒、移向近缘并掉落，视频 13.5 s 已在地面。箱体在此之前没有被稳定举起，这不是搬运中失手或目标台面上的松手后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 11.3,
+    "log_step": 18,
+    "evidence_zh": "推断：视频 11.28–13.25 s 显示机器人两夹爪在纸箱靠机器人一侧高低错开，箱体在末端接触下绕桌面支点倾斜，另一末端没有提供足以阻止翻倒的对向约束或底部承托；这一实际接触布局未形成稳定承载，先将箱体碰落，因而无法按原动作举箱搬运。log step 18 同时记录下蹲阶段骨盆位置由 (0.35,-0.71) 变为 (0.16,-0.31)，支持接触时机器人与箱体相对位置也在改变。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐指垫接触或接触力记录；双夹爪的精确触点、力方向及翻倒过程中各自的受力贡献无法量化，接触布局根因是依据前后画面的推断。评分器未报告 box_bottom_height_error 数值。"
+ },
+ "summary_zh": "机器人接近侧桌并下蹲，视频约 11.3–13.5 s 夹爪碰倒纸箱，使其落到地面；之后空手伸臂、起身和转向，直到视频 88.0 s 都未把纸箱送上厨房台面，唯一节点未达成。失败发生在放置步骤的取箱操作中，画面支持实际接触布局缺乏稳定承载的推断；没有状态日志或接触力读数可进一步核定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 box_on_counter（视频约 11.3 s 夹爪碰倒纸箱落地）、被挡/碰撞与接触设计推断均与帧一致；未见需改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:00:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--zeo3trd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-pick-box-i00-standard-realtime--zeo3trd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "75a04b11c03fa939fb1d7a6e6f9f24254173f3c209ca773a291d938024fcbc5f",
+   "video_sha256": "e8ab60415f31be6e54749133bf51d9dc90c9d07f75f24b733aa67ce367373c0d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--hz4wx8k.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--hz4wx8k",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1133,
+   "sim_steps": 1133,
+   "horizon": 3000,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 11.31,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 59,
+   "agent_resets": 28,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.446,
+   "peak_memory_gb": 1.238,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-privileged--hz4wx8k/replay.mp4",
+  "duration_s": 22.68,
+  "fps": 25.0,
+  "frames": 567,
+  "sha256": "3f248cb9563ce9fc58591999156281f61b9d4a2a04bd817c39f86c5ddf03cb71"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 至 22.64 s 的左右外部视角中，白色壁柜的门框没有向外转开，柜口未出现可让杯子通过的入口；机器人先靠近台面，随后左手操作杯子，没有实施开门动作。参考视频约 3–21 s 可见外翻门框，本次没有该变化。"
+     },
+     {
+      "t": 22.64,
+      "log_step": 100,
+      "text_zh": "观察：视频 22.64 s 柜门仍未转开；log step 100 保存的最终轨迹在 lost_cup0_lift 后结束。log step 79、91 的推门结果属于先前会话测试，不是这段评分轨迹的开门证据。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.6–12.2 s，右侧画面中靠后的杯子随机器人左夹爪小幅抬升并倾斜，仍紧邻木色台面，未进入上方壁柜；视频 13.6–15.2 s 再次倾斜，视频 15.4–16.0 s 杯子回落直立，夹爪空手继续上移。"
+     },
+     {
+      "t": 22.64,
+      "log_step": 100,
+      "text_zh": "观察：视频 21.4–22.64 s 两只杯子都清楚地留在木色台面，壁柜底层没有接收到杯子。log step 100 的最终生成输出为 seated: held True、cup z 0.873，随后 lifted: cup z 0.859 held False，保存 1133 行；log step 101、103 复播同一交付文件均 success=false，与视频中的失败相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 10.8–15.2 s，机器人左夹爪指垫贴压靠后杯子的杯把附近，带动杯子短暂微抬、倾斜，随后滑脱；画面未显示对向指垫包夹杯把，故不将接触记为抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–6.0 s 机器人双腿迈步靠近台面，此后抬杯过程中双足在地面支撑躯干；右臂垂在身侧，没有与左臂共同搬杯。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两杯均在台面；视频 11.6–16.0 s 仅一杯被左夹爪带动后回落，另一杯一直留在台面，机器人没有开始搬第二杯。视频 21.4–22.64 s 两杯仍并排放在木色台面，未出现两杯接触壁柜底层的时段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cups_in_cabinet_1",
+   "t": 15.4,
+   "log_step": 100,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人左夹爪在视频 11.6–12.2 s 曾带杯微抬，视频 13.6–15.2 s 杯子随手倾斜，但视频约 15.4 s 杯子回落到台面，随后左夹爪空手上移至视频结束；此后没有重新搬起或入柜。log step 100 保存的最终轨迹以 lost_cup0_lift 结束。推断：首次未修复的失败发生在第1杯入柜的取杯抬升过程中，未启动的开柜门和第2杯搬运不替代该断点。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 15.4,
+    "log_step": 100,
+    "evidence_zh": "观察：视频 11.6–12.2 s 杯子短暂随机器人左夹爪抬起、倾斜，视频 13.6–15.2 s 仍被指端带动；视频约 15.4 s 杯子落回台面直立，视频 16.0–22.64 s 夹爪在杯子上方空手移动，两杯留在原台面。log step 100 最终生成输出也从 seated: held True 变为 lifted: held False；这不是目标搁板上的计划松手。"
+   }
+  ],
+  "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 / agent 自述",
+    "evidence_zh": "推断：视频 11.6–15.4 s 所选指端与杯把接触只能短暂带杯抬升，杯子倾斜后滑脱，未形成能持续承载的接触。log step 97 的座入与慢抬试验以及 log step 100 实际用于交付的生成脚本均在满闭合指令下由 held True 变为 held False；log step 98、99 改用肘部抬升及微步抬升也丢失杯子，支持接触承载布局不合适，而非仅凭未完成推定逆解失败。agent 在 log step 100、104 自述只有一个指垫接触杯把，该具体接触数量待核实。参考成功视频约 27 s 展示机器人两夹爪各持一杯离开台面，说明本任务已有可行的持杯替代做法；这仅用于判断替代方案存在，不作为本次进展。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，视频中杯把被前方杯体及夹爪部分遮挡，无法确认逐指接触对、接触力或滑脱的精确控制步；断点取视频约 15.4 s 的回落与脱离作为导航锚点。agent 自述的单指垫接触机制待核实，log step 95、96 的诊断输出不足以独立核验指垫数量；未将会话中的开门测试计入评分轨迹。"
+ },
+ "summary_zh": "评分轨迹中机器人靠近台面，以左夹爪接触杯把并短暂带杯微抬，但柜门未打开，两杯最终均留在台面，三个节点均未达到。第1杯入柜在视频约 15.4 s 的抬杯滑脱处失败，现象为没保持住；视频及最终生成日志支持所选接触布局无法持续承载。没有状态日志，具体指垫接触数量与受力机制仍待核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达成与视频一致（柜门全程未开，两杯留台面）；断点取第1杯入柜的抬杯滑脱、现象没保持住、根因抓取和接触设计均有视频与最终生成日志支持，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": "2026-10-30T04:35:35Z",
+  "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/bigym2-put-cups-i00-privileged--hz4wx8k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--hz4wx8k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7afb69e13af86a668254b823f7e471a8c197acfb38ef21f6a40747adf923a122",
+   "video_sha256": "3f248cb9563ce9fc58591999156281f61b9d4a2a04bd817c39f86c5ddf03cb71",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--syzjimw.json

@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--syzjimw",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 488,
+   "sim_steps": 488,
+   "horizon": 3000,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 6.1,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 23,
+   "agent_resets": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.425,
+   "peak_memory_gb": 1.213,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-privileged--syzjimw/replay.mp4",
+  "duration_s": 9.8,
+  "fps": 25.0,
+  "frames": 245,
+  "sha256": "b21788194a55bd0e5b4b3c5985ac3b27ab0575f3271ebd267285ce32275fa9b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.16,
+      "log_step": null,
+      "text_zh": "观察：视频 7.76–8.40 s，右侧外部视角中机器人右夹爪在壁柜下沿附近回撤，一扇玻璃门的灰色门框随之向外转出，与白色柜体明显分离；视频 8.80–9.76 s 该门保持偏转。成功参考视频 17.0 s 展示了同类门框外转线索，仅用于辨认开门外观。"
+     },
+     {
+      "t": 8.2,
+      "log_step": 26,
+      "text_zh": "推断：视频约 8.2 s 已形成可供杯子通过的入口，故记开门事件达成，不要求两门全开。log step 4 的模型探查给出单扇门宽约 0.294 m、杯体直径约 0.09 m；log step 26 的最终版本生成试运行读出一门约 0.60 rad，按铰链几何自由边离闭合位置约 0.17 m，大于杯子的横向尺寸，且与视频末段门框外转相符。log step 27 保存该版本的 488 行轨迹，log step 28 核验所交付文件；这里只以视频确定达成时间，未把会话工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 0.4–3.6 s 左夹爪、视频 5.4–8.4 s 右夹爪先后伸向玻璃门下部；视频约 8.1 s 右夹爪回撤时门框外转。门把手与指尖的接触处被柜体遮挡，不能确认是两指夹持、单指勾拉还是拨动，故接触方式填未知。两手依次操作，未见同时合力开门。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–9.76 s，机器人双足在地板上支撑身体，伸臂开门期间有小幅迈步和前后调整。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只白色杯子均立在木色台面上；全片粗查及视频 1.4–3.4 s、6.8–8.6 s 的密集帧显示机器人在操作门，没有夹起杯子。"
+     },
+     {
+      "t": 9.76,
+      "log_step": 28,
+      "text_zh": "观察：视频 8.80、8.96、9.12、9.28、9.44、9.60、9.76 s 两杯仍在原台面，夹爪未携杯入柜；log step 28 的交付回放报告 executed_rows=488、success=false。未发生第1杯入柜，不以零分单独推定节点未达。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.76,
+      "log_step": 27,
+      "text_zh": "观察：视频 0.0–9.76 s 的已检帧中两杯始终位于木色台面，视频末秒密集帧中仍各自直立在原处，既未发生单杯搬入，也未发生双杯搬入。log step 27 保存的最终脚本仅依次调用左右开门动作，共 488 行，没有搬杯动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cups_in_cabinet_1",
+   "t": 8.6,
+   "log_step": 27,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 8.2 s 一扇门已外转，随后视频 8.4–9.76 s 机器人空手收回右臂，两杯均留在台面；log step 27 保存的交付轨迹到开门及收臂即止，log step 28 回放确认未成功。推断：按 DAG 单门形成入口即可的判据，开门已达成；接下来第1杯入柜完全未启动，也未见空手前往取杯的移动，按 docs/03_trajectory.md Step 3.1 将该步骤的断点位置记为首步前；视频 8.6 s 为收臂的导航锚点。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 8.6,
+    "log_step": 27,
+    "evidence_zh": "观察：视频 0.0–9.76 s 机器人只先后伸出左右臂操作门，视频末段收臂时仍空手，两杯没有离开台面；log step 25–27 的最终生成脚本在两次 door 调用后保存，没有取杯或送杯命令。推断：第1杯入柜在交付尝试中未开始，后续第2杯不另记重复现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供完整视频和会话日志，但没有状态日志；两路外部视角的白色柜体遮住门把手及部分指尖，无法细分实际接触方式。推断：门口足以通过杯子的判断结合可见门框偏转与 log step 4、26 的模型几何和同版本生成读数，未实际以杯子试通，达成时间约有 0.3 s 不确定性。观察：agent 在 log step 28–29 自述“时间用完”，但 run.json 记载 wall_s=457、time_limit_s=3600，且没有新的剩余时间读数说明其停止依据；没有证据判定为何开门后未继续搬杯，因此根因留空，不把停止本身或较早会话中的控制误差当作搬杯未尝试的根因。"
+ },
+ "summary_zh": "交付视频中机器人先后伸臂操作玻璃柜门，约视频 8.2 s 一扇门外转形成入口，按 DAG 判据达到打开壁柜，最终进度为 1/3。两杯全程留在台面，第1杯入柜的工作从未启动，断点位置为首步前，现象为没尝试；评分回放失败且记录未跌倒。柜体遮住指尖接触，入口尺寸含几何推断，未继续搬杯的根因证据不足。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "开门节点、两杯未入柜、进度 1/3 与视频一致（7.4–9.76 s 帧见右外部视角柜体角落灰色门框外转，杯子全程留在台面）；仅断点 where 应为首步前（第1杯入柜的工作从未开始，规则：首步前 + 没尝试），不是转场。根因留空有 gap_zh 说明，可接受。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "开门节点约 8.2 s 达成（柜体角落灰色门框外转，8.2 与 9.76 s 保持）、两杯全程留在台面、进度 1/3、断点 cups_in_cabinet_1 首步前 + 没尝试均与视频和 log step 27-28 一致；根因留空有 gap_zh 说明，未把 agent 自述“时间用完”当成因，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:51:35Z",
+  "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/bigym2-put-cups-i00-privileged--syzjimw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--syzjimw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--syzjimw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--syzjimw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04ae6262e1e329106b60e1a749e103adf9737f48c44d5cc5e43de05471719790",
+   "video_sha256": "b21788194a55bd0e5b4b3c5985ac3b27ab0575f3271ebd267285ce32275fa9b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--tqdycdj.json

@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--tqdycdj",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 10,
+   "sim_steps": 10,
+   "horizon": 3000,
+   "episode_over": 0,
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+   "peak_processes": 9,
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+   "resource_emergency_kills": 0,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-privileged--tqdycdj/replay.mp4",
+  "duration_s": 0.24,
+  "fps": 25.0,
+  "frames": 6,
+  "sha256": "b770cea30dfad98b07eaa33ae223dfa19d1c68fd1c22a24a002694b13f97285a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00、0.04、0.08、0.12、0.16、0.20 s，机器人双手始终停在台面高度，未抬手接近柜门把手，也没有门框向外转开的变化；末帧仍是闭柜初态。成功参考视频约 19.5–22.5 s 可见向外偏转的门框，本次未出现该特征。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.20 s 的全部6帧，右侧外部视角均可见两只白色带把杯留在木色台面原处，机器人夹爪没有取杯或抬杯；末帧没有任何杯子移入上方壁柜。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.20 s 的全部6帧均显示两杯仍立在台面，未发生抓取、搬运或放入壁柜；末帧两杯位置不变，未形成两杯接触柜内底层搁板的关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 0.0,
+   "log_step": 9,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–0.20 s 全部6帧中机器人保持初始姿态，未向柜门伸手，柜门未转开，两杯未移动；log step 9 中 agent 的生成脚本仅将10行 s.hold_row() 保存为交付轨迹，评分器 n_actions=10、sim_steps=10。受评轨迹尚未开始首个开门步骤。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 9,
+    "evidence_zh": "观察：视频 0.00–0.20 s 的机器人双臂一直保持台面高度，没有朝柜门把手启动操作。log step 9 的交付生成代码 rows = [s.hold_row() for _ in range(10)] 只保存保持动作；日志后续实验中的开门和搬杯不在这段受评视频内。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 未提供状态日志；log step 9 将10行保持动作保存为初始占位轨迹，检索 inputs/run.json 全部113条日志记录，仅此步含 save_trajectory 或 trajectory.npz，评分器 n_actions=10、agent_replays=0、deterministic=1 与受评视频 0.00–0.20 s 的保持动作一致。log step 96、103、118、121 的会话实验包含开门或取杯操作，但未保存为交付；log step 122 仅返回实验已在后台启动，没有最终实验结果或最终交付说明。run.json 的会话墙钟 wall_s=3602，time_limit_s=3600；这不能证明时间花在错误的事情上，也不能由未替换占位文件推出保存操作出错。推断：现有证据无法确定未替换占位文件的原因，故根因留空；不将会话实验中的持杯或搁板接触读数当作本次受评节点进度。"
+ },
+ "summary_zh": "受评视频 0.00–0.20 s 的全部6帧显示机器人保持初始姿态、柜门未打开、两杯均留在台面，三个节点均未达成，断点为打开壁柜之前。log step 9 保存了10行保持动作的初始占位文件，后续未记录替换保存，评分器实际回放也只有10个控���步，现象为没尝试。没有状态日志及最终交付说明，最后一次会话实验结果和未替换占位文件的原因无法确定，根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、断点（cabinet_opened / 首步前 / 没尝试）和 0 进度与视频及评分器字段一致（6 帧静止，n_actions=10）。问题在根因：把「占位文件从未被替换」直接记为 交付·交付操作出错，但日志只证明 step 9 有意保存占位、之后一直在会话实验中调试、墙钟 3602 s 超过 3600 s 上限而未再保存；没有错误的保存/录制/选择步骤，只是缺少真正的交付，不能由缺失的交付单独推出根因（03 Step 3）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点全未达成、断点 cabinet_opened/首步前/没尝试、根因留空并有 gap_zh，均与视频 0.00–0.24 s 的静止画面和评分器 n_actions=10 一致；上一轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:47:50Z",
+  "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/bigym2-put-cups-i00-privileged--tqdycdj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--tqdycdj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--tqdycdj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--tqdycdj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e4ce9f5f5287ccefc9c1a00f846dbea79878f3c79b32bd11b498439d6821362c",
+   "video_sha256": "b770cea30dfad98b07eaa33ae223dfa19d1c68fd1c22a24a002694b13f97285a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--u5h2k4k.json

@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--u5h2k4k",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 2413,
+   "sim_steps": 2413,
+   "horizon": 3000,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 22.01,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 90,
+   "agent_resets": 61,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.537,
+   "peak_memory_gb": 2.785,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.999,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-privileged--u5h2k4k/replay.mp4",
+  "duration_s": 48.28,
+  "fps": 25.0,
+  "frames": 1207,
+  "sha256": "9c794978a575b6372a690f9a2234437080a0222a4366343263576c25b866927d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 壁柜门框保持闭合；本次视频全程粗看，并在视频 0.0–26.5 s 的半秒采样及视频 27.0–48.24 s 的后段画面复查，未见玻璃门框向外转开形成入口。成功参考视频 21.0 s 的同一外部视角可见门板明显向外伸出，本次没有该变化。"
+     },
+     {
+      "t": 23.0,
+      "log_step": 166,
+      "text_zh": "观察：log step 166 保存的最终生成脚本依次对两杯执行 place，文字说明试图经过闭合门之间的缝隙送杯；视频 18.5–23.0 s 机器人左手空手抬放，没有拉动柜门的动作。会话中的开门测试（如 log step 122）不属于这段交付视频，未据此记为开门达成。 本次交付未尝试开门，故按 docs/03_trajectory.md Step 2 省略 contact_actual；省略表示未操作该节点，而非接触方式未知。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.4–14.0 s 两杯仍立在木色台面；视频 14.2–14.8 s 机器人左夹爪在杯旁运动，将杯体碰斜、碰倒，两杯随后在台面上滚移。视频 15.4–15.5 s 其中一杯越过台面边缘下落，另一杯仍横躺台面；没有杯子被搬到上方搁板。"
+     },
+     {
+      "t": 48.24,
+      "log_step": 167,
+      "text_zh": "观察：视频 18.5–40.0 s 后续抬放时左夹爪为空，台面上的横卧杯仍在，视频 47.25–48.24 s 末段也未改变。log step 167 的最终生成结果给出两杯位置分别为 [1.032,-0.507,0.046] 与 [1.055,-0.248,0.905]，log step 177 重生成同一交付文件得到相同位置；这是交付生成记录，与视频中的一杯掉落、另一杯留台面一致。"
+     },
+     {
+      "t": 48.24,
+      "log_step": 201,
+      "text_zh": "推断：逐段跟踪两杯从台面被碰倒、其中一杯掉落以及另一杯留在台面，且始终没有随夹爪上移入柜，可判至少一杯接触柜底搁板的条件从未成立；此结论并非仅来自零分。log step 201 对交付文件的回放报告 success=false、executed_rows=2413、fell=false，评分器 deterministic=1，与这段失败视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 14.2–15.4 s 机器人左二指夹爪碰推杯体，杯子在台面上倾倒、滚移，其中一杯随后掉出台面；可见的是推碰，没有确认到将杯子夹住搬运的对向夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 0.0–23.0 s 双足接触地面，机器人迈步靠近台面，并在左臂伸手、碰杯及空手抬放时支撑躯干、调整站位。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": 166,
+      "text_zh": "观察：视频 23.0–34.0 s 机器人左臂再次伸向台面、合爪并抬手，杯子仍横卧在台面另一处，未随手离开；视频 35.0–40.0 s 后续动作也未搬起杯子。log step 166 的交付脚本确有第二次 place 调用，因此记为第二杯的搬放尝试，但不把脚本中的目标位置当成已完成放置。"
+     },
+     {
+      "t": 48.24,
+      "log_step": null,
+      "text_zh": "推断：视频 14.2–15.5 s 两杯被碰倒且一杯下落，视频 18.5–48.24 s 另一杯留在台面，机器人没有捡回掉落杯或将台面杯搬入壁柜；两杯同时接触壁柜底层搁板的条件从未成立，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 23.0–44.0 s 第二套搬杯动作期间，双足支撑身体并随伸臂调整站位；左夹爪在杯子原位置附近空合、空手抬放，未见再次碰到已经移位的杯体，故不标为实际抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cups_in_cabinet_1",
+   "t": 14.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.2 s 起机器人左夹爪在首次搬杯过程中把杯子碰斜，视频 14.4–15.5 s 两杯相继横倒、滚移，其中一杯掉出台面。随后机器人继续空手抬放、再执行另一套伸手动作，到视频 48.24 s 仍没有任何杯子入柜，首次搬杯失败始终未修复；柜门未开启，但交付视频中正在操作的是杯子，故断点取第1杯入柜。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 14.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.0–14.8 s 机器人左夹爪贴近杯体后，杯子立即倾斜并横倒；视频 15.0–15.5 s 两杯在台面滚移，其中一杯越过台沿下落。这是搬杯时碰倒目标杯的可见碰撞，杯子没有被送往柜内。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 166 的交付脚本 main 在 walk 后直接连续调用两次 place；place 包含取杯、合爪、抬升、经中缝送入和释放航点，没有拉开柜门的动作，脚本说明明确计划经过闭合玻璃门之间的缝隙。视频 0.0–48.24 s 柜门未向外转开，视频 18.5–23.0 s 左手空抬空放。推断：相对于 task/task_dag.json 中 cabinet_opened 为必要通道前置的要求，交付策略遗漏了开门，是跨阶段规划缺漏；这与视频 14.2–15.5 s 已发生的取杯碰倒属于独立问题。未将脚本文字中的门缝可通行主张当作已验证事实，也不据此宣称所有闭门入柜方案均不可行。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：视频 14.2–15.5 s 左夹爪的取杯动作变成碰推，之后仍空手执行抬放。log step 166 的交付脚本在固定取杯航点与 squeeze 后直接执行后续抬升、送柜航点，未在这段 place 流程中以抓取成功作为继续条件；会话测试 log step 162 也实际输出取杯末端误差 0.034 m、held=false，后续抬升只把杯子碰成横卧。会话测试仅支持控制诊断，不用于节点进度。证据支持取杯控制未建立可搬运夹持且失败后未纠正，尚不能可靠细分抓取接触几何与末端跟踪各自的贡献。"
+   }
+  ],
+  "gap_zh": "没有逐帧模拟器状态日志；夹爪与杯体的短暂接触有局部遮挡，无法核实每根手指的接触对或细分抓取几何、逆解与跟踪误差。节点终值由视频中的杯子去向判断，不因柜内遮挡而记为未知；会话重置测试不作为交付轨迹的节点或接触证据。 交付在取杯时已失败，未有持杯穿越门缝的实际过程，不能从空手动作检验该门缝策略的几何可行性；规划标签依据交付脚本跳过既定必要前置，不把假设取杯成功后的必然碰门作为已观察事件。"
+ },
+ "summary_zh": "机器人靠近台面并执行两套左臂搬杯动作，柜门未尝试打开，三个节点均未达成，最终为0/3。首次搬杯在视频约 14.2 s 把杯子碰倒，随后一杯掉出台面、另一杯横卧台面，空手抬放未修复，因此断点保留第1杯入柜；交付脚本另有跳过开门前置的规划缺漏，取杯控制失败有独立视频与会话测试证据。置信度由8降至7：无逐帧状态日志，抓取接触几何与跟踪误差的贡献尚不能区分，闭门中缝策略的实际通过性也未验证。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频与杯子去向基本属实（14.2 s 碰倒、一杯落台、全程柜门未开）。但标签把‘从未开柜门、计划直接把杯子从闭合门缝送入’当成次要事实，断点与根因只落在取杯控制，漏了更上游的规划错误：第一步 cabinet_opened 根本没启动。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频复查与标签一致：柜门全程未开，约14.2–15.5 s 左夹爪碰倒两杯、一杯落台，之后无杯入柜；断点取实际在操作且未修复的第1杯入柜符合S14，规划与控制两个根因均有独立证据。第1轮分歧已由标注者依据规则给出理由，无新证据反驳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:01:02Z",
+  "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/bigym2-put-cups-i00-privileged--u5h2k4k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--u5h2k4k/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--u5h2k4k/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--u5h2k4k/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8ae96f494dd9c17a0fa50456d2c7f3b33646aec04b87953149eb94b6cb9afa4",
+   "video_sha256": "9c794978a575b6372a690f9a2234437080a0222a4366343263576c25b866927d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vjk9vm2.json

@@ -0,0 +1,179 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--vjk9vm2",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 10,
+   "sim_steps": 10,
+   "horizon": 3000,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 2.12,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 357,
+   "agent_resets": 35,
+   "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/bigym2-put-cups-i00-privileged--vjk9vm2/replay.mp4",
+  "duration_s": 0.24,
+  "fps": 25.0,
+  "frames": 6,
+  "sha256": "b770cea30dfad98b07eaa33ae223dfa19d1c68fd1c22a24a002694b13f97285a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.00、0.04、0.08、0.12、0.16、0.20 s：机器人双手始终停在台面前缘附近，未抬手操作壁柜；壁柜门框没有向外转开，未出现杯子可通过的入口。成功参考视频 22.50 s 的外转门框在相同视角可见，此次全程未出现该变化。"
+     },
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "观察：log step 43 中 agent 的脚本将初态 hold_row 重复10次并保存为交付轨迹；log step 44 回放该文件返回 executed_rows=10、success=false。log step 264 再读生成脚本仍是相同的10行保持动作；评分器最终字段 n_actions=10、sim_steps=10 与此一致。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.20 s 的全部6帧中，两只白色带把杯均留在木色台面原处，机器人夹爪未夹住或搬起杯子；末帧视频 0.20 s 仍可见两杯，未有杯子移至上方壁柜底层搁板。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.20 s 的全部6帧中，两杯始终同时位于台面，未出现抓取、搬运或入柜；末帧视频 0.20 s 两杯均未接触上方壁柜底层搁板。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 0.0,
+   "log_step": 43,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–0.20 s 全部6帧中，机器人维持初始站姿及低位手臂，没有伸手开门，壁柜入口未打开。log step 43 保存的交付仅为10行保持动作，log step 44 已验证该文件未成功；会话中后续开门和搬杯测试没有出现在评分视频中。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 43,
+    "evidence_zh": "观察：视频 0.00–0.20 s 逐帧显示机器人双手未接近壁柜把手或门板，柜门没有开启变化，两杯始终留在台面。log step 43 的保存代码明确将同一保持动作重复10次，评分尝试并未启动打开壁柜这一步。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs 中提供完整评分视频及会话日志，但没有模拟器状态日志；log step 43–45 保存并验证初始保持轨迹，log step 264 所读生成脚本仍未改变，log step 424 为最后一条工具输出，没有最终任务报告。推断：可以确认评分交付停留在占位保持动作，却不能从会话中未保存的接触、逆解及搬杯测试唯一确定这一交付为何未被替换，也不足以判定具体控制或规划根因；故根因留空。"
+ },
+ "summary_zh": "观察：评分视频全部6帧（视频 0.00–0.20 s，总时长0.24 s）中机器人保持初始姿态，柜门未打开，两杯仍在台面，三个节点均未达到。观察：log step 43–44 保存并验证的交付只有10行保持动作，与最终评分器 n_actions=10 一致，因此断点为打开壁柜／首步前，现象���没尝试。推断：会话调试不属于该交付，现有记录不足以确定占位轨迹最终未被替换的具体根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频仅6帧（0.24 s），机器人保持初始姿态、柜门关闭、两杯在台面；交付为 log step 43 保存、step 44 验证的10行保持动作，与 n_actions=10 一致，故首步前/没尝试成立。根因留空并写明缺口，符合 FAIL-22 与 03 规则（不从没尝试反推根因）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:34:22Z",
+  "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/bigym2-put-cups-i00-privileged--vjk9vm2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--vjk9vm2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "51b77a6f8d6bda06274de636b8eb2b5548714029c1ef4ff40adf02d2dbbd80ba",
+   "video_sha256": "b770cea30dfad98b07eaa33ae223dfa19d1c68fd1c22a24a002694b13f97285a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vr4qmdz.json

@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-put-cups-i00-privileged--vr4qmdz",
+ "taskKey": "bigym2/put_cups",
+ "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 405,
+   "sim_steps": 405,
+   "horizon": 3000,
+   "episode_over": 0,
+   "fell": 0,
+   "replay_s": 5.64,
+   "instance_exact": 1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 125,
+   "agent_resets": 0,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.452,
+   "peak_memory_gb": 1.867,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.834,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-privileged--vr4qmdz/replay.mp4",
+  "duration_s": 8.12,
+  "fps": 25.0,
+  "frames": 203,
+  "sha256": "173acf86b1f92712455999cbdf5c10cec06b7f95420ebdda5853c93cfedd2a2b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 壁柜玻璃门及门框处于闭合位置；全片粗查并复查视频 3.00、5.00、7.00、7.60、8.08 s，未见门框向外转开或形成入柜入口。成功参考视频 16.00、22.00 s 的外转门板在同类视角可辨，本次没有该变化。"
+     }
+    ]
+   },
+   "cups_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.52,
+      "log_step": null,
+      "text_zh": "观察：视频 3.52 s 左夹爪接触杯把附近并使一杯倾斜；视频 5.00、6.60 s 该杯已离开原台面并随左夹爪抬升，另一杯留在台面。抬起的杯体始终位于柜体下方外侧，未到柜内底层搁板。"
+     },
+     {
+      "t": 8.08,
+      "log_step": 143,
+      "text_zh": "观察：视频 7.00、7.60、8.08 s 左夹爪仍带着杯子悬于柜外，未出现入柜或放置；另一杯仍在木色台面。log step 143 对最终交付文件的官方重放报告 executed_rows=405、success=false、fell=false，与本次片段止于抬杯保持相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.52–8.08 s 左二指夹爪闭合在一只杯子的杯把附近并带杯离开台面，随后持续持杯；右夹爪空着，未协同接触该杯。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.00 s 机器人双腿支撑并向台面靠近，视频 3.52–8.08 s 在左臂抬杯时继续站立支撑躯干。"
+     }
+    ]
+   },
+   "cups_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.08,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00、3.52、5.00、7.00、7.60、8.08 s 始终有一杯留在台面；末帧另一杯仍由左夹爪持在柜外。视频未出现两杯进入壁柜并接触底层搁板的状态，也未见机器人开始搬运台面上的第二杯。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": null,
+   "log_step": 143,
+   "where": "首步前",
+   "evidence_zh": "观察：视频从0.00 s起每约0.5秒粗查，并复查视频3.52、6.60、7.00、7.60、8.08 s，柜门及门框始终未向外转开，机器人只接近台面、左夹爪取杯并抬升保持，没有朝门把伸手、夹持或拉门动作。log step 143 对最终交付文件的官方重放报告 executed_rows=405、success=false、fell=false。推断：最早未启动且未完成的必要步骤是 cabinet_opened；task/task_dag.json:62-64 将它列为第1杯入柜的前置。抬杯片段并非开门的修复，也没有入柜失败事件可优先作为断点。log step 130、139 的开门控制仅为会话测试，log step 131 中 agent 自述保留抬杯片段，均不计为交付中的开门尝试或探索；故位置为首步前。全片缺少开门启动或失误的具体时刻，t 置 null，不把会话时钟映射为视频时间。"
+  },
+  "unmet": {
+   "cups_in_cabinet_1": false,
+   "cups_in_cabinet_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 143,
+    "evidence_zh": "观察：视频0.00–8.08 s 的粗查及末段密��中，机器人没有向柜门把手建立操作接触或执行拉门，柜门始终未打开；左夹爪仅将杯子抬至柜外下方，右夹爪空着。推断：交付的评分尝试从未启动开柜门步骤，符合 docs/03_trajectory.md:253-258 的首步前与没尝试；会话里的开门测试不能充当交付视频中的接触失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：开门控制困难导致 agent 最终只交付抬杯片段。会话测试 log step 130 的脚本要求右手接近门把并闭爪外拉，但读数显示门关节 q12=0.0、freeze=0.0，右手闭爪时位置约[0.507,0.051,1.187]米，偏离设定门把目标[0.645,-0.032,1.24]米；log step 139 从已保存的抬杯片段继续测试右手接近门把，目标高度1.24、1.238米，实测仅0.940、0.878米，左手仍持杯。log step 131 中 agent 自述“未获得稳定持门，因此保留已保存抬杯片段”；该自述只说明交付选择，控制归因依据上述脚本与读数，log step 143 最终重放仍为 success=false。这些会话测试只支持根因推断，不证明交付里发生开门动作；证据不足以区分接触设计、逆解或跟踪控制子类，保留控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志。交付视频仅包含取杯、抬升和保持，开柜门步骤未启动，因此现象为没尝试；没有交付中的开门接触失败事件，也没有实际入柜放置或松手动作，不能把会话测试标成视频中的位姿不准、没建立接触或没保持住（docs/03_trajectory.md Step 3；CASES.md FAIL-23）。控制根因只由会话测试的目标与实测读数以及交付选择记录推断，具体控制子类不能确定；未启动步骤没有可定位的失败时刻，断点时间留空。"
+ },
+ "summary_zh": "机器人左夹爪带起一只杯子后在柜外保持，另一杯留在台面，柜门未打开，三个DAG节点最终均未达成。断点改为必要前置 cabinet_opened：交付中未启动开门，位置为首步前，现象为没尝试；会话开门测试的目标与实测偏差支持控制困难的根因推断。没有状态日志，且开门测试不在交付片段中，具体控制子类及失败瞬间不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频、节点值（三节点均未达成）、接触标签与时钟均与帧相符；问题在断点：门是入柜的前置步骤，会话日志里的失败工作（step 131/139 开门测试）和交付视频都没有开门，断点却标为已做完抬杯的第1杯入柜，未说明为何不是 cabinet_opened。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.5–8.0 s 柜门始终闭合，一杯被左夹爪抬至柜外、另一杯留在台面，三节点均未达成；断点 cabinet_opened / 首步前 / 没尝试 与根因 控制（会话证据，按 FAIL-22 先例）均有日志与帧支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T04:51:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/04_review_r1"
+   },
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+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/05_reconcile_r1"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/04_review_r2"
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+ }
+}