diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--2jk928g.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--2jk928g.json new file mode 100644 index 0000000000000000000000000000000000000000..716db0c1d2ce19e82ced0a8acd3adf8ccb88c820 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--4q6gozn.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--4q6gozn.json new file mode 100644 index 0000000000000000000000000000000000000000..1d274133a34f723960d36c17eac5c0d5858162b8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--cbefkws.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--cbefkws.json new file mode 100644 index 0000000000000000000000000000000000000000..cd93f70c6e4b6fe55b37fe2d5d98ca12a950708c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--dhxxsjz.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--dhxxsjz.json new file mode 100644 index 0000000000000000000000000000000000000000..2cea53a425df2763a5fb35844d8d9aabbac178e1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--ivzn3av.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--ivzn3av.json new file mode 100644 index 0000000000000000000000000000000000000000..f458a2d69fd1bff02dd7a14a995480c5885cfc77 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--jxexhmw.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--jxexhmw.json new file mode 100644 index 0000000000000000000000000000000000000000..81d59195ec0ebcdce8a6de8d2c66aa473db9e60a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--q8zb4ek.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--q8zb4ek.json new file mode 100644 index 0000000000000000000000000000000000000000..f54f8be139e14da1df95cf4c8a690dd4025df0a2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--swzeyvf.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--swzeyvf.json new file mode 100644 index 0000000000000000000000000000000000000000..a6236a17f7b9f1700075855c15385acee9a25ae1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--bx8vazf.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--bx8vazf.json new file mode 100644 index 0000000000000000000000000000000000000000..26749d44ad92a3a53ec3c79e2c254631b7887946 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--cqalfzg.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--cqalfzg.json new file mode 100644 index 0000000000000000000000000000000000000000..bf6c24d42de0879351debacdb523ab92b50473c8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--g98avot.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--g98avot.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d694ada7f0c0d4cf438043844baf0b618330bc --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--iuav4f9.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--iuav4f9.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac179cc51562e218626a126633ddb3356b48241 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--pb6nlbk.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--pb6nlbk.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3b6e21bbbcda23538baa6a49a80700d9451eec --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--q7ipnkb.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--q7ipnkb.json new file mode 100644 index 0000000000000000000000000000000000000000..4accb928fe4085efe8f030032ea395e9c7d912bd --- /dev/null +++ b/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": "未知", + "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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--wxyddsf.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard--wxyddsf.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cfa5dc6e3c842bd42cd396f5a33bc4c4044adc --- /dev/null +++ b/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，后续碰到杯勺不等于抓住。" + }, + { + "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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--beftxex.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--beftxex.json new file mode 100644 index 0000000000000000000000000000000000000000..2fbb9d9df649b5b4ec32fa108730d45fa14896ae --- /dev/null +++ b/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", + "video_sha256": "3e4c23ccda41d95ccccb3f6eec42148c0da85b3aa0294e00d43492d4ab222d08", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe.json new file mode 100644 index 0000000000000000000000000000000000000000..f1d44fb0ac544533281e94ae32d8175ef554d3dc --- /dev/null +++ b/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, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 1.037, + "resource_enforced": 0, + "limits_violation_observed": 0, + "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，未被两指夹持带起。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": 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b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--h4fuasq.json new file mode 100644 index 0000000000000000000000000000000000000000..050dca4a6b081096a037b244db25b56d1eab8f5b --- /dev/null +++ b/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", + 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+ "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；这些脚本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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--ogxgqdx.json new file mode 100644 index 0000000000000000000000000000000000000000..41783c4bf7d48b3e48a2a813d2ce89acb1f27e34 --- /dev/null +++ b/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：视频仅一帧初态，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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--rdkkkg9.json new file mode 100644 index 0000000000000000000000000000000000000000..c79940f6e696bad4711d5c110262338f01dd7436 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl.json b/phase2/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--zmylnsl.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c9199b2fbf93bc6c900968b645154ad1b65a84 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--7iz3qev.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--7iz3qev.json new file mode 100644 index 0000000000000000000000000000000000000000..99a4ea89f244ba5da5fc7fde4a15c0555e8365c4 --- /dev/null +++ b/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，无法逐帧核验指垫接触对、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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--a57xdxw.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--a57xdxw.json new file mode 100644 index 0000000000000000000000000000000000000000..ecf2d0268b955ab8d8fa16f2c4f9b4425c936dfc --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--kvckmtr.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--kvckmtr.json new file mode 100644 index 0000000000000000000000000000000000000000..5558cac7194a8b89884b29cbe63a05b524b365cb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--mxtyu3s.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--mxtyu3s.json new file mode 100644 index 0000000000000000000000000000000000000000..2b4b1d770e15b2b3152648b0cf9fb9b56e491077 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--qzjkah4.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--qzjkah4.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3c625780e71d01abcbc455c4efe95d1b344a04 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--uzwygtg.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--uzwygtg.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b1a82db7e3417349603885454acc2da3dff684 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--yr6nzbc.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-privileged--yr6nzbc.json new file mode 100644 index 0000000000000000000000000000000000000000..176fc5dd9a2b75f9041d1f748376f8df30936676 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--bizxnnf.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--bizxnnf.json new file mode 100644 index 0000000000000000000000000000000000000000..a25d6038ed49afe075c5f7a6112ab256871ba613 --- /dev/null +++ b/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；视频约 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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--hwbcfkk.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--hwbcfkk.json new file mode 100644 index 0000000000000000000000000000000000000000..47b010919ac5f80fe95c111d32fa381e3eb01f66 --- /dev/null +++ b/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：取箱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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--pbncu9f.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--pbncu9f.json new file mode 100644 index 0000000000000000000000000000000000000000..09a48e70cfe6e30f7bcc717523021c6a0695ec47 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--st4ddvx.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--st4ddvx.json new file mode 100644 index 0000000000000000000000000000000000000000..7ada0d2fc778784b6b7839a2c1af6a32ee4416bb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--tboaa2m.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--tboaa2m.json new file mode 100644 index 0000000000000000000000000000000000000000..e5071921a73482f2e56caad0bb7a27c26ac0e416 --- /dev/null +++ b/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，将两末端高度目标同时改为 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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--ube2khe.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--ube2khe.json new file mode 100644 index 0000000000000000000000000000000000000000..eebf6315c0d98160dc6ac57bd56855116be19661 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xuytnaj.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xuytnaj.json new file mode 100644 index 0000000000000000000000000000000000000000..a69d95b469c685abaff547109f347f3d7f32c267 --- /dev/null +++ b/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开侧桌；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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xyrn6t8.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard--xyrn6t8.json new file mode 100644 index 0000000000000000000000000000000000000000..fe28cf1269a3565a014ab55859672da0e0d3c75a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--2awieod.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--2awieod.json new file mode 100644 index 0000000000000000000000000000000000000000..c134cf20d96e28ced3d9d638b6c65a19181edc7f --- /dev/null +++ b/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 箱子仍在侧桌。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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--aubp59t.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--aubp59t.json new file mode 100644 index 0000000000000000000000000000000000000000..5f901af833b882013c83a56786ff80cd2ccb8544 --- /dev/null +++ b/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, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 4400, + "sim_steps": 4400, + "calls": 870, + "rows": 8680, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "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", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:00:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/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": { + "run_json_sha256": "35cb21452b814c3a475776e93ca93fb1a3b9317654dfe0bd869cf78a90190dca", + "video_sha256": "5a307507682f739a8eabf01f73f6ea58b30dae671221e1e44a6ea8cd23b6dc28", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--dtqezxz.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--dtqezxz.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd8d38f4cb6307857acd4e86f44578675b5cde0 --- /dev/null +++ b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--dtqezxz.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-pick-box-i00-standard-realtime--dtqezxz", + "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": 1091, + "rows": 16320, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1909.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "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": 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"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，视频 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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--fhkf7tn.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--fhkf7tn.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd5f8aa8b1c8bf21015f66522e0e08482a2e180 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--vuwpaim.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--vuwpaim.json new file mode 100644 index 0000000000000000000000000000000000000000..f03c82634868252cf159b91eaf099c4e21fa400b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--zeo3trd.json b/phase2/bigym2/pick_box/trajectories/bigym2-pick-box-i00-standard-realtime--zeo3trd.json new file mode 100644 index 0000000000000000000000000000000000000000..d04c89769d10f5f285c47be8a9f14b9f9bb25761 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--hz4wx8k.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--hz4wx8k.json new file mode 100644 index 0000000000000000000000000000000000000000..58210290379eba5115d7e934fa28af20d5c7f8fb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--syzjimw.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--syzjimw.json new file mode 100644 index 0000000000000000000000000000000000000000..8833963047e3a5f09b9d029cabf18ed9a0d8926c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--tqdycdj.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--tqdycdj.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2ae871767231469700e5a59823fabcd08d186b --- /dev/null +++ b/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, + "fell": 0, + "replay_s": 2.13, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 89, + "agent_resets": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.273, + "peak_memory_gb": 1.252, + "peak_processes": 9, + "peak_disk_gb": 0.254, + "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--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个控制步，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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--u5h2k4k.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--u5h2k4k.json new file mode 100644 index 0000000000000000000000000000000000000000..598e1f62a95016dac8c13d63381ad6280a6efbc5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vjk9vm2.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vjk9vm2.json new file mode 100644 index 0000000000000000000000000000000000000000..f6edee1fcf27e2297bd680dc388252f340dcebb4 --- /dev/null +++ b/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，现象为没尝试。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" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vr4qmdz.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-privileged--vr4qmdz.json new file mode 100644 index 0000000000000000000000000000000000000000..6bdc0e6bd5260a360fba0df2758ad51ba89975c9 --- /dev/null +++ b/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 的粗查及末段密查中，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": { + "prompt": "prompts/03_trajectory.md", + "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": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-privileged--vr4qmdz/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9e34fcfb8c1b588ac1736cd8159093d6cfee86bce47025bf2af33864c79e1fe2", + "video_sha256": "173acf86b1f92712455999cbdf5c10cec06b7f95420ebdda5853c93cfedd2a2b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--buyjqed.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--buyjqed.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f9e7a54c636617c712f8251303b3e2b17f622c --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--buyjqed.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--buyjqed", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 27, + "rows": 2967, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1509.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.278, + "peak_processes": 9, + "peak_disk_gb": 0.316, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--buyjqed/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "fb256663ed62ba449682b0c260598561a419a8cdefdc619f483e9bbadaf9e40f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 37.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两杯直立在木色台面，壁柜门未向外展开；视频 2.0–34.0 s 机器人反复抬起左夹爪到柜门下缘，尚未出现清楚的开口。" + }, + { + "t": 37.4, + "log_step": 156, + "text_zh": "观察：视频 37.2–37.6 s 左夹爪沿柜门边缘横移，右侧外部视角出现向外转出的玻璃门框与柜口下缘；视频 43.0 s、47.6 s 门框偏转更清楚。推断：对照成功参考视频 4.8 s、22.5 s 的外开门框形态，视频约 37.4 s 已形成可供杯子通过的入口，时间约有 0.5 s 不确定；此节点为事件，随后门回摆不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 37.2–37.6 s 左夹爪贴着柜门边缘横向拨推，门框随之向外偏转；视频 42.4–43.0 s 又以左夹爪扫推门缘。未把早期闭爪指令当作已抓住把手。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人用双腿支撑开门时的躯干，视频 21.2–26.0 s 及 37.2–38.4 s 随手臂动作调整站位。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 116, + "text_zh": "观察：视频 21.6 s 两杯仍在台面；视频 22.0–22.4 s 靠近机器人的杯子在手臂下扫时翻倒，之后一直横躺在台面，另一杯仍直立。这不是放入壁柜后的释放。" + }, + { + "t": 40.8, + "log_step": 175, + "text_zh": "观察：视频 40.0–40.7 s 左夹爪降到横倒杯的杯口侧，视频 40.8–41.0 s 空手上抬，两杯均留在台面；视频 45.6–46.8 s、54.6–55.8 s 再次取杯后仍为空手。推断：没有建立可将杯子提离台面的夹持，未见任一杯移入柜内或接触底层搁板。" + }, + { + "t": 60.0, + "log_step": 303, + "text_zh": "观察：视频 59.0、59.2、59.4、59.6、59.8、60.0 s 两杯仍是一横一直地留在台面，左夹爪空置；log step 303 的在线服务返回 done=True、reason=failed、control_steps=3000。log step 306 对搬杯阶段的描述不能替代视频中的实际搬运。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 40.0–40.7 s、45.6–46.2 s 左夹爪在横倒杯口侧闭合，但部分手指被杯体遮挡，不能确定是否擦碰；随后空手抬起，没有可证实的包夹抓握。此处记录已尝试取杯，接触细节未知。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 38.0–41.0 s 机器人双腿承重并迈步靠近台面，在左夹爪取杯时支撑躯干；视频 53.6–55.8 s 再次调整站位取杯。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.8, + "log_step": 267, + "text_zh": "观察：视频 49.0–49.8 s 左夹爪再次伸向两杯所在的台面后部，视频 50.0–50.6 s 随后空手抬到柜口方向；横倒杯和直立杯均没有离开台面。log step 267 的脚本在第一杯搬运指令后继续执行另一杯的预抓、闭爪、抬升及放置指令，因此第二杯搬运也已被尝试；这里不将脚本阶段名当作抓取成功。" + }, + { + "t": 57.8, + "log_step": 295, + "text_zh": "观察：视频 56.6–57.4 s 左夹爪又伸到直立杯附近，视频 57.8–58.6 s 空手抬起和撤回；视频 59.0–60.0 s 两杯仍留在台面，没有两杯同时接触壁柜底层的画面。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 49.0–49.8 s、56.6–57.4 s 左夹爪伸到后方直立杯附近，局部被前方横倒杯遮挡；不能确认手指与该杯是否实际接触，未见夹持或随夹爪抬升。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 49.0–50.6 s、56.6–58.6 s 双腿站立承重，在左夹爪向另一杯伸手和抬升时支撑躯干。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cups_in_cabinet_1", + "t": 40.8, + "log_step": 175, + "where": "操作中", + "evidence_zh": "观察：视频 40.0–40.7 s 机器人左夹爪在横倒杯口侧闭合，视频 40.8–41.0 s 抬起时未带走杯子；视频 45.6–46.8 s 与 54.6–55.8 s 的重试也未搬起杯子，直至视频 60.0 s 两杯均仍在台面。开门事件已在视频约 37.4 s 达成，取杯失败之后始终未修复，故断点为第1杯入柜。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 40.8, + "log_step": 175, + "evidence_zh": "观察：视频 40.0–40.7 s 左夹爪到达杯口侧并闭合，视频 40.8–41.0 s 只有夹爪上抬，横倒杯留在原台面；视频 46.4–46.8 s、55.4–55.8 s 也为空手抬升。推断：取杯所需的夹持从未建立，而非已抓住后掉落；不排除单个手指有轻微擦碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 174 的脚本以预抓、下降、闭爪、抬升四段直接提交动作，log step 267 又将两杯的闭爪、抬升和放置连成一段提交，未在每次闭爪后检验杯子是否随手离台；视频 40.0–41.0 s、45.6–46.8 s、49.0–50.6 s 显示夹爪继续执行上抬而杯子未被夹持，说明取杯的对位与接触控制未能建立有效抓持。现有证据不足以把这一控制问题细分为抓取几何、逆解误差或跟踪误差。" + } + ], + "gap_zh": "没有状态日志或逐杯接触、持杯服务字段；杯体遮挡了局部手指，不能确认取杯时是否有轻微擦碰，故两次搬杯节点的目标接触记为未知。外部画面足以确认两杯始终留在台面、未入柜；开门达成时点约有 0.5 s 不确定，无法恢复精确门角。根因仅能支持到控制类别，不能区分目标估计、接触几何与运动跟踪各自的贡献。" + }, + "summary_zh": "机器人反复操作柜门，视频约 37.4 s 打开可放杯的入口，最终完成 1/3 个节点；两杯始终留在台面，其中一杯在视频约 22.0 s 被碰倒。第1杯入柜在视频约 40.8 s 因空夹取杯失败，后续重试和另一杯搬运指令也未建立有效夹持，在线服务最终返回失败。无状态日志，局部手指接触与控制失败的具体子因无法核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频帧：两杯全程留在台面（一杯约22 s被碰倒），未入柜；约37–43 s 柜门框出现外转，与 cabinet_opened 在约37.4 s 一致；断点取第1杯入柜、没建立接触/控制的标注有证据支持，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": "2026-10-30T04:43:26Z", + "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-put-cups-i00-standard--buyjqed/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--buyjqed/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a11f9ae9e5ec740b7beb1db17157184ece6dac8e13560088e4718e3796dc4752", + "video_sha256": "fb256663ed62ba449682b0c260598561a419a8cdefdc619f483e9bbadaf9e40f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--djnjqlj.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--djnjqlj.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab78b60f5fa0b42c2ee6b7c629a0d46b9488597 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--djnjqlj.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--djnjqlj", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 283, + "rows": 3000, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1965.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.325, + "peak_processes": 10, + "peak_disk_gb": 1.002, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--djnjqlj/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "1ab302be92403b4cfc7e299aed3cbe395edeb4682ecd73d80a9852e131b050be" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 壁柜门框贴合柜体；全片粗查及视频 12.0–16.0 s 的密集帧中，机器人虽伸臂探测，门框未向外转开。" + }, + { + "t": 15.6, + "log_step": 161, + "text_zh": "观察：log step 161 的机器人控制脚本执行柜前探测，要求右夹爪在固定高度前伸；视频 14.4–16.0 s 右手实际向上抬离台面，未拉开柜门。推断：log step 20 的 control_dt=0.02 s，log step 161 的 control_steps=792 对应视频 15.84 s，已与视频 15.6–16.0 s 抬高手臂的姿态核对；没有使用 agent 工作时间换算。" + }, + { + "t": 59.96, + "log_step": null, + "text_zh": "观察：视频 59.2、59.6、59.96 和 60.0 s 门框仍未外转、两杯仍在台面。成功参考视频 5.0、20.0 s 在相同外部视角可见向外伸出的门板边框，本回合没有该变化。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 14.4–16.0 s 机器人右夹爪在壁柜附近探测；柜体遮住门把手及指尖可能接近的局部，无法确认是否擦碰门框或把手，没有可确认的夹持、勾拉。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 12.0–16.0 s 机器人双腿承重并随上身及右臂探测调整站姿。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.6, + "log_step": 173, + "text_zh": "观察：视频 25.2–27.6 s 机器人右夹爪向台面杯子伸出、下降后收回，杯体没有随夹爪离开台面；log step 173 的脚本确实安排了抓杯，但控制右臂时切换的是左夹爪命令槽 row[19]，日志随后记录左夹爪闭合而右夹爪仍为 0.60。" + }, + { + "t": 42.8, + "log_step": 179, + "text_zh": "观察：视频 39.2–42.8 s 右夹爪在杯子前方开合并抬起，杯子仍留原处；视频 43.6–48.8 s 后续尝试中也未见杯子被夹起。" + }, + { + "t": 59.96, + "log_step": 185, + "text_zh": "观察：视频 55.6–56.8 s 右手再次靠近杯子，视频 57.2–59.96 s 抬手并向柜前移动时夹爪内没有杯子，左侧外部视角仍可见两杯立在台面。log step 185 的脚本自行打印 grasp? False 后仍执行 lift/insert，这些动作名称不代表成功搬杯；没有杯子移至底层搁板。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 26.4–27.6 s 右夹爪指尖贴近杯把，视频 39.2–42.8 s 和 55.6–56.8 s 再次在杯前开合；杯把与指尖局部重叠、接触深度不可辨，不能确认轻触方式，未见相向夹持杯体或杯子随手运动。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 20.0–24.4 s、30.0–34.0 s 和 49.2–52.0 s 机器人迈步重新靠近台面；抓杯尝试时双足支撑前倾的躯干。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只白色带把杯都在木色台面；全片粗查及视频 24.0–28.8、38.0–48.8、53.6–60.0 s 的密集帧均未见任何杯子被搬进壁柜。" + }, + { + "t": 59.96, + "log_step": 187, + "text_zh": "观察：视频 59.2–60.0 s 左侧外部视角仍可同时数到台面上的两只杯子，因此不存在两杯接触上方壁柜底层的关系。log step 187 服务状态为 control_steps=3000、done=true、reason=failed，与未完成放杯一致；本节点判假依据可见杯子位置，而非仅依据总失败结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 15.6, + "log_step": 161, + "where": "探索", + "evidence_zh": "观察：视频 14.4–16.0 s 机器人用右夹爪探测壁柜前方时，右手向上偏离柜前工作区，门框没有转开；log step 161 对应的脚本是柜前几何探测而非已完成的开门。推断：此处是开柜步骤的实机探索失败，后续虽转去抓杯，直至视频 60.0 s 仍未建立入柜通道，故最早未修复的步骤是打开壁柜；后续空夹没有修复它。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 15.6, + "log_step": 161, + "evidence_zh": "观察：视频 14.4–16.0 s 机器人右夹爪沿斜上方抬起，未到达柜门把手处建立开门动作；log step 161 的脚本要求沿柜前固定高度向前探测，其自身 FK 诊断输出最终位置为 [0.449,-0.337,1.377]，与命令末端 [0.75,-0.28,1.22] 明显不同。推断：结合可见偏离，判为探测末端位姿不准，不将脚本的 no stall 输出当成柜门已通畅。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：机器人控制脚本未把柜前笛卡尔目标可靠地转成实际末端运动，开柜探索因而没有形成可用的开门操作。观察：log step 161 逐次调用 ik_arm/ramp 发出前伸命令，但视频 14.4–16.0 s 右手向上偏走；agent 在 log step 162 自述伺服滞后，而 log step 145 的夹门/把手逆解诊断已报告约 0.10–0.42 m 残差。上述残差是 agent 脚本计算值，不能据此证明门在物理上不可达；仅支持控制层面未能实现目标，暂不细分逆解、运动学模型或跟踪问题。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs/ 没有 states.jsonl；外部视角能看到门未打开、两杯未离台，足以判定三个节点均未达成，但柜体及指尖相互遮挡，不能确认探测时门把手接触或抓杯时杯把的轻触方式，contact_actual 对这些接触保留未知。推断：没有独立末端真值、接触对或力数据，无法将柜前位姿偏差进一步归为运动学估计、逆解或伺服跟踪，也无法验证 agent 自述的门不可达；不据此归因任务或环境。" + }, + "summary_zh": "观察：该无重置回合中机器人进行了柜前探测和多轮抓杯动作，但门始终未转开、两杯直到视频 60.0 s 仍在台面，三个节点最终均未达成。推断：最早未修复的断点为打开壁柜的探索，视频 14.4–16.0 s 右手偏离柜前目标，结合 log step 161 的命令及诊断支持位姿不准和控制层面问题；后续空夹抬手不能计作入柜。观察：没有状态日志，指尖轻触方式及控制问题的具体子类仍有证据缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点均未达成与视频一致：0、14、16、20–43、56、60 s 帧中门体未转开，两杯始终在台面。断点（打开壁柜·探索）、位姿不准和控制根因有 log step 161 的探测输出与帧支持；未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:17:25Z", + "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_rerun3/runs/bigym2-put-cups-i00-standard--djnjqlj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/bigym2-put-cups-i00-standard--djnjqlj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec2201c506446cd17693f4ead89e4f1bc30c7712542ca45a685f6be848659966", + "video_sha256": "1ab302be92403b4cfc7e299aed3cbe395edeb4682ecd73d80a9852e131b050be", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--fgprnj7.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--fgprnj7.json new file mode 100644 index 0000000000000000000000000000000000000000..94894436d8cfcc67525554c69681ed987cb1a02d --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--fgprnj7.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--fgprnj7", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 2836, + "sim_steps": 2836, + "calls": 75, + "rows": 2836, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1077.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.193, + "peak_processes": 8, + "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-put-cups-i00-standard--fgprnj7/replay.mp4", + "duration_s": 56.76, + "fps": 25.0, + "frames": 1419, + "sha256": "d3d4638d0afcb4c78c63b67e56d964c010d6de971c89c389feeb0378cf5a76b3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.5, + "log_step": 85, + "text_zh": "观察：视频29.0–31.5 s，机器人右夹爪上举至壁柜下缘附近后向后收回，门框没有随夹爪向外转开，柜口未出现通道；log step 83、85分别执行伸向把手、闭爪和回拉。" + }, + { + "t": 35.5, + "log_step": 100, + "text_zh": "观察：视频34.0–35.5 s，机器人换左夹爪向壁柜下缘伸探，随后降手去碰杯，仍没有门板外转；视频55.5–56.72 s的最后一次上举也未形成开口。成功参考视频16.0、22.5 s在相同外部视角可见外转门框，本段始终没有该变化。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频29.0–31.0 s及34.5–35.5 s，右、左夹爪先后抵到壁柜下缘附近，抬手、抵压再收回；没有可核实的包夹把手抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双足支撑，并在伸手探门前后迈步调整站位。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47, + "log_step": 132, + "text_zh": "观察：视频46.0–47.5 s，左夹爪夹住一杯并将它提离原台面位置；另一杯仍在台面。被提杯始终在壁柜下方、柜外，没有接触柜内底层搁板。" + }, + { + "t": 48.5, + "log_step": 136, + "text_zh": "观察：视频48.0–48.5 s，被提杯脱离左夹爪、下落并碰倒另一杯；视频49.0 s一杯越过台面前缘下落，另一杯横卧在台面上。视频56.72 s，机器人仍在台面杯旁，没有任何杯子完成入柜。" + }, + { + "t": 47, + "log_step": 132, + "text_zh": "推断：本回合无重置，log step 132的control_steps=2352，按提交dt=0.02 s得到视频约47.04 s，与视频47.0 s可见的提杯核对一致；只以此核对日志动作段，节点仍按视频判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频46.0–47.5 s左二指夹爪包夹杯体，将杯子提离台面并搬到壁柜下方；视频约48.0 s失去夹持。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "双足支撑并迈步接近台面，搬杯时保持站立。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44, + "log_step": 121, + "text_zh": "观察：视频40.0–44.0 s，机器人交替向杯子所在台面伸手，两杯仍留在台面；没有同时持有两杯，也没有任何杯体到达柜内搁板。" + }, + { + "t": 56.72, + "log_step": 153, + "text_zh": "观察：视频48.25–48.5 s，下落杯碰倒台面另一杯；视频50.0、52.0、54.0、55.5、56.0、56.4及56.72 s，该杯一直留在台面，末段夹爪接近、拨动杯体但没有完成入柜，故两杯接触柜内底层的条件全程不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频56.4–56.72 s左夹爪接近并拨动台面横卧的剩余杯，杯体转动但没有送入壁柜；未见对该杯建立可确认的抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人在伸手处理剩余台面杯时由双足支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 30.5, + "log_step": 85, + "where": "操作中", + "evidence_zh": "观察：视频29.0–31.5 s机器人执行上举、回拉，右夹爪停留在壁柜下缘附近，门框没有外转；随后视频34.0–35.5 s及55.5–56.72 s换手重试仍未打开。推断：最早持续未修复的是打开壁柜，后续虽提起一杯，却一直没有建立入柜通道。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 30.5, + "log_step": 85, + "evidence_zh": "观察：视频29.0–31.5 s右夹爪在柜体下缘附近上举和收回，视频34.0–35.5 s左夹爪也伸到下缘附近，均未带出门板；参考视频16.0 s可见有效开门会使门框明显外转。推断：机器人开门时末端与门的相对位姿没有形成有效的开门操作；具体把手接触点被柜体遮挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 83、85和98、100明确以伸向把手、闭爪及回拉为目标，但视频29.0–31.5 s、34.0–35.5 s只见夹爪在柜体下缘伸缩，门始终不动；log step 100中agent也自述此前指垫平贴玻璃。证据支持开门执行与接触控制未奏效，尚不足以区分抓取几何、逆解或反馈控制子类。" + } + ], + "gap_zh": "无状态日志，柜体遮挡门把手和局部手指接触，不能核实是否曾短暂夹住把手、接触力或控制误差的具体来源。log step 155中agent自述两杯均落地，但视频50.0–56.72 s持续可见一杯留在台面；不采纳该自述，也不将其作为评分回合的物理事实。柜门是否打开则可由门框外转线索判断，并非未知。" + }, + "summary_zh": "机器人尝试开柜和抓杯，视频约47.0 s确实提起一杯，但壁柜始终没有打开，三个节点均未达成，最终0/3。最早未修复的断点是打开壁柜：夹爪在柜体下缘伸缩却未形成有效开门位姿，根因保守标为控制；后续提杯脱手并碰倒另一杯。柜体遮挡把手接触细节；agent末报称两杯落地，与视频末段仍有一杯留在台面的画面不符。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频5/15/25/30/35/42/47/48.5/52/56 s，门框全程未外转，三节点均未达成、断点在打开壁柜、47 s提杯后脱手与标签一致；根因停在控制符合判别次序；校验器通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:37:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--fgprnj7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--fgprnj7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "273e1ba3137647589a261d67ff09d46c1d0fa6e8e2a7088e0a4cb6cc240c090e", + "video_sha256": "d3d4638d0afcb4c78c63b67e56d964c010d6de971c89c389feeb0378cf5a76b3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--hn8mzom.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--hn8mzom.json new file mode 100644 index 0000000000000000000000000000000000000000..af9d2b6eeb0f5f3e3829766c2f91959501f0ceab --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--hn8mzom.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--hn8mzom", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 1077, + "sim_steps": 1077, + "calls": 21, + "rows": 1077, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3561.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.405, + "peak_processes": 6, + "peak_disk_gb": 0.262, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--hn8mzom/replay.mp4", + "duration_s": 21.56, + "fps": 25.0, + "frames": 539, + "sha256": "af320367e976f1872aa004380c624f89403043cb7d73b43ea4fcb59b1f4a4e3b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 19.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.2, + "log_step": 111, + "text_zh": "观察：视频0.0–18.2 s，机器人多次抬起左夹爪对准柜门并回撤；视频18.2 s时右侧外部视角中的门下沿尚未明显向外展开。两杯始终位于木色台面。" + }, + { + "t": 19.5, + "log_step": 124, + "text_zh": "观察：视频19.2–20.6 s，右侧外部视角可见左夹爪外拉时柜门下沿从柜底下方转出，白色门框底边逐渐形成向外伸出的窄三角形；视频20.5 s门板已转到机器人左侧。成功参考视频3.0 s及15.0 s有同样的开门下沿线索，参考仅用于辨认该结构。" + }, + { + "t": 19.5, + "log_step": 124, + "text_zh": "推断：结合视频19.2–20.6 s连续的门下沿偏转和左夹爪运动，约视频19.5 s已形成一只杯子可通过的入口，时间误差约0.5 s；开门事件此后锁存。log step 121、124、129分别提交左门外拉、继续外拉和松爪撤回，与视频顺序一致。" + }, + { + "t": 20.5, + "log_step": 129, + "text_zh": "推断：视频18.4–20.5 s门下沿随左夹爪一起转动，结合log step 111、121、124中左夹爪闭合指令及两指未达到空闭位置的本体读数，判断后段左夹爪已夹住左门把手并外拉；早段各次勾取是否形成有效钩接无法逐次确认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人后段用左二指夹爪夹住左柜门把手并外拉，随后张爪撤回；依据门随夹爪运动及闭合本体读数综合推断。末段右夹爪只移向另一门把手，未证实建立抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双足支撑地面；开门尝试期间迈步靠近台面并调整站位。" + } + ] + }, + "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，两只白色带把杯均立在木色台面上，未在上方壁柜内。" + }, + { + "t": 21.52, + "log_step": 129, + "text_zh": "观察：全片逐秒查看以及视频18.0–21.4 s每0.2 s、最后一秒每0.1 s查看，至视频21.52 s末帧，两只杯子一直留在原台面，未被夹爪带起或搬至柜内。机器人末段撤回左手并抬右手对准柜门；log step 129提交的也是释放左门和右手预抓门把动作。因此未出现至少一只杯接触柜内底层搁板的状态。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两只白色带把杯均立在木色台面上，未在上方壁柜内。" + }, + { + "t": 21.52, + "log_step": 129, + "text_zh": "观察：全片逐秒查看以及视频18.0–21.4 s每0.2 s、最后一秒每0.1 s查看，至视频21.52 s末帧，两只杯子一直留在原台面，未被夹爪带起或搬至柜内。机器人末段撤回左手并抬右手对准柜门；log step 129提交的也是释放左门和右手预抓门把动作。因此未出现两只杯接触柜内底层搁板的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cups_in_cabinet_1", + "t": null, + "log_step": 129, + "where": "首步前", + "evidence_zh": "观察：视频约19.5 s一扇门已经打开；视频20.6–21.52 s机器人左爪离开门把，右爪转向另一扇门把手，两只杯子仍在台面，没有开始抓杯或搬杯。log step 129是最后一次实际提交动作；log step 131–139继续计算右门把手和右臂逆解，没有后续搬杯动作。第1杯入柜尚未启动，无可定位的单次搬杯失败时刻。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 21.0, + "log_step": 129, + "evidence_zh": "观察：视频0.0–21.52 s机器人操作的是柜门，双杯始终位于台面；视频约19.5 s开门节点达成后，机器人继续准备操作另一扇门，至末帧仍未向任一杯实施抓取、抬升或搬运。log step 129也明确提交右门把手预抓动作。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs中没有状态日志；柜体遮住把手接触细节和柜口上部，开门时刻及后段抓握方式需结合门下沿连续偏转与日志本体读数推断。run.json的task_text为空，所有步骤say为空，无最终自述；log step 129后只有右门逆解等计算，未记录为何没有启动搬杯。此前左门操作后来已完成，不能把已修复的开门接触偏差当作搬杯失败现象；现有证据不能进一步确定未尝试搬杯的认知或控制根因，故根因层留空。" + }, + "summary_zh": "机器人在视频约19.5 s拉开一扇壁柜门（综合推断），完成1/3个节点；两只杯子至视频21.52 s末帧仍在台面，断点保留为第1杯入柜的首步前，现象为没尝试，根因证据不足。复核视频18.0–21.52 s右视角及成功参考视频3.0–15.0 s，柜底三角边随外拉出现，参考视频15.0 s同样主要露出柜底三角边；结合log step 111、121、124的闭爪指令和持续未空闭的本体读数，保留开门及抓握推断，但没有门关节角度或入口宽度测量，仍不能决定性排除审查所提的小角度开启解释，依复核规则6将置信度由7降至6。", + "conf": 6, + "review": { + "status": "disputed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "视频中柜门在整段内未见转开：左视角门板轮廓与0 s、17 s、20 s、21.5 s基本一致，没有成功参考15 s那样的转开侧边与入口；右视角门下沿的变化不足以支持“门已开”。cabinet_opened=true（约19.5 s）是对细微偏转的推断，证据不足，应改为未达成，进度0/3，断点应落在 cabinet_opened（操作中），而不是第1杯入柜首步前。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "cabinet_opened=true 证据不足：视频21.5 s右视角柜底下方仅有一条很窄的白色细边（视频18 s无），远小于成功参考15 s明显外转的门板；左视角门面在17 s与21.5 s轮廓一致，看不到柜口。标准要求‘足以让杯子通过的入口’，该线索不能支持，应判未达成（推断且无独立证据）。进度应为0/3，断点为 cabinet_opened（操作中）。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "fix", + "summary_zh": "两条 reject 均不成立：视频21.5 s 右视角仅见柜底一条窄白边，左视角门面与18 s 一致，远不及成功参考15 s 的外转门板，入口形成无可见证据（写手自己也承认入口宽度未测量）；按 DECISIONS N8，参考中可见的线索在本次缺失应判 false。", + "n_issues": 3, + "n_checks": 2 + } + ], + "open_zh": [ + "[I1·第3轮未确认] 自行复看：视频18 s 与21.5 s 左视角门面基本不变，右视角21.5 s 只有窄细边；成功参考15 s 门板明显外转。窄边与本体读数只能推断门被轻拨，不能支持足以过杯的入口，cabinet_opened 应为 false、进度0/3。", + "[I2·第3轮未确认] I2 的拒绝依赖于开门已达成；该前提不成立，断点应落在 cabinet_opened（操作中），而非首步前的第1杯入柜。", + "[第3轮事实错误] progress.nodes.cabinet_opened：intervals [19.5, null] / final true 与帧不符：未见可容杯入口。" + ], + "confirm": { + "verdict": "not_confirmed", + "summary_zh": "两条 reject 均不成立：视频21.5 s 右视角仅见柜底一条窄白边，左视角门面与18 s 一致，远不及成功参考15 s 的外转门板，入口形成无可见证据（写手自己也承认入口宽度未测量）；按 DECISIONS N8，参考中可见的线索在本次缺失应判 false。", + "checks_ok": "0/2", + "n_factual_errors": 1 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:03:29Z", + "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-put-cups-i00-standard--hn8mzom/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--hn8mzom/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--hn8mzom/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--hn8mzom/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--hn8mzom/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--hn8mzom/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2627f505a39ca455cbea9ac5d74533aae0b22c7e63b2c91246d332786a4d0bcc", + "video_sha256": "af320367e976f1872aa004380c624f89403043cb7d73b43ea4fcb59b1f4a4e3b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--lyvg9e2.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--lyvg9e2.json new file mode 100644 index 0000000000000000000000000000000000000000..dc692f22983b60a03e01169cd53b3801dea94f52 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--lyvg9e2.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--lyvg9e2", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 62, + "rows": 2910, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2007.2, + "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-put-cups-i00-standard--lyvg9e2/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "c361e0fdd1989915558ae3b7c12c62db854383dbbf7e7a4f3dbed00cacd12baf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 壁柜门框未向外偏转，两杯均在木色台面。" + }, + { + "t": 6.0, + "log_step": 34, + "text_zh": "观察：视频 3.8–6.0 s 机器人双夹爪在柜前闭合后收回，柜门没有随手转开；视频 8.4–13.0 s 的再次接近、后拉和向两侧分手也没有产生开口。log step 34、49、53 分别记录拉门及扩大开门动作；这些是动作命令，不是开门结果。" + }, + { + "t": 13.0, + "log_step": 55, + "text_zh": "观察：agent 在 log step 55 自述“两扇门已位于两侧，开口清楚”，随后转向取杯；本次视频 13.0 s 仍无外转门框。成功参考 inputs/oracle/replay.mp4 的视频 7.0 s 可见外转门板伸出柜体，说明相同外部视角能够显示开门变化；参考仅用于辨认外观。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：本次视频全程粗查、视频 0.0–16.0 s 加密检查及视频 59.0–60.0 s 末秒检查，均未见可通过杯子的柜门开口，开门事件未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.8–6.0 s、8.4–13.0 s 双臂同时伸向柜门、闭爪并后拉，但柜体遮住手指与把手交界；无法确认有无擦碰及其方式，不能把闭爪命令记为实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–13.0 s 机器人双足承重，支撑双臂接近和拉门动作。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": 70, + "text_zh": "观察：视频 15.0–21.0 s 机器人双手在杯旁闭合并抬手，两只杯体仍立在原台面，没有随夹爪升起。log step 67、70 的“抓两杯”“抬杯验证”只是命令；闭合状态不能证明持杯。" + }, + { + "t": 33.0, + "log_step": 137, + "text_zh": "观察：视频 21.0–33.0 s 机器人继续将双手抬向壁柜再收回，但两只杯子均留在木色台面，未见杯子进入柜内或接触底层搁板。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 43.0–58.5 s 机器人多次接近杯子、闭爪和抬手，两杯仍在台面；视频 59.0–60.0 s 两杯也清楚可见于台面，故至少一杯接触柜内底层搁板的条件从未成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 15.0–21.0 s 双臂分别接近两杯并闭爪，后段也反复用左右夹爪尝试；杯体未随手升起。手指与杯壁交界受手部及台边遮挡，无法确定擦碰或夹持方式，不记为已抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 15.0–60.0 s 双腿承重，并在反复接近杯子、退开及重新对准台面时迈步调整。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": 67, + "text_zh": "观察：视频 15.0–21.0 s 机器人同时尝试两杯，双夹爪闭合、抬起后两杯仍在台面；未见双杯运输。" + }, + { + "t": 60.0, + "log_step": 216, + "text_zh": "观察：视频 48.0–60.0 s 的末段取杯和抬右手动作中，两杯始终位于木色台面；log step 216 虽命令“放下并释放右杯”，画面没有杯子随右手进入壁柜，两杯接触柜内底层的条件未成立。评分器 live_success=0、replay_success=0 与此相符，但不以零分单独判定节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 15.0–21.0 s 双臂分别接近两杯并闭爪，后段也反复用左右夹爪尝试；杯体未随手升起。手指与杯壁交界受手部及台边遮挡，无法确定擦碰或夹持方式，不记为已抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 15.0–60.0 s 双腿承重，并在反复接近杯子、退开及重新对准台面时迈步调整。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 5.0, + "log_step": 34, + "where": "操作中", + "evidence_zh": "观察：视频约 5.0 s 机器人闭爪后将双手从柜门方向收回，门框没有随之转开；视频 8.4–13.0 s 重试后仍无开口，随后开始取杯直到视频 60.0 s 都未修复开门步骤。log step 39 也承认首次后拉未见开门，log step 55 则错误地宣称已打开并转向下一步。因此首个未修复失败是打开壁柜。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.0, + "log_step": 34, + "evidence_zh": "推断：视频 3.8–6.0 s 双夹爪闭合、后拉时手与柜门分离而门框不动，视频 8.4–13.0 s 再次后拉和分手也未带动门板；结合 log step 38、46 中两爪闭至约 -0.020 的手指位置，未建立能牵引柜门的有效夹持。没有先持住门板后脱落的可见阶段；是否有短暂擦碰仍无法确认。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "log_step": 55, + "evidence_zh": "推断：agent 在 log step 55 明确把柜门判断为“两扇门已位于两侧、开口清楚”，并据此释放双手、转向取杯；但本次视频 12.0–15.0 s 门框并未外转，成功参考视频 7.0 s 则清楚显示外转门板。log step 102 又称门保持打开；这一错误的柜门状态估计使未完成的开门步骤被跳过，后续没有修复。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志；外部两视角的柜体遮挡了把手与手指的接触细节，无法分清最初空夹源于末端定位、手指朝向还是接触几何，也无法确定有无轻微擦碰，故 contact_actual 的上肢接触保留未知，不细分物理控制根因。开门状态和两杯始终留在台面的结论有可见线索，不受该接触遮挡影响。" + }, + "summary_zh": "机器人尝试拉开壁柜并反复取两杯，但视频未见柜门外转，两杯始终留在台面，三个节点均未达成。首个未修复失败为打开壁柜：未建立有效牵引接触，agent 又在 log step 55 误判门已打开而转向取杯。缺少状态日志且把手接触被柜体遮挡，具体接触方式和物理控制子因无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0、6、13、59 s 两视角：柜门始终未外转，两杯始终在台面，三节点未达成、断点为打开壁柜均与画面一致；接触标为未知、感知根因有日志与画面支撑，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:49:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--lyvg9e2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--lyvg9e2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd967eb6c9cec699c1b733b8fe61c0eaed412cf872873746216478353b54aeb1", + "video_sha256": "c361e0fdd1989915558ae3b7c12c62db854383dbbf7e7a4f3dbed00cacd12baf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mduwtas.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mduwtas.json new file mode 100644 index 0000000000000000000000000000000000000000..e07362ddf836417aaab4ad2b9ee4b58b4d31df82 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mduwtas.json @@ -0,0 +1,302 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--mduwtas", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 1983, + "sim_steps": 1983, + "calls": 100, + "rows": 1983, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1609.5, + "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": 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-put-cups-i00-standard--mduwtas/replay.mp4", + "duration_s": 39.68, + "fps": 25.0, + "frames": 992, + "sha256": "0d21421bc2de26840679565338929953169c6e923bc95f7a42bbb81e671e7c1d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 10.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.8, + "log_step": 40, + "text_zh": "观察：对比视频 0.2 s 和视频 9.2–12.4 s 的右外部视角，初帧柜底是连贯的深灰平面；视频 9.6–10.4 s 柜底下方已多出白色三角状下缘，视频 10.6–11.2 s 靠机器人头部的竖直灰色玻璃门框逐渐转出，门框下端与柜体侧面分离，视频 12.4 s 仍在。视频 31.0 s 也仍可见这一竖框；不是视频 0.2 s 就有的固定柜边。成功参考 inputs/oracle/replay.mp4 视频 6.0、16.0 s 的右视角显示相似的外转门下缘和竖框，仅用于辨认构件。左视角的大块实心白板在参考视频开门后仍然存在，不能仅凭该白板未变判定本次门一直闭合。" + }, + { + "t": 10.8, + "log_step": 40, + "text_zh": "推断：视频 10.6–11.2 s 的门框偏转比视频 9.6 s 的局部下缘更能支持已有杯子通道，将到达导航时刻改为视频约 10.8 s，约半秒精度；柜口整体受遮挡，首次足够宽的准确时刻仍为几何推断。视频 35.2–36.4 s 台面投影、柜体侧面宽度及机器人朝向也同时变化，左视角逐渐显出玻璃门，不能将显露直接等同首次开门。inputs/run.json log step 40 的双臂弧线动作结束时服务累计为 560 控制步，log step 3 给出 control_dt=0.02，log step 115 累计 1983 步与视频时长吻合；560 步对应视频 11.2 s 双臂外展位置，故只用作控制步对应核对，未转换 agent 工作时间，也未用 agent 的开门自述认定节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 9.2–12.4 s 两夹爪在柜门附近向两侧移动，右视角可见门框转出；但逐侧手指与把手的对向接触点被柜体和画面上缘遮挡，不能分清夹持、勾拉或其他接触方式。log step 38–40 的闭爪指令及手指角反馈不能单独证明实际抓握，故删除双臂协作×抓握的确定标签。视频 35.6–36.0 s 左夹爪持杯靠近柜口，也未看清杯、夹爪或手臂与门的接触，不能据此认定首次开门方式。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚在地面支撑身体，配合双臂在壁柜门旁的操作。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 32.4, + "log_step": 86, + "text_zh": "观察：视频 32.0–33.6 s，机器人两手接近台面杯子，右夹爪附近的一杯被碰翻并滚到台面前部，另一杯仍直立。此时未见任何杯子进入壁柜。" + }, + { + "t": 35.6, + "log_step": 98, + "text_zh": "观察：视频 35.2–35.76 s，左夹爪夹住另一杯并将其从台面抬起，杯子随夹爪转动；视频约 35.84 s 后杯子及左夹爪受白色柜体遮挡。视频 36.8 s 左视角玻璃门后可见一只横向倾斜的白杯轮廓，视频 37.2–37.6 s 该轮廓下移、逐渐难以分辨；台面仍可见先前倒下的一杯。杯底与柜内底层搁板是否接触，在这些帧的左右视角均未看清。" + }, + { + "t": 39.64, + "log_step": 116, + "text_zh": "推断：视频 36.8 s 的门后杯影支持杯子已被抬到柜口附近、部分进入门后投影区域，但不证明其接触底层搁板；视频 38.0、38.4、39.0、39.4、39.64 s 的杯子位置和底层接触面仍被门、柜体或手臂遮挡，不能确认首次接触、失去接触或末态成立。agent 在 log step 116 自述杯子滑落、两杯均未入柜，不是可信的逐杯接触读数；没有状态日志或逐杯评分字段，故不能把杯影、台面少一杯或自述变为本节点真值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 35.2–35.76 s，左二指夹爪夹住仍直立杯子的杯口附近，杯体离开台面并随夹爪抬升、转动。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频约 32.4 s，机器人右夹爪在接近另一杯时碰动杯体，杯子随后倾倒并在台面滚动；没有形成对该杯的抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑身体，搬杯尝试期间迈步并调整躯干与台面间的位置。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.6, + "log_step": 86, + "text_zh": "观察：视频 32.4–33.6 s，被右夹爪碰动的一杯倒下并滚向木色台面前部；左夹爪随后只抬起另一杯，未把倒杯带走。" + }, + { + "t": 39.64, + "log_step": null, + "text_zh": "观察：视频 33.6–39.64 s，倒杯一直横躺在木色台面上；末秒视频 39.0、39.4、39.64 s 均仍可见它，故两杯同时接触柜内搁板的条件确定不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人原先两臂分别接近两杯，右夹爪在视频约 32.4 s 碰翻其中一杯；该杯留在台面，未见右夹爪将它夹起。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚在地面支撑并调整站位，配合两臂接近台面两杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cups_in_cabinet_1", + "t": 32.4, + "log_step": 86, + "where": "操作中", + "evidence_zh": "观察：视频 10.6–12.4 s 右视角已有与柜体分离的外转门框；视频约 32.4 s 右夹爪接触台面其中一杯并将其碰翻，杯子随后一直留在台面。视频 35.2–35.6 s 左夹爪抬起另一杯，视频 36.8 s 左视角玻璃门后可见该杯轮廓，但底层搁板接触未能确认。推断：仍取第1杯入柜步骤的可见碰倒事件作为导航断点，开门事件后续已有完成证据，不是最终未修复步骤；不能由左视角视频约 36 s 才显出门框推定此前搬杯时门闭合。第1杯后续是否因另一杯而短暂完成仍有证据缺口，故断点确定性受限。" + }, + "unmet": { + "cups_in_cabinet_1": null, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 32.4, + "log_step": 86, + "evidence_zh": "观察：视频 32.0 s 两杯仍直立；视频 32.4 s 机器人右夹爪接近杯体时，一杯向外倾斜，视频 32.8–33.6 s 该杯翻倒并滚到台面前部，直至视频 39.64 s 仍未移入柜内。此处可见接触导致目标杯被碰倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 32.0–33.6 s 机器人右手接近时碰翻杯子，而未建立可搬运该杯的夹持；log step 81、87 中右臂指令与实测关节角持续不一致，例如 log step 87 右肩俯仰指令约 -2.029 rad、实测约 -1.248 rad。末端接近及接触执行未能稳定实现抓杯动作，支持控制层归因；现有证据不足以将其细分为接触设计、碰撞轨迹或反馈控制。" + } + ], + "gap_zh": "没有状态日志或逐杯搁板接触读数。视频 36.8 s 玻璃门后可见白杯轮廓，但杯底与底层搁板接触仍不可见，视频 37.2–39.64 s 也不足以判定是否接触、失去或保持接触，故第1杯节点保留 unknown，且不据 agent 在 log step 116 的滑落自述添加“没保持住”。断点仍用视频约 32.4 s 的可见碰倒事件导航，后续是否以另一杯完成该计数节点的局部修复无法核实；总成功 0 不能决定单杯真值。开门的实际接触方式改为未知；视频约 10.8 s 通道形成仍含遮挡下的几何推断。复核与审阅者对门框构件及视频约 36 s 视角变化的解释仍有分歧：视频 10.6–12.4 s 右视角已有分离竖框，与成功参考视频 6.0、16.0 s 相符；但缺少门角度或完整柜口近景，无法将首次通道时刻判得更精确。" + }, + "summary_zh": "右视角视频 10.6–12.4 s 已可见外转门框，将开门通道的估计到达时刻由视频 9.6 s 调整为视频约 10.8 s，开门接触方式改为未知；不采用视频约 36 s 才首次开门的解释。机器人在视频约 32.4 s 用右夹爪碰倒一杯且未将它移入柜内，断点仍取第1杯入柜，控制归因由可见碰倒及日志右臂指令与实测偏差支持。另一杯在视频 36.8 s 的玻璃门后可见，但搁板接触与局部修复无法确认；首次通道时刻仍有遮挡推断及审阅分歧，故 conf 从 5 降为 4。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "cabinet_opened 的时间错误：视频 9.6–35.2 s 左外部视角柜门始终闭合，门框只在约 36.0 s 才转开，而不是 9.6 s；对应的接触标签（双手抓握把手）也无画面支持。第1杯节点的证据也漏了 36.8 s 起玻璃门后可见的杯影，断点说明需随之改写。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "cabinet_opened 的时间仍然错：视频 0.2 s 初帧与 9.6、12、20、31、35.2 s 的左外部视角柜体正面完全一样（闭合白板，无玻璃门/门把），右视角也无成功视频 6 s 那样外转的门；门框和玻璃门首次出现在视频 35.6–36.0 s（左手抬杯靠近柜口时），36.4 s 起清楚可见。第二轮标注者未提供新证据就保留 9.6 s，开门接触（双臂抓握把手）也无画面支持，断点说明、summary 须随之改写。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "四个 round-2 问题的回应均成立：我独立查看视频帧，右视角在 10.8–12.4 s 与 31 s 确有初帧没有的、与柜体分离的竖直门框，故 10.8 s 的通道估计、接触改为未知、断点保留第1杯、summary/gap/conf 的修订都与帧一致，且未破坏其他字段。", + "n_issues": 0, + "n_checks": 4 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "四个 round-2 问题的回应均成立：我独立查看视频帧，右视角在 10.8–12.4 s 与 31 s 确有初帧没有的、与柜体分离的竖直门框，故 10.8 s 的通道估计、接触改为未知、断点保留第1杯、summary/gap/conf 的修订都与帧一致，且未破坏其他字段。", + "checks_ok": "4/4", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:03:25Z", + "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-put-cups-i00-standard--mduwtas/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mduwtas/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mduwtas/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mduwtas/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mduwtas/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mduwtas/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "187e6ba177b0f9833811a53ab978d4315c124bfe5a3005b3d84d5e748caa5930", + "video_sha256": "0d21421bc2de26840679565338929953169c6e923bc95f7a42bbb81e671e7c1d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mwkdnfj.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mwkdnfj.json new file mode 100644 index 0000000000000000000000000000000000000000..4b517af6d00c33501456e3113f11d55a46361c43 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--mwkdnfj.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--mwkdnfj", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 97, + "rows": 3000, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2242.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-standard--mwkdnfj/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "3142ebc1960c5ecc618ee1caaf1a65164b34b09cf0b8f84714ee6b0646dce523" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.7, + "log_step": 43, + "text_zh": "观察：视频 13.4–19.2 s 机器人右夹爪在头前合拢并向外撤，未夹住可见门把，也未带出玻璃门框；左右外部视角的柜体轮廓没有出现开启变化。log step 43 的脚本执行的是接近门把、合爪、外拉、松开的开门序列。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 0–60.0 s 的全程粗查、开门段密查及视频 59.0–60.0 s 的末秒画面，均未出现柜门外转形成入口的形态；成功参考视频 16–22 s 的相同视角则能看到外伸玻璃门框。参考仅用于识别开启形态，本回合打开壁柜未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 13.4–19.2 s 右夹爪空合并外撤，没有可确认的门把钳夹；柜体遮挡部分门把区域，无法确认是否有短暂擦碰，因此不记为实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 13.4–19.2 s 机器人双足着地，双腿承重，支撑右臂的开门尝试。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.5, + "log_step": 45, + "text_zh": "观察：视频 21.0–24.5 s 机器人左夹爪向台面杯子伸出、合拢并抬回，杯子仍在原台面，抬回的夹爪没有携杯；视频 25.0–30.5 s 以及视频 38–41 s 的后续伸手也没有将杯子带离台面。" + }, + { + "t": 60.0, + "log_step": 58, + "text_zh": "观察：视频 50.0–54.5 s 左臂再次朝杯口下探后抬向壁柜，杯子留在台面；视频 59.0–60.0 s 左外部视角仍可同时看到两只杯子立在木色台面，没有任何一只进入上方壁柜。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 21.0–30.5 s、视频 38–41 s 和视频 50–54.5 s 左夹爪接近杯口后空手抬回；两指与杯沿的细小间隙无法看清，不能确认短暂擦碰或钳夹，不把合爪命令记为实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 20–30.5 s 和视频 50–54.5 s 机器人双足承重并调整站位，支撑左臂取杯及向柜方向抬臂的尝试。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": 58, + "text_zh": "观察：视频 54.5–58.5 s 机器人换右臂执行下探、合爪及抬臂动作，但右夹爪没有携杯；左外部视角中两杯均留在台面。" + }, + { + "t": 60.0, + "log_step": 59, + "text_zh": "观察：视频 59.0–60.0 s 机器人收回双臂，两杯仍同时立于原台面；没有两杯接触壁柜底层的画面。log step 59 的在线服务返回 done=True、reason=failed、outcome=timeout，control_steps=3000；节点为假依据杯子位置，而非仅依据失败评分。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 54.5–58.5 s 右夹爪执行另一次取杯及向柜抬臂尝试，未见杯子被夹起；杯沿与手指接触处不足以分辨短暂擦碰，实际接触方式未知。左右臂依次尝试，未见双臂同时持杯。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 54.5–58.5 s 双足着地、双腿承重，支撑右臂的取杯及抬臂动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 15.7, + "log_step": 43, + "where": "操作中", + "evidence_zh": "观察：视频 13.4–19.2 s 机器人执行右爪合拢、外拉、松开的开门尝试，但夹爪空撤，玻璃门框未随之转开。视频后续至 60.0 s 未见开门修复；随后左右臂抓杯也均未带起杯子。因此最早尝试而一直未完成的步骤是打开壁柜。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 15.7, + "log_step": 43, + "evidence_zh": "观察：视频 14.9–18.9 s 右夹爪合拢后在头前向外拉走，爪内未夹住门把，门框没有随手转动；没有建立开门所需的有效夹持接触。此处不排除被遮挡区域的瞬时擦碰，也不是抓住后脱落。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "t": 19.2, + "log_step": 45, + "source_zh": "日志", + "evidence_zh": "推断：agent 在 log step 44 自述门把抓取为空；到 log step 45 却把同一空夹读数解释为“柜口可进入，门已打开或移开”，随即执行行走和抓杯，不再修复开门步骤。视频 13.4–19.2 s 没有门框外转，且与成功参考视频 16–22 s 的开启形态不同；这一错误完成判断导致未完成的开门被跳过。" + } + ], + "gap_zh": "没有模拟器状态日志。柜体遮挡部分门把、柜内及细小指尖接触，故尝试节点的末端接触标为未知，未将空合记成抓握；但柜门外转形态缺失、两杯始终留在台面，足以判定三个节点均未达成。证据能确定错误开门完成判断导致放弃修复，不能进一步区分首次空夹的门把定位、运动学标定、逆解或接触几何原因；不据 agent 最终自述认定杯径、不可达或具体碰撞力。" + }, + "summary_zh": "本回合三个节点均未达成：右爪开门尝试未建立有效夹持，门框未转开，随后左右臂多次取杯也未将任一杯带离台面，最终为 0/3。最早未修复断点是打开壁柜；agent 将空夹误解为柜口已经开放，转去抓杯，在线服务最终用完 3000 个控制步并判失败。没有状态日志，门把及指尖细小接触部分遮挡，首次空夹的具体底层原因无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三节点均未达成、断点为打开壁柜、没建立接触与误以为完成均与视频及日志一致；视频中柜门全程闭合，两杯留在台面。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:51:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mwkdnfj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--mwkdnfj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bb12ecfe7efa027853568943b149b98f4aa27174e10a4a3185dd7da8802f4d00", + "video_sha256": "3142ebc1960c5ecc618ee1caaf1a65164b34b09cf0b8f84714ee6b0646dce523", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--sunynla.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--sunynla.json new file mode 100644 index 0000000000000000000000000000000000000000..00e43bb1a45785e76c214fead5b0c21108baad9e --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard--sunynla.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard--sunynla", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 101, + "rows": 3000, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1571.0, + "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-put-cups-i00-standard--sunynla/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "fd4d57533b9e58a6a3e457ee0ff65336917c5325caa35fc3c837ecfd3340e861" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 12.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频首帧两杯在木色台面，壁柜门关闭。" + }, + { + "t": 12.4, + "log_step": 30, + "text_zh": "观察：视频 11.6–14.4 s 机器人左夹爪外拉，柜门下缘及门框持续向外偏转，视频约 12.4 s 已露出可通杯的入口，随后继续开大并松手；此事件不因后来门的变化撤销。成功参考视频约 3–6 s 具有相同的门框偏转外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：左二指夹爪夹住柜门把手外拉，门随夹爪沿铰链转动；依据视频 10.8–14.4 s 及 log step 28–32 的闭爪、拉门与松爪操作。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双足支撑，机器人在对准把手和开门时迈步调整站位。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 21.6, + "log_step": 42, + "text_zh": "观察：视频 21.2–22.4 s 左夹爪把一杯从台面抬起，另一杯仍在原台面；视频 23.2–28.8 s 所持杯位于柜底下方，杯口顶在柜体下沿，未进入搁板上方。" + }, + { + "t": 34.0, + "log_step": 66, + "text_zh": "观察：视频 29.6–32.4 s 两杯均回到台面；视频 33.2–33.8 s 左夹爪再次抬起一杯，视频 34.0 s 杯子脱离夹爪落回台面。" + }, + { + "t": 54.6, + "log_step": 95, + "text_zh": "观察：视频 53.6–54.6 s 一杯在左夹爪前倾转后下落到台面后沿以下，另一杯仍立在台面；随后机器人只取走台面剩余杯。" + }, + { + "t": 60.0, + "log_step": 101, + "text_zh": "观察：视频 58.4–58.96 s 左夹爪确实携带剩余杯离开台面；视频 59.04–60.0 s 杯体进入白色柜体遮挡区，两外部视角均看不见杯底与底层搁板的接触。成功参考视频 30–35.92 s 也遮挡柜内杯体，因而本次不能由台面空了或总失败推断单杯搁板关系；末段是否首次达成本节点及精确时间未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪先夹持杯把附近并搬起杯子，后在杯口附近浅夹再抬起，末段又夹持剩余杯搬离台面；视频 21.2–28.8 s、33.2–33.8 s、58.4–58.96 s 可见杯随夹爪运动。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：多次取杯调整中，夹爪推移、拨转台面上的杯子；视频 32.6–33.0 s 和 51.8–52.6 s 可见杯体倾转。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双足承重，在取杯、撤离柜体和再次接近台面时前后迈步。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.2, + "log_step": 90, + "text_zh": "观察：视频 21.6–28.8 s 只有一杯离台面，视频 29.6–52.6 s 两杯又在台面或台面附近；机器人虽改用右夹爪接近直立杯并用左手调整另一杯，未见两杯同时进入柜内。log step 90 的右手转移持杯是 agent 的说法，视频 52.2–52.6 s 仍显示两杯在台面，不能据此记入柜。" + }, + { + "t": 54.6, + "log_step": 95, + "text_zh": "观察：视频 54.4–54.8 s 一杯从机器人左手前落至台面后沿以下，视频 55.0–58.2 s 另一杯仍在台面，视频 58.4 s 后只见机器人搬运这只剩余杯，未见回收下落杯。推断：即便视频末段被遮挡的杯子已接触搁板，也至多一杯，故两杯同时接触底层的本节点为假；此判断依据物体运动，不是由零分反推。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人另用右夹爪接近台面直立杯，视频 51.8–52.6 s 接触调整使杯体倾转、移位，没有稳定携杯入柜；这里记录对另一杯的实际操作，不将计数节点绑定固定实例。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双足在机器人改换夹爪及对准另一杯时承重并调整站位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cups_in_cabinet_1", + "t": 23.2, + "log_step": 46, + "where": "操作中", + "evidence_zh": "观察：视频 21.6 s 机器人已提起一杯，视频 23.2–28.8 s 却把杯口顶在壁柜下沿，杯体一直在柜底以下，随后杯回到台面；视频 33.8–34.0 s 再次抬杯又滑落。推断：第1杯入柜是最早未确认修复的失败步骤，后续换手和再抓不等于完成该步；视频末段杯体遮挡使最终单杯关系仍未知。" + }, + "unmet": { + "cups_in_cabinet_1": null, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 23.2, + "log_step": 46, + "evidence_zh": "观察：视频 23.2–28.8 s 左夹爪所持杯的上缘抵住柜体底面/下沿，机器人数次抬臂和后退仍未把杯体升到搁板上方；视频 29.2–29.6 s 杯子降回台面。这是可见的柜体阻挡接触。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 34.0, + "log_step": 66, + "evidence_zh": "观察：视频 33.2–33.8 s 左夹爪已经带杯离开台面，视频 34.0 s 手继续抬高而杯子脱离并落回台面；log step 64 闭合左夹爪后，log step 65–66 的撤回和抬高手臂指令均未打开夹爪。推断：此处是搬运中失持，未在目标搁板上计划释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 23.2–28.8 s 的持杯抬升被柜体阻住，以及视频 33.8–34.0 s 闭爪搬运中的失持，说明搬杯控制没有同时维持柜体净空和稳定持杯。日志也显示 agent 的脚本虽在 log step 46 解出抬升目标，实际关节与目标不一致（log step 47），随后反复改变撤回、抬升及补偿指令（log step 48–57）仍未使杯子越过下沿；这里只归于控制，不把这些现象进一步断言为某个已证实的参数或感知错误。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志、杯体位姿或接触力记录。视频 59.04–60.0 s 最后所持杯在两外部视角均被柜体遮住，成功参考视频也显示同一区域遮挡，无法判定它是否接触底层搁板或何时接触；因此第1杯节点保留未知，不能从总失败判假。已见的早期阻挡和失持有视频证据，但不足以进一步区分碰撞路径、夹持几何与关节跟踪的各自贡献，根因保留在控制大类。" + }, + "summary_zh": "机器人在视频约 12.4 s 打开壁柜，随后曾搬起杯子，但先在柜体下沿受阻，后又在抬杯时失持；最早未确认修复的步骤是第1杯入柜。视频 54.6 s 一杯落离台面且未被回收，因而第2杯入柜为假；末段另一杯被抬入柜体遮挡区，缺少搁板接触证据，第1杯终值未知，三个节点中仅开门已确认完成。评分器记录在线与回放均失败，日志最终记录控制回合结束，不能将控制步用尽本身当作失败原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（开门真、第1杯未知、第2杯假）、断点（第1杯入柜，操作中）、被挡/碰撞与没保持住现象、控制根因均与抽查帧一致，未发现需要修改的错误；时钟均标明为视频时间。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:51:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--sunynla/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard--sunynla/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5c8cb1d57bc25dd403da321df01a312e62b2647aa94280f030e8032aaf404212", + "video_sha256": "fd4d57533b9e58a6a3e457ee0ff65336917c5325caa35fc3c837ecfd3340e861", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--7zymgza.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--7zymgza.json new file mode 100644 index 0000000000000000000000000000000000000000..d600d9c82ed32b2ad708420c9cc5b903ab3417fc --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--7zymgza.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--7zymgza", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 588, + "rows": 4688, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1603.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.993, + "max_lag_s": 0.0666, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 26, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.893, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.31, + "peak_processes": 10, + "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-standard-realtime--7zymgza/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "bb943342f19f555ee20733ca87ae3b1aecf5694d0f6119fe0b2a980bf8d134ad" + }, + "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 壁柜未见外转的玻璃门框；两杯均在下方木色台面。" + }, + { + "t": 18.0, + "log_step": 42, + "text_zh": "观察：视频 13.0–27.5 s 机器人先后抬起两夹爪到壁柜正面，合拢后向外、向侧方撤动；左右外部视角始终未见门框转开形成入口。log step 42 的控制器记录包含 handles 重试及最终四个手指关节均约 -0.02 的读数。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 28.0–60.0 s 未再出现柜门外转；成功参考视频 3.0 s 和 15.0–21.0 s 在相同外部视角可见伸出柜体的门框，本次视频没有该开启线索。参考只用于辨认开启外观。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 13.0–27.5 s 左右夹爪先后伸向柜门并有重叠操作，手指与把手之间被柜体遮挡；不能确认实际触门、夹住或勾住把手，不能将合拢动作直接算作抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 13.0–27.5 s 机器人双足支撑，迈步调整身体与壁柜的距离，同时双臂尝试开门。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0.0–32.0 s 两杯均留在木色台面；视频 32.0–35.5 s 机器人两夹爪分别靠近两杯并合拢，两杯发生倾斜和短暂上移，但未到壁柜搁板高度。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 37.5–40.5 s 机器人夹爪在杯口附近移动，两杯先后倾倒；视频 40.5–41.5 s 左外部视角可见一杯从台边落向地面，另一杯侧躺在台面。未见任一杯进入壁柜。" + }, + { + "t": 60.0, + "log_step": 45, + "text_zh": "观察：视频 42.0–60.0 s 一杯持续侧躺台面，机器人空夹爪升至壁柜附近，未将杯子送入柜内；末秒视频 59.0、59.2、59.4、59.6、59.8、60.0 s 保持同样关系。log step 45 的服务状态为 control_steps=3000、done=true、reason=failed；节点未达依据为杯子轨迹，非仅据失败评分。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 34.0–40.5 s 两夹爪分别抵碰两只杯子的杯口/把手附近，带动杯子倾斜、移动并翻倒；没有足够可见的对向夹持证据，不记为抓握。两个计数节点对应这次同时操作两杯的尝试。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 30.0–46.0 s 双足承重并迈步靠近台面、随后后退，配合两夹爪取杯及空手上举。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0.0–32.0 s 两杯均留在木色台面；视频 32.0–35.5 s 机器人两夹爪分别靠近两杯并合拢，两杯发生倾斜和短暂上移，但未到壁柜搁板高度。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 37.5–40.5 s 机器人夹爪在杯口附近移动，两杯先后倾倒；视频 40.5–41.5 s 左外部视角可见一杯从台边落向地面，另一杯侧躺在台面。未见任一杯进入壁柜。" + }, + { + "t": 60.0, + "log_step": 45, + "text_zh": "观察：视频 42.0–60.0 s 一杯持续侧躺台面，机器人空夹爪升至壁柜附近，未将杯子送入柜内；末秒视频 59.0、59.2、59.4、59.6、59.8、60.0 s 保持同样关系。log step 45 的服务状态为 control_steps=3000、done=true、reason=failed；节点未达依据为杯子轨迹，非仅据失败评分。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 34.0–40.5 s 两夹爪分别抵碰两只杯子的杯口/把手附近，带动杯子倾斜、移动并翻倒；没有足够可见的对向夹持证据，不记为抓握。两个计数节点对应这次同时操作两杯的尝试。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 30.0–46.0 s 双足承重并迈步靠近台面、随后后退，配合两夹爪取杯及空手上举。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 18.0, + "log_step": 42, + "where": "操作中", + "evidence_zh": "观察：视频 13.0–27.5 s 机器人在壁柜正面执行合爪和撤臂动作，柜门未出现外转；视频 28.0 s 已撤手转向取杯，此后直到视频 60.0 s 仍未形成柜口。推断：开门是最早尝试而始终未修复的失败步骤，后续碰倒杯子不替换该断点。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 18.0, + "log_step": 42, + "evidence_zh": "推断：开门所需的有效把手接触未建立。视频 16.0–25.5 s 机器人合拢夹爪并撤动双臂，门框没有跟随；log step 42 记录 handles 抓取重试后四个手指关节均约 -0.02，log step 32 的检测代码把均值小于 -0.016 作为空夹重试条件。结合始终不随手运动的门框，支持未形成可拉门的夹持；不据此声称完全没有瞬时触碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 32, + "source_zh": "日志", + "evidence_zh": "推断：开门控制没有建立并验证能传递拉力的接触。log step 32 的 guarded_plan 在手指闭合到底时仅作一次沿前方偏移 0.018 米的重试，达到重试时长后即推进后续轨迹；log step 42 的最终手指读数仍均约 -0.02，视频 18.0–27.5 s 柜门不随撤臂动作打开，机器人随后继续取杯。证据支持接触执行和闭环纠正不足，但不足以区分末端定位、接触几何与跟踪误差，故停在控制大类。" + } + ], + "gap_zh": "无状态日志。柜体遮挡了开门时的手指—把手接触，不能确认是否有瞬时触碰或具体夹持几何；没建立有效接触由门框不动、撤臂动作与日志手指读数联合推断。杯口附近的手指细节也不足以证实短暂对向抓握，实际接触只记录可见的推碰；不从 agent 自述“未保持住”推定曾稳定持杯。" + }, + "summary_zh": "本次单一实时回合中，机器人尝试开柜但没有形成入口，随后同时操作两杯，将其碰倒，一杯落下、另一杯留在台面；三个节点最终均未达成（0/3）。最早未修复断点为打开壁柜，有效把手接触未建立，控制器的有限重试未纠正该问题，随后继续执行取杯流程。无状态日志且柜体遮挡把手接触，接触失败和控制根因含推断，无法细分具体误差来源。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "逐帧检查视频 3–33 s：柜门始终未外转，杯子仍在台面，节点全未达与标签一致；断点（打开壁柜）、接触和根因（控制，已声明为推断）有日志手指读数（log step 42 约 -0.02、step 32 重试逻辑）与帧支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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"video_sha256": "bb943342f19f555ee20733ca87ae3b1aecf5694d0f6119fe0b2a980bf8d134ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--9fsm7rj.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--9fsm7rj.json new file mode 100644 index 0000000000000000000000000000000000000000..3d79db00bd080ef733a01f90ddc4fc2b48d7e97f --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--9fsm7rj.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--9fsm7rj", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 1498, + "rows": 3624, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2258.8, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.993, + "max_lag_s": 0.0032, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2042, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.778, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.183, + "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-put-cups-i00-standard-realtime--9fsm7rj/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "b04f9ed26081ede711bb2c363c818fe0efcac6f9027320c7f7b910f38dbcb147" + }, + "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 两只杯子直立在台面上，壁柜门闭合。" + }, + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 9.0–18.75 s 密集帧中，机器人反复抬起、收回和横摆双臂，夹爪未稳定对准柜门把手；门框没有向外转开形成入口。" + }, + { + "t": 28.0, + "log_step": 117, + "text_zh": "观察：视频 20.0–28.0 s 机器人后退并继续伸臂，柜门仍闭合；log step 117 中本次在线控制器反复输出左右门序列停在 wp0 pre，随后放弃门序列切换到杯子序列。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 30.0–60.0 s 及视频 58.8–60.0 s 的密集末段均无柜门开启；成功参考视频 20.0 s 可见向外偏转的门框，本次视频缺少该开门形态。参考仅用于辨认开启外观。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–28.0 s，机器人双脚承重、迈步及调整身体位置，同时双臂朝壁柜伸出。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 9.0–18.75 s 双夹爪在柜门附近反复移动，未见夹住把手或牵动门板；柜体遮住把手附近的部分区域，不能确定是否曾有短暂擦碰，不记抓握。" + } + ] + }, + "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 两只白色带把杯都在木色台面上，柜内底层未有杯子。" + }, + { + "t": 36.0, + "log_step": 117, + "text_zh": "观察：视频 28.0–40.0 s 机器人手臂转向台面高度，其中一只夹爪朝台面边缘下垂，另一只在躯干侧后；两杯均留在原台面，没有被抬起。log step 117 记录控制器将左右臂都切换到杯子序列，但该阶段切换本身不证明抓杯。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 44.0–58.0 s 及视频 58.8–60.0 s 密集末段，外部左视角清楚显示两只杯子始终在台面，夹爪未携杯进入壁柜；第1杯入柜条件未成立。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 28.0–60.0 s，机器人双脚支撑身体，双臂尝试向台面取杯位置调整；两杯均未离开台面，未观察到夹爪对杯体或杯把的夹持，故不记抓握。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只白色带把杯都在木色台面上，柜内底层未有杯子。" + }, + { + "t": 36.0, + "log_step": 117, + "text_zh": "观察：视频 28.0–40.0 s 机器人手臂转向台面高度，其中一只夹爪朝台面边缘下垂，另一只在躯干侧后；两杯均留在原台面，没有被抬起。log step 117 记录控制器将左右臂都切换到杯子序列，但该阶段切换本身不证明抓杯。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 44.0–58.0 s 及视频 58.8–60.0 s 密集末段，外部左视角清楚显示两只杯子始终在台面，夹爪未携杯进入壁柜；第2杯入柜条件未成立。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 28.0–60.0 s，机器人双脚支撑身体，双臂尝试向台面取杯位置调整；两杯均未离开台面，未观察到夹爪对杯体或杯把的夹持，故不记抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 12.0, + "log_step": 117, + "where": "操作中", + "evidence_zh": "观察：视频 9.0–18.75 s 机器人双臂在柜前反复变换姿态，未稳定到达开门操作位置，门框始终没有转开；视频 28.0 s 后改向台面伸臂，直到视频 60.0 s 柜门仍闭合。log step 117 的在线控制器记录左右门序列反复停在 wp0 pre 后切换阶段；开门是最早开始且此后一直未完成的步骤。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 12.0, + "log_step": 117, + "evidence_zh": "观察：视频 10.0–18.75 s，机器人反复将夹爪抬到胸前、柜体下方或向侧面伸出，没有稳定对准柜门把手并执行开门；柜门无相应偏转。log step 117 的本次控制器输出反复停在左右 wp0 pre，与视频中的反复调整而未到位相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：控制器的机械臂到位与停滞恢复未能产生所需运动。log step 100、111 的脚本修改采用多初值逆解切换及短时目标保持，log step 117 的本次在线记录却反复报告左右 wp0 pre 停滞，视频 10.0–28.0 s 也显示双臂反复摆动而柜门不动；这支持控制执行失败。agent 在 log step 119、125 将其归因于离线跟踪模型过于乐观及保持时间过短，这些具体解释是其自述，未作为已核实参数结论。" + } + ], + "gap_zh": "无状态日志；柜体遮挡使门把手附近是否存在短暂擦碰无法确定，但门框不偏转和两杯留在台面均可判定。没有本次回合逐步的目标关节与实测关节误差，不能区分逆解分支问题、跟踪带宽和限位影响，故根因保留在“控制”；agent 自述的跌倒没有视频支持，视频密集末段仍站立，不据此标平衡。" + }, + "summary_zh": "本次实时回合完成 0/3 个节点：机器人迈步并反复抬摆双臂，始终没有打开壁柜，两杯到视频 60.0 s 仍在台面。最早未修复的失败是打开壁柜时末端位姿未到位，在线控制器反复停在门前预备点，支持控制执行失败；离线测试中的放杯记录不属于评分回合。无状态日志，短暂门部接触及具体逆解或跟踪原因不能精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 0/10/20/30/40/50/59.8 s 抽帧显示柜门始终闭合、两杯始终在台面，三个节点均未达成、断点在 cabinet_opened、位姿不准与控制根因（item 控制，证据不足以细分）均有视频和 log 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": "2026-10-30T05:01:17Z", + "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": 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"efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--fdgvyax", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 38, + "rows": 395, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 367.8, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.988, + "max_lag_s": 0.0043, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2605, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.328, + "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-put-cups-i00-standard-realtime--fdgvyax/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "fea5807af08bba823dc472c405335efb978e82f3704f936ee2257b16398cf1a0" + }, + "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 两杯直立在木色台面上，壁柜门框处于闭合外形。" + }, + { + "t": 6.0, + "log_step": 22, + "text_zh": "观察：视频 4.32–8.64 s 机器人向前伸出双臂，同时身体向后离开台面；夹爪位于台面附近、明显低于壁柜门把所在高度，未见夹住或勾住把手，也未见门框转开。log step 22 记录 agent 启动 doors 阶段控制程序；此处视频时刻直接取自画面，未由 agent 时间换算。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频全段粗查及视频 59.0–60.0 s 每约 0.2 s 检查，门框始终未出现向外转开的入口。参考成功视频 4.0 s 与 16.0 s 的右侧外部视角可见伸高的手臂与向外偏转的门板；本次相同视角没有该变化。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 4.32–8.64 s 机器人双足在地面承重，双腿调整站位并向后移动；两夹爪向前伸但未见接触柜门或把手，不能确认任何抓握或勾拉接触。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 0.0–8.64 s 的密集检查中，两只白色杯子均留在木色台面，机器人双夹爪没有带起杯子。" + }, + { + "t": 60.0, + "log_step": 32, + "text_zh": "观察：视频后续每约 2 s 的画面及视频 59.0–60.0 s 密集检查均显示两杯仍在台面，未发生杯子移入壁柜；视频 60.0 s 仍可见完整的两杯。agent 在 log step 32 自述尚未发送搬杯序列，与画面一致。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s、视频 4.0 s、视频 6.0 s、视频 8.0 s、后续粗查及视频 59.0–60.0 s 均见两杯留在台面；没有任一杯被搬入壁柜，更未出现两杯同时接触柜内底层搁板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 6.0, + "log_step": 22, + "where": "操作中", + "evidence_zh": "观察：log step 22 中 agent 启动开门阶段程序；视频 4.32–8.64 s 机器人伸出双臂并后退，夹爪仍在台面附近而未与高处柜门把手接合，门框没有转开。之后到视频 60.0 s 都未补成开门，杯子也始终留在台面。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.0, + "log_step": null, + "evidence_zh": "观察：视频 4.32–8.64 s 机器人双夹爪向前伸，但一直停在壁柜下方、台面附近；视频 6.0 s 和视频 8.0 s 的右侧外部视角可见空夹爪，没有夹住柜门把手或带动门板，之后到视频 60.0 s 门也未打开。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 4.32–8.64 s 中机器人执行伸臂动作时向后移，末端持续低于柜门把手，直到视频 60.0 s 都未建立可拉门的对位。结合 log step 22 的 doors 阶段启动记录，开门动作未能把机器人和夹爪送到所需位置，支持控制层归因；现有证据不足以区分逆解、跟踪或具体参数问题。" + } + ], + "gap_zh": "没有状态日志或逐帧接触传感记录；壁柜实体遮住部分正面，但两外部视角及成功参考足以判断门未打开、两杯未移走。log step 21 和 log step 29 的代码编辑只留下截断的 patch 记录，log step 23–25 的控制程序输出为空，无法核实控制指令、逆解结果或后退的具体机制，故根因仅标到控制大类。" + }, + "summary_zh": "本次三个节点均未达成：壁柜没有打开，两只杯子始终留在木色台面，搬杯节点未开始。断点在打开壁柜：视频约 4–8 s 机器人伸臂并后退，夹爪未到达门把手并建立接触，此后至视频 60.0 s 未修复。无状态日志且控制代码记录截断，能确认对位失败，但无法细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、断点在打开壁柜、无接触的标注与视频一致；两杯全程留在台面，门框未转开。根因只标到控制大类并已在 gap_zh 说明证据不足，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": "2026-10-30T05:02:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--fdgvyax/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--fdgvyax/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7aada0daec746a8ea608568a8f9b28ae5465d34f0be9fba18b100b7a00f627f", + "video_sha256": "fea5807af08bba823dc472c405335efb978e82f3704f936ee2257b16398cf1a0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--jgkk8da.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--jgkk8da.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f719ddd71d34086278ba3795724f94edc59e39 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--jgkk8da.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--jgkk8da", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 284, + "rows": 2240, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2413.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.994, + "max_lag_s": 0.034, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1425, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.537, + "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-standard-realtime--jgkk8da/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "2b1ef1abd4763c03a65c60203d812ac7e9fc56a19f14548011f90d52464cadea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": 29, + "text_zh": "观察：视频 2.0–6.0 s，机器人双臂向前伸出，夹爪仍在台面附近、低于壁柜门把手高度，柜门未随动作转开；log step 29 的控制脚本将这段动作设为接近把手并向外拉门。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 0–60.0 s 的双外部视角均未出现门框向外偏转或可放杯的入口，视频 59.0–60.0 s 仍保持闭柜外形。成功参考视频约 6.0 s、15.0–21.0 s 的右外部视角可见门框转开，说明该变化在这些视角可辨。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–6.0 s，双足支撑机器人靠近台面、随后后退和伸臂；双夹爪未在柜门把手上形成可见夹持或勾拉，不记为抓握。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": 29, + "text_zh": "观察：视频 8.0–13.0 s，机器人双夹爪在台面前伸探、收合，两只白杯仍在木色台面原处；视频 14.0–19.0 s 双臂抬高时夹爪空着，两杯未随手离开台面。log step 29 的脚本安排了双手同时抓杯，属于尝试搬杯而非成功抓取。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 22.0–58.0 s 及视频 59.0、59.2、59.4、59.6、59.8、60.0 s，两杯始终可见于台面，未有一杯进入壁柜并接触底层搁板。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.0–19.0 s，机器人双腿支撑俯身探手及抬臂动作；两手同时执行抓杯、抬运尝试，但杯子未离开台面，未见任一夹爪包夹杯把或杯身，不记为实际抓握。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": 29, + "text_zh": "观察：视频 8.0–13.0 s 机器人双臂同时向台面上的两杯方向动作，但两杯都未被夹起；视频 14.0–19.0 s 双臂空手抬起，两杯仍留在台面。" + }, + { + "t": 60.0, + "log_step": 38, + "text_zh": "观察：视频 59.0–60.0 s，两个白杯均留在台面，机器人夹爪空着，没有两杯同时接触柜内搁板的状态；log step 38 的在线机器人服务报告 control_steps=3000、done=True、reason=failed，评分器 live_success=0。节点未达依据杯子实际位置，而非仅依据零分。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.0–19.0 s，机器人双腿支撑俯身探手及抬臂动作；两手同时执行抓杯、抬运尝试，但杯子未离开台面，未见任一夹爪包夹杯把或杯身，不记为实际抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 3.0, + "log_step": 29, + "where": "操作中", + "evidence_zh": "观察：视频约 3.0–6.0 s，机器人在脚本的拉门阶段伸出双臂，但夹爪仍在台面附近，没有在柜门把手上建立可见的夹持或勾拉，门框未向外转开；log step 29 记录了该开门动作安排。随后机器人继续空手抓杯、抬臂，直到视频 60.0 s 仍未打开柜门，故这是最早未修复的步骤。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.0, + "log_step": 29, + "evidence_zh": "观察：视频 3.0–6.0 s 双夹爪停在低于壁柜门把手的台面附近，未包夹或勾住门把手，柜门不随双臂动作转动；视频后续至 60.0 s 门仍未转开。这里没有先抓住再滑脱的可见过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 3.0, + "log_step": 23, + "source_zh": "日志", + "evidence_zh": "推断：log step 23 的脚本补丁仅在 t_ep<3.2 且骨盆未前移到目标时追加向前行走，log step 29 仍按固定时间安排开门、抓杯和放杯，未以实际接触成功作为切换条件；log step 35 的在线控制器记录骨盆 px 从 0.26 降至 0.13，log step 38 的后续记录约为 -0.05。结合视频 2.0–6.0 s 机器人后退、夹爪仍未到门把手以及后续继续空手动作，可归因为接近与双臂执行的反馈协调未修正偏差。agent 在 log step 36、41 也自述后退后未重新靠近；其关于平衡反作用的具体解释未独立验证。" + } + ], + "gap_zh": "没有状态日志或逐帧接触对；柜体局部遮挡门把手区域，因此不能排除瞬时擦碰，但可见夹爪未形成有效把手夹持、柜门未转开。机器人后退的具体动力学来源仅有 agent 自述，未据此判定跌倒、接触力异常或不可达；反馈控制归因依据已记录代码、在线位置记录和视频动作。" + }, + "summary_zh": "机器人未完成打开壁柜、第1杯入柜或第2杯入柜，三个节点终态均为假；视频 60.0 s 两只杯子仍在台面。最早未修复的失败发生在开柜门时，夹爪没有建立有效把手接触，控制器未在机器人后退后重新靠近，而继续执行固定时序的空手搬杯动作。没有接触状态日志，瞬时擦碰与后退的精确动力学原因无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点终态为假、两杯全程留在台面、门未转开，与视频一致；断点在开门、没建立接触的标注有帧支持。反馈控制根因为标注者的推断且已标明，未发现相反证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:01:22Z", + "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-standard-realtime--jgkk8da/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--jgkk8da/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e6fef2992ba11e06632e30b54b285533c1c6e0e68b5abc1fb5389e2889ba47f4", + "video_sha256": "2b1ef1abd4763c03a65c60203d812ac7e9fc56a19f14548011f90d52464cadea", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--specxsk.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--specxsk.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a4c79fbe22637ed920a0875b6dd9a8fdb2eda6 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--specxsk.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--specxsk", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 26, + "rows": 3265, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 548.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.995, + "max_lag_s": 0.0019, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 0.38, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.209, + "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-put-cups-i00-standard-realtime--specxsk/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "6ec665d0e81b26bc79193bdc06f31c8b6e1a5705c6cef2f910740cd37eba89ff" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 1.5–4.5 s，机器人同时抬起两臂，夹爪在壁柜下缘附近前伸、收拢；视频 5.0–8.0 s 双手后撤并向两侧展开，未见柜门随手外转形成杯子可通过的入口。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：已按视频约每 2 s 检查全段，并密查视频 0–23.5 s 及 59.0–60.0 s；后续柜门仍封住柜口。成功参考 inputs/oracle/replay.mp4 的参考视频约 3–6 s、15–24 s 可见门框明显外转，而本次没有该变化；参考只用于识别开门外观。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 2.5–5.75 s 两夹爪同时在壁柜下缘附近收拢并后撤；柜体遮住部分指尖与门把手区域，不能确定是否短暂擦碰或勾到门边，未见可靠的对向夹持，不记为抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 1.5–8.0 s 双足接触地面，双腿支撑机器人抬臂、后撤及展开双臂的开门尝试。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频 10.5–15.5 s，机器人俯身并将两夹爪伸向台面方向、收拢后抬起；两只白色杯子仍在原台面，未随任何夹爪离开。视频 16.0–23.5 s 双手继续在柜口高度运动时仍为空手。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 24.0–58.0 s 的约每 2 s 画面及视频 59.0、59.25、59.5、59.75、60.0 s 均显示两杯仍在木色台面，没有杯子移至壁柜底层搁板。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 10.5–23.5 s 双腿支撑躯干俯身及双臂同时取杯、抬手的尝试；两夹爪未包夹住台面上的杯子，抬起时为空手，故不添加抓握接触。本次同时尝试两杯，两计数节点记录同一段实际支撑。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 11.0–15.5 s 两臂同时执行向杯子方向前伸、夹爪收拢及抬升的动作，但两杯均留在台面；视频 18.0–23.5 s 的抬手和回撤也未携带杯子。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 59.0–60.0 s 密查至最后一帧，两杯仍同时在台面，未出现两杯进入壁柜并接触底层搁板的状态。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 10.5–23.5 s 双腿支撑躯干俯身及双臂同时取杯、抬手的尝试；两夹爪未包夹住台面上的杯子，抬起时为空手，故不添加抓握接触。本次同时尝试两杯，两计数节点记录同一段实际支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 5.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 3.0–5.0 s 两夹爪在柜体下缘附近收拢，视频 5.0–8.0 s 开始后撤、外展，门板没有形成入柜通道；随后机器人转向取杯动作，直至视频 60.0 s 均未补做成功的开门。这是最早尝试后始终未修复的节点。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.0, + "log_step": null, + "evidence_zh": "推断：视频 3.0–5.75 s 双手收拢后后撤，视频 6.0–8.0 s 双臂继续分开，柜门未被手带着外转，也未出现先持住门把手再滑脱的过程；据此前后画面，开门所需的有效夹持或勾拉接触未建立。指尖是否短暂擦碰柜体不能由画面确定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 68, + "source_zh": "日志", + "evidence_zh": "推断：log step 68 保存的控制脚本预先生成动作矩阵 A，执行循环只查询服务状态和剩余计划步数，再顺序提交矩阵片段，且 submit 使用 cameras=[]；矩阵用尽后重复最后一行。结合视频 5.0–8.0 s 门未开却继续进入视频 10.5–23.5 s 空手取放动作，控制没有根据开门和持杯结果修正执行，导致首次开门失败未被补救。log step 88 的各阶段 IK 误差是脚本计算结果，不能证明实际接触成功；现有证据不足以再细分初始接触偏差的来源。" + } + ], + "gap_zh": "没有模拟器状态日志，柜体遮挡部分指尖及把手接触点，无法判定短暂擦碰、夹持力或精确门角；有效牵引接触未建立由前后动作与门未随手外转推断。日志只给预计算轨迹及运行状态，不能进一步区分接触几何、运动跟踪或目标估计各自的贡献。两杯始终留在台面及开门通道未形成可由视频判断。" + }, + "summary_zh": "本次三个节点均未达成：机器人尝试双手开柜后，柜门没有形成入柜通道，随后两手执行取放动作时两杯始终留在台面。最早未修复的失败为打开壁柜，推断未建立有效牵引接触；控制脚本继续提交预计算动作，未依据开门和持杯结果补救。柜体遮住部分细小接触，且没有状态日志，无法进一步确定初始接触失败的具体控制子因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "柜门全程封住入口、两杯始终在台面，三节点未达成及断点 cabinet_opened 与视频一致；接触未知、推断标注及控制（开环预计算脚本、cameras=[]）根因与日志相符，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": "2026-10-30T04:57:35Z", + "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-standard-realtime--specxsk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--specxsk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cf16f7f72a8cefe01f1b9ae37f9ced63189c191f7a93f55718be27505b3382a9", + "video_sha256": "6ec665d0e81b26bc79193bdc06f31c8b6e1a5705c6cef2f910740cd37eba89ff", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--tcs22zm.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--tcs22zm.json new file mode 100644 index 0000000000000000000000000000000000000000..5c34eb5cdda9ccb100139a1265a2567174ab5640 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--tcs22zm.json @@ -0,0 +1,201 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--tcs22zm", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 1736.2, + "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": 0, + "request_busy_s": 0.496, + "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-standard-realtime--tcs22zm/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "cb2743d2cf934de3feb12fbf3424062dffcad6c11877415782209b99ac12f001" + }, + "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": 6, + "text_zh": "观察：本次视频 0.00 s 的唯一帧（也是末帧）显示机器人双臂仍低于壁柜，未出现玻璃柜门和门框向外转开形成入口的变化。log step 6 的机器人服务状态为 running=false、control_steps=0、rows=0；评分记录 n_actions=0、sim_steps=0，未发生开门操作。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 n_actions=0、sim_steps=0；log step 41 记录提供商过滤器拦截，未交付执行动作轨迹。视频 0.00 s 仅为初始静帧，无本节点的操作接触。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 6, + "text_zh": "观察：本次视频 0.00 s 的唯一帧（也是末帧）中，两只白色带把杯均在木色台面上，未到壁柜底层搁板；机器人夹爪未搬起杯子。log step 6 的机器人服务记录 control_steps=0，评分记录 sim_steps=0、n_actions=0，初态未被控制动作改变。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 n_actions=0、sim_steps=0；log step 41 记录提供商过滤器拦截，未交付执行动作轨迹。视频 0.00 s 仅为初始静帧，无本节点的操作接触。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 6, + "text_zh": "观察：本次视频 0.00 s 的唯一帧（也是末帧）中，两只白色带把杯都留在木色台面，未形成两杯同时接触壁柜底层搁板的关系。log step 6 的机器人服务记录 control_steps=0，评分记录 sim_steps=0、n_actions=0，无搬杯动作。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 n_actions=0、sim_steps=0；log step 41 记录提供商过滤器拦截，未交付执行动作轨迹。视频 0.00 s 仅为初始静帧，无本节点的操作接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 41, + "where": "首步前", + "evidence_zh": "观察：log step 41 的最后消息为“This request was blocked by Gemini's filters”；此前 log step 40 仅有 agent 离线关节插值计算结果，未向机器人提交动作。log step 6 的服务状态为 running=false、control_steps=0；评分记录 n_actions=0、sim_steps=0、rows=0，本次视频仅含视频 0.00 s 初态。推断：提供商过滤器在物理回合启动及结果固定前中断会话，不能指定某个发生操作失败的步骤。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 41 明确记录 Gemini 提供商过滤器拦截；视频存在，但只有视频 0.00 s 的一帧，总时长 0.04 s，无后续动作画面；输入未提供状态日志。推断：本次是物理回合未启动前的外部中断，按外因规则应重试并排除出 agent 失败归因；保留评分器 success=0 的原始结果。没有已交付的操作失败可定位，故断点为 unknown / 首步前，现象和根因均留空，不标没尝试；会话中的离线逆运动学测试不能替代本次物理轨迹证据。" + }, + "summary_zh": "本次视频只有视频 0.00 s 初始帧：壁柜未打开，两杯均在木色台面，三个节点均未达成（0/3），评分记录控制步和动作数均为零。log step 41 记录 Gemini 提供商过滤器拦截，发生在机器人执行前，故按外部中断处理，断点为 unknown / 首步前，现象及根因留空；缺少执行中的视频和状态证据，不能用 agent 的离线运动学测试推断机器人失败。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频仅 0.00 s 一帧，两杯在台面、柜未开，三节点 false 属实；log step 41 为 Gemini 过滤器拦截，n_actions=0、sim_steps=0，属外部中断，断点 unknown/首步前、现象与根因留空并有 gap_zh，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:55:10Z", + "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-put-cups-i00-standard-realtime--tcs22zm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--tcs22zm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "97a66816b786782ae5272f512ed1d455fa92574473115bff5c67bb2b94d4886b", + "video_sha256": "cb2743d2cf934de3feb12fbf3424062dffcad6c11877415782209b99ac12f001", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--xt6x6tm.json b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--xt6x6tm.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1723d3fcc82374dfc5ac2370f8c27f484f8804 --- /dev/null +++ b/phase2/bigym2/put_cups/trajectories/bigym2-put-cups-i00-standard-realtime--xt6x6tm.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-put-cups-i00-standard-realtime--xt6x6tm", + "taskKey": "bigym2/put_cups", + "dag_sha256": "fddea8cc3da7f8aad47e1328daa0fccebce5f782d9ef8bfbce627415fbf94630", + "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": 3000, + "sim_steps": 3000, + "calls": 388, + "rows": 12123, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 471.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 59.992, + "max_lag_s": 0.003, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 654, + "late_steps": 3100, + "requests_refused": 4, + "request_busy_s": 0.474, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.417, + "peak_processes": 12, + "peak_disk_gb": 0.997, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-put-cups-i00-standard-realtime--xt6x6tm/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "f92581ab7b212cbf288ca09682162899b0180ba601149e88651eb2e44fc3604b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频0.0 s壁柜闭合；视频3.0–6.5 s机器人抬左夹爪向柜门下缘伸探，随后身体后退、手臂外伸，门框没有向外转开，也未出现杯子可通过的柜口。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频7.5–12.0 s及视频28.0–41.7 s的再次抬臂、伸手过程中，壁柜仍保持闭合外形；成功参考视频3.0 s和15.0 s的同类外部视角可见转出的门框，本回合没有该变化。" + }, + { + "t": 41.8, + "log_step": null, + "text_zh": "观察：视频41.76–42.3 s机器人从近柜站位失去双足支撑并翻倒，转动后的外部视角仍显示两扇门封住柜口；视频42.5–60.0 s机器人在远离柜子的地面翻动，没有返回操作柜门。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频3.0–6.5 s及视频32.0–41.7 s，双足与地面接触，支撑机器人向壁柜伸手，并在靠近、退离台面时调整站位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频4.0–4.5 s及视频37.0–41.7 s左夹爪贴近壁柜下缘，但柜体遮住门把与手指的局部接触点；不能判定是否短暂擦碰及其方式，未看见可确认的夹持或勾住门把。" + } + ] + }, + "cups_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频18.0–23.5 s机器人左夹爪下降、向台面杯子方向前伸，随后空手抬起；两只白杯均仍直立在原台面位置，没有随手离台或进入壁柜。视频0.0–41.7 s的完整粗采样及动作附近加密画面均未见任何杯子搬运。" + }, + { + "t": 42.2, + "log_step": null, + "text_zh": "观察：视频41.8–42.2 s机器人翻倒时，两只杯子仍在木色台面上。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "推断：视频42.5–60.0 s机器人始终在远离台面的地面翻动、没有返回或携杯；结合视频42.2 s两杯仍在台面，可判定本回合没有杯子接触壁柜底层搁板，末态为假，而非仅根据评分为0推断。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频19.0–23.5 s双足接触地面、支撑机器人向杯子方向下降和前伸左夹爪；未见手指实际夹住或带动杯子，故不记抓握。" + } + ] + }, + "cups_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频0.0–41.7 s两只杯子一直留在台面；视频24.0–29.5 s左手再次抬向壁柜时也没有携杯，未见双杯搬运或任何一杯到达搁板。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "推断：视频42.2 s两杯仍在台面，视频42.5–60.0 s机器人远离柜台且未返回；按当前入柜杯数计数，两杯同时接触底层搁板的条件从未成立，末态为假。未见对第2杯计数的独立实际搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 5.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频3.0–6.5 s机器人开始向柜门伸出左夹爪，但身体退离柜台，抬起的手没有使门框转开；视频7.5–12.0 s和视频28.0–41.7 s继续尝试也未形成入口。视频41.8 s机器人在再次近柜伸手时翻倒，至视频60.0 s仍未回到柜前，故首次开门失败始终没有修复；后续空手向杯子方向伸探不构成开门完成。" + }, + "unmet": { + "cups_in_cabinet_1": false, + "cups_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.0, + "log_step": null, + "evidence_zh": "观察：视频4.5–6.5 s机器人身体明显退离台面，左夹爪随抬臂伸到柜口前方，随后向外伸展，未带动柜门；视频8.0–12.0 s重复伸手仍未使门框偏转。手与身体的运动没有完成所需的把手定位及拉门动作；局部手指受遮挡，不据此断言从未发生任何擦碰。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 41.8, + "log_step": null, + "evidence_zh": "观察：视频41.76 s机器人仍在柜前抬左手，视频41.80–42.3 s身体突然大幅倾斜、双足失去支撑并翻倒；视频42.5–60.0 s继续在地面翻动，开门步骤始终未修复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 5.0, + "log_step": 56, + "source_zh": "日志", + "note_zh": "控制脚本的指令构造错误；子类型不足以可靠细分。", + "evidence_zh": "推断：log step 56写入并在log step 62启动的控制器只在初始cmd设置前进速度，后续每行row=np.zeros(21)且未写row[0]，接近阶段反复提交零行走速度；同时每只手分别构造全零行再串接，而非在同一行填写双臂目标。log step 62的机器人服务本体读数（经客户端返回的骨盆位置，并非agent自述）显示接近阶段仅前移0.007 m就开始手臂计划，随后骨盆x从0.166降至−0.056 m，与视频3.0–6.5 s退离柜台相符，支持控制指令未实现预定站位及双臂动作的归因。log step 64的修改仍把接近阶段row[0]设为0，log step 70才改为0.30；不能仅据agent在log step 73对膝部或拉力的自述进一步归因。" + } + ], + "gap_zh": "没有模拟器状态及接触力日志；柜体遮挡左夹爪与门把的局部接触，不能确认是否短暂擦碰、夹持受阻或具体受力方式。视频明确显示未开门、未搬杯及翻倒，但不能确定后期翻倒的直接力学机制；控制根因限于日志可核对的指令构造错误，不采用agent自述的膝关节锁死或拉门反力解释。" + }, + "summary_zh": "机器人多次向壁柜伸出左手，但柜门没有形成入口，两杯一直留在台面，三个节点均未达到。最早未修复的断点是打开壁柜（视频约5.0 s）；日志支持控制指令构造错误导致预定接近和双臂动作未实现，机器人随后在再次近柜伸手时于视频约41.8 s翻倒。柜边的局部接触受遮挡，缺少状态和力数据，无法进一步确定接触方式及翻倒的直接机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽查视频0/5/10/20/30/40/41.5/42.5 s：柜门始终闭合、两杯留在台面、41.8 s后翻倒，节点与断点与标签一致；校验通过，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": "2026-10-30T04:54:02Z", + "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-standard-realtime--xt6x6tm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-put-cups-i00-standard-realtime--xt6x6tm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0425ec0d86809dc1d627bfccc4101ee4773ed8bd5135d82ebce604660aee122a", + "video_sha256": "f92581ab7b212cbf288ca09682162899b0180ba601149e88651eb2e44fc3604b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--3ntp6oq.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--3ntp6oq.json new file mode 100644 index 0000000000000000000000000000000000000000..62b84b4707af96d8868f96ba7c7bee8803bd750d --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--3ntp6oq.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--3ntp6oq", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1145, + "sim_steps": 1145, + "horizon": 3150, + "episode_over": 0, + "fell": 0, + "replay_s": 21.22, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 107, + "agent_resets": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.536, + "peak_memory_gb": 1.304, + "peak_processes": 9, + "peak_disk_gb": 0.839, + "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-sandwich-remove-i00-privileged--3ntp6oq/replay.mp4", + "duration_s": 22.92, + "fps": 25.0, + "frames": 573, + "sha256": "586d2488a006d1b5e4456f83a45fe0f7ab35998b07f1ffc10827744f701a5188" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，三明治在黑色煎锅内，浅木色砧板为空；机器人随后步行靠近并用右夹爪接近锅铲。" + }, + { + "t": 8.5, + "log_step": 306, + "text_zh": "观察：视频 8.5–10.5 s，机器人右夹爪操纵锅铲时，煎锅连同其中的三明治被带起至近竖直，未移到砧板上；视频 11.0–11.5 s，锅翻扣回黑色灶面，三明治随之被锅体遮住。log step 306 的交付脚本使用右臂降低、滚转锅铲并横扫。" + }, + { + "t": 22.88, + "log_step": null, + "text_zh": "观察：视频 12.0–21.5 s 的反复扫动后，煎锅仍倒扣在灶面；视频 21.92–22.88 s 的末秒密集帧及最后一帧均显示整块砧板为空，未见三明治到达或接触砧板。" + }, + { + "t": null, + "log_step": 316, + "text_zh": "观察：log step 316 确认最终生成的1145行动与所选保存序列一致；inputs/run.json 的评分器字段为 n_actions=1145、deterministic=1、success=0、replay_success=0、fell=0。节点未完成依据上述视频中的空砧板判断，并非仅从零分反推。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 8.5–11.0 s，右夹爪操纵锅铲在锅内推拨，铲与煎锅及三明治接触并带动它们翻转；未见锅铲独立托住三明治运抵砧板。夹爪握铲属于同一工具接触链，不重复标抓握。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 13.0–21.5 s，右夹爪往复扫碰倒扣煎锅的近侧及其旁的锅铲，锅具略有移动；后段未见重新稳定夹住铲柄。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–22.88 s，全景可见机器人双腿、足部支撑站立，并在接近台面和右臂操作期间小步调整位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 8.75, + "log_step": 306, + "where": "操作中", + "evidence_zh": "观察：视频 8.5–10.5 s，机器人右臂的锅铲动作将仍装着三明治的煎锅带至近竖直；视频 11.0–11.5 s，锅翻扣在灶面。视频 12.0–22.88 s 的后续动作未把三明治送上砧板，砧板始终为空，这次放置步骤未修复。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 8.75, + "log_step": null, + "evidence_zh": "观察：视频 8.5–11.5 s，机器人操纵的锅铲与煎锅接触，锅被带起、转至近竖直后翻扣，三明治仍随锅在灶面一侧，未向砧板完成转移；后续视频 12.0–22.88 s 煎锅持续倒扣、砧板为空。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 8.75, + "log_step": 306, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 306 的交付脚本在降低锅铲后叠加腕部滚转和横扫；本次视频 8.5–11.5 s 显示该接触几何带翻整个煎锅，未形成将三明治独立送往砧板的稳定承托或推移。故归因于锅铲与锅、三明治之间的接触设计。可行替代由成功参考视频 44.0–46.0 s 验证：机器人另一夹爪控制锅柄，在砧板边倾锅，配合锅铲引导，三明治落到板面；该参考仅证明替代可行，不用于给本次节点记进度。" + } + ], + "gap_zh": "观察：inputs/ 中没有逐帧状态日志；视频 11.5 s 后倒扣锅遮住三明治，无法精确判定锅下三明治的姿态、各接触对及锅铲脱离夹爪的瞬间，因此不另标握持失效现象。砧板在近景中持续可见且为空，故此遮挡不影响节点未完成的判断；评分器也未报告 sandwich_flat_angle 或 success_hold_counter 的数值。", + "unmet": { + "sandwich_on_board": false + } + }, + "summary_zh": "观察：机器人靠近台面并以右夹爪操纵锅铲，但视频 8.5–11.5 s 的动作带翻煎锅，随后锅倒扣在灶面，三明治上砧板节点全程未达成，最终为0/1。推断：失败在该放置步骤操作中，锅铲接触设计未能将三明治稳定移向砧板；视频末秒至 22.88 s 砧板仍为空。观察：无逐帧状态日志，倒扣锅遮住后段三明治，无法确定精确接触与角度数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未完成、断点（sandwich_on_board，操作中，约8.75 s）与帧一致：视频8.5–11.5 s煎锅被带起后翻扣，砧板自0至22.88 s始终为空。归因（抓取和接触设计，替代路线已由oracle验证）与log step 306的扫动脚本相符，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:40:22Z", + "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-sandwich-remove-i00-privileged--3ntp6oq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--3ntp6oq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "51a407e11c414be954e95ab2882fd4bb39a88de9257bf7ad386013914b454098", + "video_sha256": "586d2488a006d1b5e4456f83a45fe0f7ab35998b07f1ffc10827744f701a5188", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--7tsahbx.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--7tsahbx.json new file mode 100644 index 0000000000000000000000000000000000000000..7932009f509208e60052860cba87a03d34eb261e --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--7tsahbx.json @@ -0,0 +1,214 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--7tsahbx", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 2370, + "sim_steps": 2370, + "horizon": 3150, + "episode_over": 0, + "fell": 0, + "replay_s": 33.98, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 49, + "agent_resets": 1, + "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-sandwich-remove-i00-privileged--7tsahbx/replay.mp4", + "duration_s": 47.44, + "fps": 25.0, + "frames": 1186, + "sha256": "b8f600b2a1f2956bd3cb7d6520320bc8972eeb0a58b7a40314c1d78cb90546f7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金黄色三明治在黑色煎锅内，浅木色砧板为空，初始不满足三明治上砧板。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 0.0–12.5 s，机器人接近灶台并调整身体和右臂；视频 5.0、5.5、6.0 s 可见右夹爪抬落，但没有带起物体。视频 13.0–20.5 s，机器人右手伸向灶台边与锅沿，煎锅未被提起或搬向砧板，三明治仍在锅内。" + }, + { + "t": 28.0, + "log_step": 74, + "text_zh": "观察：视频 27.4–28.8 s，机器人右夹爪反复接近锅柄并碰拨，锅中三明治有小幅挪动；视频 29.0–34.0 s 右手抬起时没有带起煎锅或锅铲，三明治仍在锅内。log step 74 保存的最终生成试验同样报告抓锅后 held 两侧均为 False，倾倒段未成功。" + }, + { + "t": 47.4, + "log_step": 80, + "text_zh": "观察：全片每约两秒抽帧及视频 46.4–47.4 s 的结尾密集抽帧均未见三明治上砧板；视频 47.4 s，三明治仍在灶台上的煎锅内，机器人空手伸臂。log step 80 重新生成并保存 2370 行交付文件，输出 success=False；评分器也记录 replay_success=0、deterministic=1。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：参考成功视频 46.6 s 的同类近景能清楚看到三明治平放于砧板、煎锅竖起；本次视频未出现这一板面接触关系。参考视频仅用于辨认完成状态，不作为本次进度证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 27.6–28.2 s，右夹爪碰拨煎锅把手，锅及锅内三明治小幅挪动；随后右手离开，未把锅提起。只记可见碰拨，不把空手抬臂记成握工具托举三明治。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–47.4 s，机器人双足交替落地，腿部支撑站立、接近灶台、转身及伸手操作；本次未见跌倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 14.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 13.0–20.5 s，机器人右手伸向灶台边与锅沿，但煎锅未被提起；视频 27.4–28.8 s，右夹爪反复接近并碰拨锅柄，视频 29.0–34.0 s 抬手时没有带起煎锅，三明治仍在锅内，直到视频 47.4 s 也未到砧板。推断：该放置步骤已经启动，但搬锅所需的有效抓握未建立，后续操作也未完成放置；视频约 14 s 取作锅沿操作失败的粗略导航锚点，不把早期空手抬落直接认定为取锅铲失败。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 14.0, + "log_step": null, + "evidence_zh": "观察：视频 13.0–20.5 s，机器人右手伸向锅沿后未带起煎锅；视频 27.4–34.0 s，右夹爪反复接近并碰拨锅柄，随后空手抬起，煎锅仍留在灶台，三明治仍在锅内。推断：搬动煎锅所需的有效抓握没有建立，不能把碰到锅柄或其他会话试验的 held=True 当作本次已握住再滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：问题在末端到位及接触执行。log step 74 的交付生成输出中，锅沿目标为 [0.612,0.164,0.885]，实际右末端为 [0.497,0.086,0.885]，held=False；锅柄阶段实际 [0.707,0.455,0.924] 与目标 [0.702,0.429,0.921] 仍有偏差且 held=False。视频 13.0–20.5 s 和视频 27.4–34.0 s 相应出现反复伸手、碰拨后空手抬起，支持控制执行失败；没有足够证据细分为接触几何、逆解或反馈控制中的某一种。" + } + ], + "gap_zh": "没有逐帧状态日志、接触对或夹持力记录，不能定量确认锅柄瞬时接触的对向受力，也不能进一步判定控制子类型。log step 70 的 held=True 属于早先 1803 行试验；实际提交由 log step 74、80 保存为 2370 行，不能把前一试验的抓握或 agent 在 log step 81 对试验的概括移入本次回放。评分器未报告 sandwich_flat_angle 或 success_hold_counter，两个原生指标值均留空；三明治始终未上砧板的可见事实足以判断节点为假。" + }, + "summary_zh": "机器人接近灶台、调整右臂并操作锅沿和锅柄，但三明治始终留在煎锅内，唯一节点“三明治上砧板”从未达成，终态为 0/1。断点在该放置步骤操作中，视频约 14 s 为导航锚点：有效煎锅抓握未建立，日志中的末端偏差及视频中的空手抬臂支持控制执行问题。没有逐帧接触或力记录，不能进一步细分控制原因；早先试验的 held=True 不代表本次交付抓握成功。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（三明治未上砧板，final=false）正确，但断点时间、断点证据和现象证据把视频 0–12.5 s 的走近灶台（双臂收拢）误读为“右夹爪多次升降、翻转、取锅铲失败”；取锅铲这一步在日志中并不存在（agent 的方案只抓锅柄/锅沿）。应改为：约 13–14 s 起才开始伸手到锅沿，锅柄抓握未建立。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "唯一节点 sandwich_on_board 终态为假，视频 47.4 s 三明治仍在锅内，与评分器 success=0 一致；断点 14 s 为导航锚点，没建立接触与停在“控制”的根因有视频及 log step 74 的数值支持，且已区分早先试验的 held=True。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": "2026-10-30T04:50:29Z", + "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-sandwich-remove-i00-privileged--7tsahbx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--7tsahbx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--7tsahbx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--7tsahbx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e50717faddcbf7abfa120e6d24c6dc6989d3163e24993845f9f0e565feeed110", + "video_sha256": "b8f600b2a1f2956bd3cb7d6520320bc8972eeb0a58b7a40314c1d78cb90546f7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--kbjtn52.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--kbjtn52.json new file mode 100644 index 0000000000000000000000000000000000000000..95b11906d2224c3af5426b2babcc8ab8f07053b1 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--kbjtn52.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--kbjtn52", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 2333, + "sim_steps": 2333, + "horizon": 3150, + "episode_over": 1, + "fell": 0, + "replay_s": 36.71, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 19, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 1.086, + "peak_memory_gb": 2.931, + "peak_processes": 10, + "peak_disk_gb": 0.865, + "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-sandwich-remove-i00-privileged--kbjtn52/replay.mp4", + "duration_s": 46.68, + "fps": 25.0, + "frames": 1167, + "sha256": "ae44ffb932d98516adf612e7ba20bcf6bed9954fbaa9db602cd8d20dd45adcc2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [ + [ + 46.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 的两幅视图中，三明治位于黑色煎锅内，浅木色砧板上没有三明治；初始目标不成立。" + }, + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 14.00–16.00 s，机器人右夹爪闭合持住锅铲并将其从锅上抬起；三明治仍留在锅内，未被夹爪拿起。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 20.00–32.00 s，机器人左夹爪持煎锅把手，身体沿台边移动，将盛着三明治的煎锅移到砧板边；右夹爪仍持锅铲。" + }, + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频 35.00–43.50 s，机器人左臂逐渐将煎锅竖起，锅面承托三明治；右臂在视频 37.50–40.00 s 将锅铲伸向三明治下缘，接触并拨引它向锅口移动。" + }, + { + "t": 44.96, + "log_step": null, + "text_zh": "观察：视频 44.64 s 三明治仍斜靠锅面，视频 44.80 s 开始翻落，视频 44.96–45.12 s 可见它落到砧板上并趋于平放；视频 45.28–46.64 s 未见其离开砧板，最后一帧中锅面已基本空出，三明治在板面上。" + }, + { + "t": 46.64, + "log_step": 212, + "text_zh": "观察：log step 212 的模拟器状态输出为 success=True、done=True、fell=False、steps=2333，另输出原生保持计数 counter=50；log step 213 保存这段2333行轨迹，log step 218 对两次新进程回放的成功及相同终态哈希执行断言并正常返回，log step 223 再次复现成功。评分器 reward.success=1、replay_success=1、deterministic=1、n_actions=2333，与视频末帧的落板状态一致。" + }, + { + "t": 46.64, + "log_step": 212, + "text_zh": "推断：以文本给定的50 Hz控制率换算，最终交付的 control step 2333 对应视频约 46.66 s，与视频时长 46.68 s 及已检查的视频末帧 46.64 s 一致；log step 210 的 control step 2291 对应视频 45.82 s，已用视频 45.76、45.92 s 中三明治已落板的画面核对。节点包含连续50步验收，故完成时间记为视频约 46.64 s，而非首次落板时刻；10°角阈值与连续计数的精确满足由成功评分及最终运行日志支持，不能仅从图像精确量出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 20.00–44.80 s，机器人左夹爪持煎锅把手，锅面承托三明治，左臂搬锅并向砧板倾锅，使三明治滑落到板上；只记录锅面到三明治的工具接触链，不重复计夹爪握锅。" + }, + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 37.50–40.00 s，机器人右夹爪所持锅铲接触并拨引三明治下缘，同时左臂持锅倾斜，双臂配合完成转移；铲面没有把三明治单独托离锅，不标为锅铲托举，也不重复计夹爪握铲。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–32.00 s 的全景中，机器人足腿支撑身体，在接近、持工具和沿台边搬锅时移动站位；视频 46.64 s 末帧身体仍保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人右手持锅铲、左手持煎锅，沿台边搬锅后倾锅并用锅铲拨引三明治；视频 44.80–45.12 s 可见三明治落到砧板，视频 46.64 s 末帧仍平放，最终完成1/1节点。最终交付2333个控制步的轨迹获评分成功，两次新进程回放通过且终态哈希相同，连续50步验收约在视频末尾完成。没有逐帧状态日志，精确角度与保持计数主要由成功评分及 log step 212 支持；reward未单列角度和保持计数这两项原生指标，故其数值留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一目标节点 sandwich_on_board 的区间、final、接触（锅面托/舀、锅铲推扫、腿躯干支撑）与视频一致；时钟换算有说明并核对，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": "2026-10-30T04:40:20Z", + "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-sandwich-remove-i00-privileged--kbjtn52/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--kbjtn52/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3d8eeb6f2f5a00db3cbfe86253c87c0644e73b5e4ac33411eb18610acb802174", + "video_sha256": "ae44ffb932d98516adf612e7ba20bcf6bed9954fbaa9db602cd8d20dd45adcc2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--n5obywh.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--n5obywh.json new file mode 100644 index 0000000000000000000000000000000000000000..02549dedb34b51205b1aa2308d943c4f6cdf3cd4 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--n5obywh.json @@ -0,0 +1,201 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--n5obywh", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 1137, + "sim_steps": 1137, + "horizon": 3150, + "episode_over": 1, + "fell": 0, + "replay_s": 19.74, + "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": 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-sandwich-remove-i00-privileged--n5obywh/replay.mp4", + "duration_s": 22.76, + "fps": 25.0, + "frames": 569, + "sha256": "fc6ebe5c5d7486b16c51c8246ef5383e0c1294fa896b73a5eba4b84f6529745c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [ + [ + 22.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两路外部视角中，三明治在黑色煎锅内，浅木色砧板上为空，节点初始不成立。" + }, + { + "t": 13.5, + "log_step": 35, + "text_zh": "观察：视频 8.0–13.5 s 中，机器人左夹爪在锅柄处闭合，随后煎锅连同三明治离开炉面并升高；视频 14.0–18.0 s 中机器人持锅侧移至砧板上方。log step 35 生成并保存的交付脚本也采用左手持锅搬运、旋腕倾锅的动作。" + }, + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 19.3–19.5 s 三明治从近竖直的锅内翻落至砧板，视频 20.1–20.3 s 随锅回转又出现翘起，视频 20.5–20.7 s 再次呈大面近水平的落板姿态。首次落板不能单独证明已经满足连续50控制步。" + }, + { + "t": 22.72, + "log_step": 35, + "text_zh": "观察：视频 21.6–22.72 s（含最后一帧）中，三明治保持在砧板上、大面近水平，左夹爪仍持锅柄，右夹爪在身体侧方；未见手指直接操作三明治。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、sim_steps=1137、fell=0；log step 35 对保存轨迹的新进程回放也返回 success=true。" + }, + { + "t": 22.7, + "log_step": 35, + "text_zh": "推断：结合视频末段的落板终态和评分器成功结果，三明治上砧板节点在回合结束时已满足含50步保持的完整判据，标为视频约22.7 s起成立。没有逐帧原生计数器及角度记录，采用首次能确认完整验收的末段时刻，而不把视频约19.5 s的首次落板当成达标；此时间约有半秒精度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 12.5–19.3 s，机器人左夹爪持煎锅把手，锅底承托三明治并将其搬至砧板上方，随后倾锅使三明治翻落；视频 20.1–20.3 s回转锅面时三明治短暂翘起。整条作用链记在煎锅与三明治的接触，不重复标夹爪握锅柄；未见机器人持锅铲操作三明治。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–22.72 s中，机器人双腿和足部支撑身体，接近炉台后站立持锅，并在视频 14.0–18.0 s持锅侧移至砧板处，倾锅后仍保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人左夹爪持锅搬运并倾锅，将三明治翻落到砧板；视频 21.6–22.72 s显示三明治近水平留在板上，评分器确认回放成功，唯一节点最终完成。任务设计问题：inputs/run.json 的 task_text要求使用锅铲，但视频中机器人采用直接持锅倾倒的方案，评分器仍判成功，按本次实际评分规则标注。推断：完整保持判据在视频约22.7 s获确认；无逐帧状态日志，无法独立测量10°边界和原生50步计数，两个原生指标未由评分器报告，均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "整体结论（成功、唯一节点 final=true、无 failure、任务设计问题说明）正确；仅节点起始时间 22.7 s 偏晚：回合在 50 步计数达标时即结束，达标窗口应始于约 21.7 s。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功、唯一节点 final=true、无 failure、任务设计问题说明均与视频和评分器字段一致；第1轮关于起点时间的分歧已有证据说明（50步保持判据在回合末才满足），不再重复。", + "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": "2026-10-30T04:47:38Z", + "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-sandwich-remove-i00-privileged--n5obywh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--n5obywh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--n5obywh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--n5obywh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2bcabf065e03c3406a398be4b63f79c5d79b412a25d2da47550a13bbce4255ad", + "video_sha256": "fc6ebe5c5d7486b16c51c8246ef5383e0c1294fa896b73a5eba4b84f6529745c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--tbyc3gz.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--tbyc3gz.json new file mode 100644 index 0000000000000000000000000000000000000000..7701835bda95b0b7557f6c8cee87fb8f5c0c2ef9 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--tbyc3gz.json @@ -0,0 +1,200 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--tbyc3gz", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 980, + "sim_steps": 980, + "horizon": 3150, + "episode_over": 0, + "fell": 0, + "replay_s": 20.79, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 25, + "agent_resets": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.312, + "peak_memory_gb": 1.344, + "peak_processes": 12, + "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-sandwich-remove-i00-privileged--tbyc3gz/replay.mp4", + "duration_s": 19.64, + "fps": 25.0, + "frames": 491, + "sha256": "eda613237330f5f6264a74f5f9b95979b64cb1612ebd65e194a078b4023ca878" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始的外部双视角中，金黄色三明治位于黑色煎锅内，浅木色砧板为空；视频约 8.0 s 机器人左夹爪夹住锅柄抬锅，三明治随锅倾斜。" + }, + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频约 11.0–15.3 s 机器人侧移并转动持锅手腕，三明治仍留在锅内；视频约 15.5 s 锅柄与左夹爪分离，煎锅落回黑色灶面，没有将三明治倒到砧板。" + }, + { + "t": 19.6, + "log_step": 127, + "text_zh": "观察：视频 18.64–19.60 s 的末秒双视角仍显示三明治在锅内，砧板为空，因此三明治接触砧板并平放保持的判据未成立。log step 127 将 log step 115 生成的 rows1.npy（980 行）保存为最终交付；评分器 success=0、replay_success=0、deterministic=1，与视频未完成一致。" + }, + { + "t": null, + "log_step": 140, + "text_zh": "观察：agent 在 log step 140 自述三明治已离锅平放台面、距砧板约 0.3 米；该描述与视频 19.60 s 三明治仍在锅内的可见终态不符，节点依据评分视频判为未达。成功参考视频约 45.0–46.6 s 则可见三明治离锅落在浅木色砧板上，此参考仅用于辨认可见判据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频约 8.0–15.3 s，机器人左夹爪夹住煎锅把手，以锅底承托三明治抬起、侧移并倾锅；没有握持锅铲将三明治铲出。锅铲起初搭在锅内，随后留在灶面。此处只记左夹爪—煎锅—三明治接触链的工具承托。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–19.6 s，机器人双足支撑身体；视频前段向台面靠近，持锅期间向砧板方向侧移，操作过程中保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 15.5, + "log_step": 115, + "where": "操作中", + "evidence_zh": "观察：视频约 8.0 s 机器人夹住锅柄并抬锅，随后侧移和旋转手腕尝试倒出三明治；视频约 15.5 s 左夹爪失去锅柄，煎锅落回黑色灶面，三明治仍在锅内，至视频 19.60 s 未恢复持锅或完成上板。这是三明治上砧板步骤操作中的未修复失败。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 15.5, + "log_step": 115, + "evidence_zh": "观察：视频约 8.0–14.5 s 左夹爪夹持锅柄使煎锅抬起、倾斜；视频约 15.3–15.6 s 锅柄从夹爪处脱离，锅回落到黑色灶面，左夹爪继续转动而锅未随之翻转。视频 19.60 s 三明治仍在锅内且未到砧板。丢失的是已建立的锅柄夹持，不是从未抓到锅。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 15.5, + "log_step": 115, + "source_zh": "日志", + "evidence_zh": "推断：log step 115 的交付轨迹生成脚本将左夹爪闭合到 0.85，之后搬运和转腕阶段没有发出松爪命令；log step 127 明确保存该脚本的 rows1.npy。视频约 8.0 s 已能持锅抬起，但视频约 15.5 s 转腕时锅柄脱离、锅不再跟随夹爪，说明执行未保持所需的夹持与锅姿态控制。证据支持控制层级，尚不足以区分接触几何、受力或轨迹跟踪的具体缺陷。" + } + ], + "gap_zh": "无逐帧状态日志、接触对或夹持力记录，无法细分锅柄脱离的控制根因；视频足以判断三明治未上板。评分器未报告 sandwich_flat_angle 或 success_hold_counter，原生指标保留 null；log step 115 的自测角度不冒充评分器指标。agent 在 log step 140 对离锅落点的自述与视频终态不符，未据其补记任何节点进展。" + }, + "summary_zh": "机器人左夹爪夹住锅柄抬锅并侧移倾锅，但三明治始终留在锅内，三明治上砧板节点未达，最终为 0/1。视频约 15.5 s 锅柄脱离夹爪、煎锅落回灶面且未修复，失败现象为没保持住，根因证据支持控制层级。缺少接触力和逐帧状态日志，不能进一步细分控制缺陷；agent 在 log step 140 所称三明治已落台面与评分视频不符。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达、断点（视频约15.5 s锅柄脱离、锅落回灶面）、现象没保持住均与帧和log step 115输出一致；根因停在控制层级、并在gap中说明证据不足，可接受。未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:37:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--tbyc3gz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--tbyc3gz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4b80bf9341258765f36cb42582a18ebe6efb6e5c0563f2a17f3cfcde9e31f239", + "video_sha256": "eda613237330f5f6264a74f5f9b95979b64cb1612ebd65e194a078b4023ca878", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--uwqah72.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--uwqah72.json new file mode 100644 index 0000000000000000000000000000000000000000..bc74dd4de24d2b51b0dc9f9d2f18171535f24368 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-privileged--uwqah72.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-privileged--uwqah72", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 195, + "sim_steps": 195, + "horizon": 3150, + "episode_over": 0, + "fell": 0, + "replay_s": 5.45, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 331, + "agent_resets": 160, + "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-sandwich-remove-i00-privileged--uwqah72/replay.mp4", + "duration_s": 3.92, + "fps": 25.0, + "frames": 98, + "sha256": "177e5b5b6b704c391c746d1e3adb156e40167887b090784d2e2efb94b7fceb95" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.00 s的远景与外部近景均显示金黄色三明治在黑色煎锅内，浅木色砧板为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频1.20–2.90 s的近景逐帧抽查中，机器人右夹爪在锅铲柄附近合拢并抬臂；锅铲从三明治上方翘起，三明治没有随铲离锅，也没有向砧板移动。" + }, + { + "t": 3.88, + "log_step": 437, + "text_zh": "观察：视频2.92–3.88 s及末帧显示三明治仍在锅内，砧板始终为空；log step 437对最终195行动作文件的官方回放报告success=false、fell=false、episode_over=false。未出现上砧板并平放保持的状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频约1.60–2.40 s，右夹爪操纵锅铲柄，铲面在三明治上方贴压/擦过，随后翘起，铲端仍搭在锅沿附近；未形成从三明治下方托举的接触。此处合并记录夹爪—锅铲—接触物的接触链。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–3.88 s，机器人双腿和足部支撑躯干，接近台面并配合右臂操作；全程保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 2.4, + "log_step": 435, + "where": "操作中", + "evidence_zh": "观察：视频约2.40 s，机器人抬起锅铲柄，但三明治仍平躺锅内，铲面没有进入其下方；到视频3.88 s仍未搬离煎锅。log step 435保存的最终生成脚本仅包含接近、合爪、抬铲和静止保持，log step 437官方回放确认该195行轨迹未成功。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.4, + "log_step": null, + "evidence_zh": "观察：视频1.80–2.90 s，右夹爪抬高锅铲柄，铲面从三明治上方翘起，三明治始终留在煎锅中。推断：缺失的是锅铲对三明治底面的承托接触，已有的上方贴碰没有形成托举；并非已托起后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 2.4, + "log_step": 435, + "source_zh": "日志", + "evidence_zh": "观察：log step 435的最终脚本在合爪后直接连续增加抬臂与腕俯仰动作，随后静止保持，没有先把铲面送入三明治下方的动作；视频约2.40–3.88 s显示铲面位于三明治上方，食物未随铲移动。推断：该接触布局未建立从下方承载食物的几何关系，抬铲无法带起三明治。", + "note_zh": "推断：本次交付未验证能够由该抓柄姿态完成的替代托举轨迹；其他重置测试不计入本次节点进度。" + } + ], + "gap_zh": "无逐帧状态日志，无法精确核实夹爪各指的接触、接触力或瞬时滑动；仅据视频判定已有上方贴碰及未形成托举，不把会话中其他重置测试的掉铲记为本次现象。评分器未报告sandwich_flat_angle与success_hold_counter，原生指标值保留null。" + }, + "summary_zh": "机器人右夹爪操纵锅铲并抬臂，但未把铲面送到三明治下方，三明治全程留在煎锅内，三明治上砧板节点始终未达成，最终0/1。视频约2.40–3.88 s与最终脚本共同支持托举接触未建立及接触设计不足；无状态日志，精确指端接触和接触力无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点、现象与根因均与视频和log一致（三明治全程留在锅内，砧板为空，官方回放success=false）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:46:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--uwqah72/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-privileged--uwqah72/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a1234ca4073e34024fa273841714bf0b4e3b86150ecf26d92de2423e8e527ce", + "video_sha256": "177e5b5b6b704c391c746d1e3adb156e40167887b090784d2e2efb94b7fceb95", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ak7ahkw.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ak7ahkw.json new file mode 100644 index 0000000000000000000000000000000000000000..b9fb00b739a6012ca2ca6af6c8105a0895e79843 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ak7ahkw.json @@ -0,0 +1,199 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--ak7ahkw", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 134, + "rows": 3150, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1943.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.265, + "peak_processes": 6, + "peak_disk_gb": 0.259, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-sandwich-remove-i00-standard--ak7ahkw/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "2a1924dbb8c4c6181d53bf93b2885f62020629a0da87056cd257eb3aaafad33d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始双视角中，金黄色三明治在黑色煎锅内，浅木色砧板为空；视频全程粗查并在视频 3–8 s、41.5–44.25 s、57–63.0 s 加密检查，机器人反复伸臂、回撤和调整站位，未见三明治离锅到板。" + }, + { + "t": 43.5, + "log_step": 177, + "text_zh": "观察：log step 177 的机器人服务调用包含下降、闭合右夹爪和抬臂指令；视频 41.5–44.25 s 双视角中，右手停留在柜台前缘附近，锅铲没有随手离开原位，三明治仍在锅中，砧板仍为空。" + }, + { + "t": 63.0, + "log_step": 304, + "text_zh": "观察：视频 62.0–63.0 s（包括末帧）三明治仍在煎锅内，砧板为空；log step 304 的实时机器人服务报告 control_steps=3150、done=True、reason=failed、outcome=timeout，与 reward 的 live_success=0 一致。此节点未达成依据为可见物体位置，并非仅由零分反推。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频全程广角视图中，机器人双腿和足部在地面支撑站立，反复小步进退、转向和下蹲，以接近煎锅及锅铲。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 41.5–44.25 s、57–60 s 右夹爪在柜台前缘附近伸出、闭合和回撤，视频约 54 s 也有左臂伸出尝试；夹爪与柄的具体接触区域被柜台边缘部分遮挡，无法确认实际碰到锅铲柄还是柜体。未见锅铲被夹持抬起，因此不标手持工具托住三明治。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 43.5, + "log_step": 177, + "where": "操作中", + "evidence_zh": "观察：机器人正在为三明治上砧板尝试抓取并抬起锅铲；视频 41.5–44.25 s 手在柜台边缘活动，但锅铲与三明治留在原处。后续视频 57–60 s 再次伸臂及转身仍未带走锅铲，视频 63.0 s 三明治仍在锅内，该步骤从未修复。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 43.5, + "log_step": 177, + "evidence_zh": "推断：log step 177 指令右夹爪闭合后抬臂，但视频 41.5–44.25 s 锅铲始终留在煎锅上，未随手抬起；视频 57–60 s 的后续尝试也未建立能带动锅铲的夹持。所需的抓铲接触未建立，因而机器人没有用锅铲承托并搬出三明治；不是抓住之后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机器人未能稳定执行到达锅铲柄并闭合夹持的动作。log step 82 目标右臂关节为 [-0.183,0.076,0.161,-0.129,-0.003,-0.076,0.068]，服务返回实际值 [-0.084,0.037,0.156,-0.036,0.019,0.569,0.044]；log step 284 抓铲抬臂后，骨盆从先前靠近柜台的位置退至 x=0.063 m，log step 288 实测右臂仍明显偏离其抬臂指令。视频全程及视频 41.5–44.25 s、57–60 s 显示伸臂伴随身体退移，工具不随手移动。接近动作与全身位姿未协调成功，证据不足以细分接触几何、碰撞或反馈控制。" + } + ], + "gap_zh": "无状态日志或接触对记录；柜台边缘遮挡部分夹爪区域，无法确认指尖究竟碰到锅铲柄、柜门把手还是柜体，也不能独立核实 agent 在 log step 308 自述的柜门把手碰撞机制，因此不加被挡/碰撞现象或更细的控制子类。评分字段未报告 sandwich_flat_angle 和 success_hold_counter，原生指标值留 null；砧板和三明治在双视角均可见，节点未达成没有此遮挡歧义。" + }, + "summary_zh": "机器人反复调整站位并尝试用夹爪抓取锅铲，但始终未形成能带动锅铲的夹持，三明治上砧板节点全程未达成，最终为 0/1。视频 63.0 s 末帧仍显示三明治在煎锅内、砧板为空；指令与实测关节偏差及伸臂时身体退移支持控制失败。无状态日志，夹爪局部接触受遮挡，无法进一步确认柜体碰撞机制，原生角度与保持计数也未报告。", + "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 sandwich_on_board 未达成与视频一致：全程三明治在煎锅内（锅铲从开头就横在锅上，未被带走）、砧板为空；log step 177 对应 control_steps 2100–2205（视频 42.0–44.1 s），与标注的 41.5–44.25 s 吻合。断点、没建立接触（标为推断）和控制根因均有证据，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": "2026-10-30T04:49:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--ak7ahkw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--ak7ahkw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a0a5fe0863efe777129da12c1a3eeb95a6edca4ce8ec3800ca0917deac660e0d", + "video_sha256": "2a1924dbb8c4c6181d53bf93b2885f62020629a0da87056cd257eb3aaafad33d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--axu8hwj.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--axu8hwj.json new file mode 100644 index 0000000000000000000000000000000000000000..e839876d2049ab9723965c19dc147b49dbc90246 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--axu8hwj.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--axu8hwj", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 2752, + "sim_steps": 2752, + "calls": 308, + "rows": 2602, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1272.9, + "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-sandwich-remove-i00-standard--axu8hwj/replay.mp4", + "duration_s": 55.08, + "fps": 25.0, + "frames": 1377, + "sha256": "fe7971796dbe73f2ea734368900f5ea1b8e755571429676d999b74f3ed934224" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 中金黄色三明治位于黑色煎锅内，浅木色砧板为空；检查视频 0–48 s 每秒帧及视频 49–55.04 s 密集帧，未见三明治离锅、接触砧板。" + }, + { + "t": 54.0, + "log_step": 99, + "text_zh": "观察：视频 52.0–54.2 s 中机器人夹爪收回和抬起时，锅铲及三明治仍留在锅处，砧板为空；log step 99 的调用虽命名为抬起锅铲，但画面未显示夹爪携带锅铲或三明治。" + }, + { + "t": 55.04, + "log_step": 110, + "text_zh": "观察：视频 54.4–55.04 s 中机器人左夹爪向锅内三明治边缘下探，末帧三明治仍在锅内，砧板仍为空。log step 110 的机器人服务状态为 control_steps=2752、done=True、reason=failed；评分器 live_success=0、replay_success=0、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–55.04 s 中机器人双足支撑身体，前后走动接近台面并保持站立，双腿在伸手尝试拿锅铲时承重。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：候选名“触碰”。视频 54.88–55.04 s 中左夹爪指尖下探至锅内三明治边缘，结合 log step 105、110 的即时失败状态和 log step 6 的手指触碰即终止规则，判断发生了指尖直接触碰；未见对向夹持、托起或明确推移，接触力也未记录，故不归为抓握、托/舀或压/擦。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 55.0, + "log_step": 105, + "where": "操作中", + "evidence_zh": "观察：视频 54.4–55.04 s 中机器人左夹爪向煎锅内下探，指尖落至三明治边缘，三明治尚未移向砧板。log step 105 执行的是接近锅铲柄的动作，机器人服务在 control_steps=2752 返回 done=True，log step 110 确认 reason=failed；log step 109 的后续修正被 EpisodeOver 拒绝。推断：拿取锅铲以搬运三明治的动作偏到食物处并触发终止，“三明治上砧板”未能修复。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 55.0, + "log_step": 105, + "evidence_zh": "观察：视频 54.4–55.04 s 中机器人左夹爪从锅旁移到三明治边缘上方并下降，没有夹住锅铲柄；三明治和锅铲未被带离。log step 105 的动作目标是锅铲柄抓取点，该动作结束时服务即返回 done=True，log step 110 为 reason=failed。推断：末端接近位置偏离锅铲柄，手指触碰了禁止直接触碰的三明治；这是同一次位姿偏差的后果，不另计一个违反约束现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 55.0, + "log_step": 105, + "source_zh": "日志", + "evidence_zh": "观察：log step 105 中 agent 的脚本将左夹爪目标设为骨盆坐标 [0.465,0.115,0.150] 米，一次提交标称1.2秒的关节插值，返回后才读取反馈；脚本用自身正运动学从返回关节读数计算的位置为 [0.466,0.196,0.134] 米，明显偏离其目标，且服务已结束。视频 54.4–55.04 s 对应显示左夹爪下探到三明治处；log step 109 的位置修正因回合已结束无法执行。推断：接近动作未在触碰前根据实际末端位置修正，定位执行误差导致了错误接触；现有证据不能进一步分清运动学建模误差与跟踪误差，保留在控制大类。" + } + ], + "gap_zh": "无逐帧状态或接触对日志，锅沿及手指部分遮挡末段接触点；触碰三明治由末帧位置、服务即时失败和终止规则共同推断，不能确定具体哪根手指或接触力。log step 105 的约8厘米横向差来自 agent 自己的正运动学计算，未独立标定，故不据此细分控制根因；评分器未报告 sandwich_flat_angle 或 success_hold_counter，原生指标值均留空。" + }, + "summary_zh": "机器人前后移动并多次伸臂尝试拿取锅铲，但三明治始终留在煎锅内，“三明治上砧板”从未达成，最终为0/1。视频约55.0 s 的末次左夹爪接近偏至三明治边缘，结合服务即时失败可推断手指误触导致回合终止；控制动作未能在接触前修正偏差。缺少接触对日志及独立运动学校准，触碰细节和控制误差的具体来源仍不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三明治全程未离锅、砧板为空，final=false 与帧一致；末段（视频约54.4–55.04 s）左夹爪下探到锅内三明治边缘，服务在 log step 105 返回 done=True/reason=failed，断点、位姿不准与控制根因均有观察和推断标注，未发现需改动的错误。唯一的保留：手指触碰为推断，控制根因依赖 agent 自己的正运动学读数，但文件已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:45:27Z", 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a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--brgdjvh.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--brgdjvh.json new file mode 100644 index 0000000000000000000000000000000000000000..dceadcf8b1b8ca42296f5e4ea4b7cc9312dba940 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--brgdjvh.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--brgdjvh", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 98, + "rows": 3150, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2861.9, + "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-sandwich-remove-i00-standard--brgdjvh/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "7c0da878696d4474eb879a4c721c576c09efcda2f6157e16c5c8151f294a36ee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三明治位于黑色煎锅内，浅木色砧板为空；视频 8.0–21.0 s 机器人左夹爪持锅铲反复接近并压到三明治上表面或边缘，三明治未被铲到砧板。" + }, + { + "t": 29.0, + "log_step": 99, + "text_zh": "观察：视频 28.0–30.5 s 左夹爪夹住锅柄后将锅抬离灶面，三明治仍在锅内；视频 34.0–51.5 s 机器人将锅移向砧板并逐渐倾斜，三明治一直斜靠锅内，未在板上平放。" + }, + { + "t": 52.0, + "log_step": 140, + "text_zh": "观察：视频 51.6–52.48 s 密集帧显示机器人进一步翻锅，三明治约在视频 51.9–52.0 s 从锅口滑出，位置偏在砧板靠机器人一侧之外，随即越过台边；视频 52.25 s 已在柜体侧面下落，没有形成连续约1秒的板上平放状态。" + }, + { + "t": 63.0, + "log_step": 164, + "text_zh": "观察：视频 54.0–58.0 s 机器人蹲下尝试恢复后重新站立，未把三明治送回砧板；视频 62.0、62.25、62.5、62.75、63.0 s 砧板均为空。log step 164 服务返回 control_steps=3150、done=True、reason=failed、outcome=timeout；评分器 success=0，与画面中的未达成状态一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频 10.0–20.0 s 左夹爪握住橙色锅铲，铲面压到三明治上表面或边缘并尝试插入；未见锅铲从下方托起三明治。视频 22.0–24.0 s 锅铲落到地面，之后改用煎锅。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 28.0–51.8 s 左夹爪握煎锅柄，锅体从下方承托三明治，机器人持锅搬向砧板并倾锅使其滑出；不重复记录同一接触链上的夹爪握锅柄。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s 双腿与足部承担站立、接近灶台、持锅侧移及蹲下恢复时的支撑；持锅搬运见视频 30.0–42.0 s。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 52.0, + "log_step": 140, + "where": "操作中", + "evidence_zh": "观察：视频 51.6–52.48 s，机器人左手持锅继续向外翻转，三明治从锅中滑到砧板外的台边并落下；视频 62.0–63.0 s 砧板仍为空，后续恢复没有完成“三明治上砧板”。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 52.0, + "log_step": 140, + "evidence_zh": "观察：视频 51.9–52.0 s 三明治离开锅面时，其落点已偏出砧板靠机器人一侧，视频 52.08–52.32 s 继续越过台边下落；它没有先在砧板上完成平放再滚走。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：倾锅转移时，机器人没有将出锅路径维持在砧板范围内。log step 131、134、137、140 的控制脚本连续增加锅的旋转，并在 log step 140 同时平移持锅手和移动机器人；对应视频 46.0–51.5 s 三明治仍靠在锅内，视频 51.9–52.32 s 最后一次翻锅使其从板外滑落。目标一直是将三明治送到砧板，但实际倾倒动作未能控制落点，故归到控制；现有证据不足以进一步区分几何估计、轨迹求解和执行跟踪的贡献。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，无法读取逐帧接触对、三明治精确角度和原生保持计数；评分器也未报告 sandwich_flat_angle 或 success_hold_counter，故两项原生指标均为 null。视频足以确认未达到板上平放并保持的节点判据，但日志中的自建运动学估计没有独立真值，控制根因不细分到感知、逆解或反馈子类。" + }, + "summary_zh": "机器人先以左手持锅铲尝试插入三明治下方，换握时锅铲落地，随后持锅将三明治搬向砧板，但“三明治上砧板”始终未达成，最终为0/1。视频约52.0 s 的倾锅动作使三明治偏出砧板并从台边落下，后续恢复失败；失败现象为位姿不准，根因归控制。无状态日志及原生角度、保持计数读数，无法进一步确定控制偏差的具体来源。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（倾锅转移时三明治滑出砧板外并落下）、位姿不准现象和控制根因与视频一致；时钟均为视频时间，验证通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:37:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--brgdjvh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--brgdjvh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "747fc83454810346c34689c175b0df9d909812ba5c6a2d3cd2d165f4a5ad78d0", + "video_sha256": "7c0da878696d4474eb879a4c721c576c09efcda2f6157e16c5c8151f294a36ee", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--c29kmm9.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--c29kmm9.json new file mode 100644 index 0000000000000000000000000000000000000000..e350eca358fcef30591ec4cc9047a5b62dc8019c --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--c29kmm9.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--c29kmm9", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 242, + "rows": 2928, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2190.9, + "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-sandwich-remove-i00-standard--c29kmm9/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "133355246b836dcbcecaf741f1ea6975004d75cc35de3f0c5e4ff9d249b2af54" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "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，金黄色三明治在黑色煎锅内，浅木色砧板为空，初始不满足上砧板条件。" + }, + { + "t": 13.0, + "log_step": 163, + "text_zh": "观察：按约每3秒抽帧检查视频全程，并加密检查视频 12.0–19.5 s、36.0–50.0 s、56.0–63.0 s；视频 12.5–15.5 s 左手悬在胸前上方的空中，没有握住锅铲，锅铲和三明治仍在锅处。log step 163 输出 CAUGHT / GRASP DETECTED，是 agent 脚本根据短时闭合后的手指位置作出的判断，不是评分器的持物读数。" + }, + { + "t": null, + "log_step": 51, + "text_zh": "观察：log step 51 的 Driver.submit 把 res.meta.control_steps 原样打印为 total_steps；log step 7 的服务规格 control_dt=0.02 s，log step 163 的 total_steps=651，log step 216 的 control_steps=3150。推断：采用控制步×0.02 s 的视频映射，终局约63秒与 inputs/video.json 的63.04秒相符；以 log step 214 的收臂结束 control_steps=2928（视频约58.56 s）对照视频 58.0–59.0 s 左手空手收回核验。故 log step 163 对应视频约13.02 s，未用 agent 时间或按 log step id 插值。" + }, + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 56.0–57.5 s 左手降到锅边附近，视频 58.0–59.0 s 空手收回，锅铲和三明治仍留在锅处，砧板为空。另在 log step 206，agent 脚本再次输出 CAUGHT；此条未打印控制步，不将该输出绑定到视频57秒的具体动作。" + }, + { + "t": 63.0, + "log_step": 216, + "text_zh": "观察：视频末秒的加密抽帧及视频 63.0 s 最后一帧均显示三明治仍在锅内、砧板为空；log step 216 的机器人服务终局字段为 control_steps=3150、done=true、reason=failed，评分器 live_success 与 replay_success 均为0。节点判假依据物体位置，未仅依据零分。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：参考成功视频 inputs/oracle/replay.mp4 的视频 46.3 s 可清楚看到三明治离开倾斜煎锅并落到砧板；本次视频没有出现这种上板关系。该参考仅用于辨认判据的可见线索，不作为本次接触或进度证据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s，机器人足部落地承重，在接近、转身及左手反复寻铲柄时支撑躯干。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 12.5–15.5 s 左手悬空，未接触锅铲；视频 17.0–19.5 s、38.0–48.0 s 及56.0–57.5 s，左夹爪向煎锅旁的铲柄或锅沿区域探近，之后没有带走锅铲。锅沿、手部重叠及视角遮挡使具体指尖接触对象和方式无法确认，故保留未知；没有可确认的对向夹持，不标抓握或手持工具承托三明治。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "success_hold_counter", + "value": null, + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 13.0, + "log_step": 163, + "where": "操作中", + "evidence_zh": "观察：视频 12.5–15.5 s 左手悬在胸前上方的空中，没有握住锅铲，锅铲和三明治仍在锅处；log step 163 的 agent 脚本输出 CAUGHT / GRASP DETECTED。该输出的 total_steps=651 来自服务 control_steps（log step 51），按 log step 7 的 control_dt=0.02 s 对应视频约13.02 s；此映射已用 log step 214 收臂结束的2928步（视频约58.56 s）与视频 58.0–59.0 s 空手收回核验。视频 17.0–19.5 s、38.0–48.0 s、56.0–57.5 s 后续探近仍未带走锅铲或三明治，视频 63.0 s 砧板为空。推断：视频13秒仅作脚本误报持铲而手仍悬空的粗略导航锚点，不声称这里在铲柄上方完成过合拢或接触；三明治上砧板步骤至终局未完成。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 13.0, + "log_step": 163, + "evidence_zh": "观察：视频 12.5–15.5 s 左手悬空且手内没有锅铲，锅铲仍在锅处；视频 17.0–19.5 s、38.0–48.0 s 及56.0–57.5 s 左手探近锅边，随后也没有持铲离开，视频 63.0 s 三明治仍在锅内。log step 163 的 total_steps=651 按0.02秒控制周期对应视频约13.02 s（映射及可见收臂校验见断点证据），其 CAUGHT 仅是脚本判断。推断：未建立能抓起锅铲并搬运三明治的有效接触链；视频13秒是悬空误报的导航锚点，不是已抓住后掉落或在铲柄处闭合的观察。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 163 的代码仅凭10个控制步闭合后的手指位置（约-0.0104）输出 CAUGHT；log step 173 延长夹紧30步后两手指约为-0.0198、-0.0201，接近空夹闭合端。视频 12.5–15.5 s 左手悬空且没有持铲。log step 105、107 的控制代码从上一命令行复制未指定的速度槽；log step 184 修复为手臂动作默认清零 vx/vy/wz，并读出修复前残留 wz=-0.05487。log step 182 的服务骨盆朝向读数从约-0.287变至-1.066 rad，该循环 total_steps=986–1413 按0.02秒控制周期约为视频19.72–28.26 s，视频 21.0–27.0 s 可见机器人逐渐转离煎锅、空手伸至台边。推断：接近与夹紧时的相对位姿反馈和抓取确认未可靠闭环，既有随底座漂转的寻柄，也有把空手误判为持物；后续修正未完成该节点。" + } + ], + "gap_zh": "观察：本目录无逐帧状态日志；视频能确定三明治始终未上砧板，但部分指尖区域被锅沿或手部遮挡，无法确定瞬时接触对象、接触力和具体接触方式，所以上肢 contact_actual 保留未知。评分器未报告 sandwich_flat_angle 或 success_hold_counter 数值，原生指标置 null；agent 对相机几何误差的自述未获独立状态证据验证，未另标感知根因。 时钟审阅分歧：依 DECISIONS.md N6 的 Now，保留经控制周期和可见收臂事件核验的控制步映射；审阅所称 log step 163 无控制步读数、应按 log step id 插值到视频26–30秒，与其 total_steps=651 及 log step 51 的字段来源不符。未把无控制步输出的 log step 206 绑定到视频57秒。" + }, + "summary_zh": "机器人反复用左夹爪寻抓锅铲，但未建立可搬起工具的有效抓持；三明治上砧板节点最终为0/1。断点取视频约13秒左手悬空而脚本误报持铲的粗略锚点，控制步映射已补证；删除了在铲柄上方合拢、抬回的错误观察。现象仍为没建立接触，日志支持反馈控制问题；无状态日志，瞬时指尖接触对和原生指标无法精确核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（三明治未上砧板，final=false）与视频一致，无异议。但断点与现象把 log step 163 的“CAUGHT”直接对到视频 13.0 s，缺少 control_steps 映射：log 中 step 91=220 步、step 198=2124 步，step 163 约在视频 30 s 前后而非 13 s；且视频 12.5–15.5 s 左手是抬在空中，并不在铲柄上方合拢。断点证据文字与时钟需改写。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "三明治上砧板节点未达成(final=false)与视频一致：0、13、44、52、63 s 帧均见三明治在锅内、砧板为空；控制步映射(log step 51/7/163/214)与 N6 相符，13 s 锚点合理，13 s 左手悬空与描述一致。现象和根因有日志与帧支撑，未发现须修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:57:19Z", + "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-sandwich-remove-i00-standard--c29kmm9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--c29kmm9/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--c29kmm9/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--c29kmm9/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4ff5f30422082968c7c891788126f6c6908c90f1f357414a39c17923bcc6897b", + "video_sha256": "133355246b836dcbcecaf741f1ea6975004d75cc35de3f0c5e4ff9d249b2af54", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--cqspzhx.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--cqspzhx.json new file mode 100644 index 0000000000000000000000000000000000000000..6226c2bde3d4c4c538151f639666b02ef7b1d8db --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--cqspzhx.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--cqspzhx", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 291, + "sim_steps": 291, + "calls": 12, + "rows": 291, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3561.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.218, + "peak_processes": 6, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-sandwich-remove-i00-standard--cqspzhx/replay.mp4", + "duration_s": 5.84, + "fps": 25.0, + "frames": 146, + "sha256": "393175894aff05f7fe8991d5ea3915c1fd610d5996ef223fa6011461328db184" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频 0.0 s 的远景和外部近景均显示金黄色三明治在黑色煎锅内，浅木色砧板为空；通看视频并按约0.2秒间隔检查，三明治未到砧板。" + }, + { + "t": 4.0, + "log_step": 68, + "text_zh": "观察：本次视频约 3.6–4.5 s，机器人右夹爪夹住棕色锅铲柄，锅铲随右臂抬起并向后回撤；三明治仍在煎锅里，未随锅铲离锅。log step 68 的服务返回 control_steps=201，动作说明为抬起锅铲；此处没有把该说明当成抬起三明治的证据。" + }, + { + "t": 5.8, + "log_step": 93, + "text_zh": "观察：密查本次视频 4.64–5.80 s，机器人将锅铲降到锅边并向锅内推进，三明治仍留在锅内，砧板始终为空；视频 5.80 s 末帧仍是这一关系。log step 93 是最后一次动作提交，服务返回 control_steps=291、done=False、reason=None；之后直到 log step 133 只有图像、几何和脚本诊断，没有托起或向砧板转运的动作提交。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：成功参考视频 45.60 s 和 46.64 s 的同类外部视图可清楚看到三明治已经落在砧板上，锅被举到近竖直；这只用于核对目标关系的可见性。本次视频没有出现该关系，因此本节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：本次视频约 3.6–4.5 s，右二指夹爪实际夹住锅铲柄，锅铲随手抬起、回撤并再次伸向煎锅。这里只记录已见的取工具接触，未把尚未确认的锅铲承托三明治记为托/舀，也不重复标同一工具链。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：本次视频 0.0–5.80 s，机器人双足在地面上支撑躯干，右臂伸取、抬起和推进锅铲时保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 5.2, + "log_step": 93, + "where": "操作中", + "evidence_zh": "观察：本次视频约 5.2 s，机器人已持锅铲降到锅沿并向三明治方向推进，但截至视频 5.80 s 三明治仍在锅内、砧板为空。log step 93 只提交了对齐锅底及部分入铲的40步动作；此后未提交托起和转运。此时刻仅定位最后一段未完成的入铲操作，未观察到一个可独立确认的滑落、卡阻或碰倒事件。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 内有完整运行日志及视频，但没有状态日志；评分器未报告 sandwich_flat_angle 或 success_hold_counter 的数值。本次视频末段锅沿与三明治遮住铲面底部接触界面，不能确认铲面是否已经插入三明治下方；视频也没有后续托起动作，无法用承载结果核实。推断：可确定三明治上砧板未完成，但不能把这段部分入铲直接判成没建立接触、被挡/碰撞或位姿不准。log step 94–133 持续做图像与运动学诊断，其估计没有独立状态真值可核对；缺少证据将未完成具体归于感知、接触设计、轨迹或反馈控制，故现象和根因均留空。" + }, + "summary_zh": "机器人实际夹住并抬起锅铲，回撤后尝试从锅边入铲，但本次视频 0.0–5.80 s 三明治始终在煎锅内，砧板为空，唯一目标节点未达成（0/1）。断点位于三明治上砧板步骤的入铲操作；日志最后一次提交是 log step 93 的部分入铲，随后只有诊断，没有托起或转运，且末段接触界面遮挡、无状态日志，具体失败现象和根因证据不足。", + "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 0–5.84 s 三明治始终在煎锅内、砧板为空，节点 false、0/1 正确；右夹爪夹住锅铲柄、抬起并向锅内推进的描述与帧一致，断点 sandwich_on_board 操作中合理；现象与根因留空并写明 gap_zh 可接受（末段入铲界面被遮挡，无状态日志）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:40:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--cqspzhx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--cqspzhx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8dec6b8c999bcc6e7069d94b40f1d2003f0eb34d3f246a2db3fe49dc21c633ef", + "video_sha256": "393175894aff05f7fe8991d5ea3915c1fd610d5996ef223fa6011461328db184", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ehhhu3s.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ehhhu3s.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8b44bb118b76273e699509175decfa543bfa27 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--ehhhu3s.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--ehhhu3s", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 208, + "rows": 2025, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1114.6, + "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-sandwich-remove-i00-standard--ehhhu3s/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "24c469a6872c7efad973cfbb56e0f6cbe882ad997ffc49d9dbe01eb6fe123436" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三明治在黑色煎锅内，锅铲横放其上，浅木色砧板为空；全片每约2秒检查并加密检查视频 15–24.5 s、39–63.0 s，未见三明治离锅到达砧板。" + }, + { + "t": 18.0, + "log_step": 31, + "text_zh": "观察：视频 18.0–22.0 s 机器人左夹爪夹住煎锅把手并尝试提锅，煎锅和三明治仍在灶面区域，没有移向砧板；log step 31 记录闭合左夹爪，log step 33–34 记录抬升命令。" + }, + { + "t": 41.5, + "log_step": 51, + "text_zh": "观察：视频 40.5–41.5 s 右夹爪提起锅铲，三明治仍留在锅内；视频 43.0–43.5 s 左夹爪移动时碰动煎锅，锅倾斜后落回灶面，三明治仍未离锅。" + }, + { + "t": 57.0, + "log_step": 75, + "text_zh": "观察：视频 47.0–54.0 s 机器人握铲反复改变臂腕姿态，铲面在三明治上方，没有插到其下方；视频 55.0–58.5 s 将铲面降回三明治上面并松开，log step 75 对应放回并打开右夹爪的命令。" + }, + { + "t": 63.0, + "log_step": 84, + "text_zh": "观察：视频 62.0–63.0 s（含最后一帧）机器人仍站立并调整空手位置，三明治和锅铲留在煎锅内，砧板为空；log step 84 的服务状态为 control_steps=3150、done=True、reason=failed，reward 的 live_success 和 replay_success 均为0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 18.0–22.0 s 左夹爪夹住煎锅把手尝试提锅，锅面从下方承托三明治；没有把锅和三明治搬到砧板。" + }, + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：右夹爪从上方夹住锅铲柄并在视频 40.5–41.5 s 提起；视频 55.0–57.0 s 持铲降回三明治上表面，铲面贴压食物后松开，未见铲面从下方托起食物。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 43.0–43.5 s 左夹爪移动时直接碰动煎锅，锅体随之倾斜后回落；此时右夹爪仍持锅铲，未形成双手共同搬运食物。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s 双腿足部支撑站立，接近操作台、调整站位及末段侧移时保持支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 47.0, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 47.0–54.0 s 机器人握住锅铲后反复抬臂转腕，铲面仍悬在锅内三明治上方，未进入其下方；随后视频 55.0–58.5 s 把铲子放回，视频 63.0 s 三明治仍在锅内。此前提锅路线也未把三明治送到砧板，唯一放置步骤始终没有完成。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 47.0, + "log_step": 59, + "evidence_zh": "观察：视频 47.0–54.0 s 右夹爪持铲反复改变臂腕姿态，铲面未对准三明治底部的插入位置，而在食物上方移动；视频 55.0–57.0 s 又落到食物上表面，三明治没有随铲升起。log step 59 的脚本目标与其计算的实际末端位置也有明显偏差，随后 log step 62 返回原来的握铲姿态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：当前从上方夹住铲柄、夹爪近竖直而铲柄近水平的握法，限制了铲面转为低位斜插姿态，是此次未能铲起食物的原因。视频 41.5–54.0 s 显示该握法和反复调姿；log step 66、72 在保持该工具相对握姿的斜插目标上，脚本多次求解仍有约0.10米的位置残差，log step 75 随后主动放回锅铲，log step 77–81 改为沿柄方向换握。agent 在 log step 88 也自述原握法不适合后续铲取；这些求解是其自建模型的结果，不能证明所有合法握法不可行，此回合的新握法未验证成功。" + } + ], + "gap_zh": "没有状态日志或接触力读数，无法核验精确接触对、关节限位及提锅受阻的力学原因；根因中的握法适配性由视频、agent 的逆解诊断及换握行为共同推断。两项原生指标未在 reward 中报告，均保留 null；不由失败分数推造计数器或角度值。" + }, + "summary_zh": "机器人尝试提锅，并成功拿起锅铲，但三明治始终留在煎锅内，唯一目标“三明治上砧板”未达到，最终为0/1。持铲后反复调姿仍未插入食物下方，随后放回锅铲并准备换握；当前握法不适合后续铲取是有日志支持的控制层推断，服务最终在3150个控制步后失败。缺少状态与力读数，不能确认具体关节或力学瓶颈，原生角度及保持计数未报告。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、final=false、断点（操作中，铲取未能插入食物下方）与视频一致；全程三明治留在锅内，砧板为空。根因为明确标注的推断，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:41:18Z", + "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-sandwich-remove-i00-standard--ehhhu3s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--ehhhu3s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9272a04b0eaa0c60f69530b1d8c38d9bd9d320fd5c0da06fe9ccdb3d07789304", + "video_sha256": "24c469a6872c7efad973cfbb56e0f6cbe882ad997ffc49d9dbe01eb6fe123436", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--jehrmcp.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--jehrmcp.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc9695a0169932af47e46c13150185eac5412fe --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--jehrmcp.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--jehrmcp", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 128, + "rows": 2970, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1900.6, + "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-sandwich-remove-i00-standard--jehrmcp/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "4c0821aaf6db3d9cc8a5c49ae2fb0ed297ddb957661eb96fe76641201ae14c6e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金黄色三明治及橙色锅铲在黑色煎锅内，浅木色砧板为空；初态不满足三明治上砧板。" + }, + { + "t": 38.4, + "log_step": 33, + "text_zh": "观察：视频 36.4–38.8 s，机器人右夹爪从胸前降到台面以下，未夹住铲柄，锅铲及三明治留在锅内。log step 33 的控制脚本实际提交了右臂接近、闭爪动作；这属于移三明治步骤的取工具尝试，未完成搬运。" + }, + { + "t": 56.4, + "log_step": 44, + "text_zh": "观察：视频 56.0、56.4、56.8、57.2 s，机器人右夹爪在锅边上方靠近及收回，橙色锅铲未随夹爪抬走，三明治仍在锅内；未见三明治移向砧板。" + }, + { + "t": 63.0, + "log_step": 56, + "text_zh": "观察：视频 62.0–63.0 s 的末秒画面中，机器人保持站立、右夹爪空悬，三明治仍在灶面上的煎锅里，砧板为空。log step 56 的机器人实时服务报告 control_steps=3150、done=True、reason=failed；评分字段 live_success=0、resets=0。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：本次视频从头至尾粗查并密查取铲及末秒，未见三明治离锅、接触砧板，故节点全程为假；不是仅凭零分判定。对照成功参考视频约 45–46 s，三明治滑出竖起的锅后在砧板上平放的外观在同类外部近景中清晰可见；参考视频只用于核对判据外观。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s 所检查画面中，机器人足部落地、腿部支撑躯干，接近及绕行灶台后站立进行右臂取铲尝试。右夹爪未形成可见的夹持锅铲并带走它的接触链，因此不标实际抓握或手持工具托/舀三明治。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "success_hold_counter", + "value": null, + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 38.4, + "log_step": 33, + "where": "操作中", + "evidence_zh": "观察：视频 36.4–38.8 s，机器人为转移三明治而进行取铲动作，右夹爪降至灶台以下而锅铲仍留在锅内；视频 56.0–57.2 s 的后续取铲尝试仍未带起锅铲，视频 63.0 s 三明治还在原锅内。推断：三明治上砧板这一步从取铲环节受阻，直到结束也未修复；断点取首次明确闭爪失败段的视频约 38.4 s，未另拆拿铲节点。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 38.4, + "log_step": 33, + "evidence_zh": "观察：视频 37.4–38.8 s 右夹爪落在台面以下，橙色锅铲仍搭在锅上；视频 56.0–57.2 s 再次靠近、闭爪和抬手后，锅铲及三明治依旧留在锅内。推断：机器人从未建立可承载锅铲的夹持，因而没有形成用铲托起三明治的有效接触；不是持住后脱落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 33 中 agent 的右臂控制脚本在接近铲柄时输出逆解误差 S1=0.2244、S2/S3=0.0772，仍提交动作并闭爪；视频 36.4–38.8 s 右臂向下偏离铲柄。log step 42 的在线控制脚本连续输出逆解误差 0.180、0.485、0.795、0.916、0.909，均继续执行；视频约 39–45 s 右臂在胸前、头顶和身体侧面反复大幅摆动，锅铲未被带起。这些数值是 agent 自编求解器的诊断量，不是评分器的物体真值；log step 43、44、48 也有较大逆解残差，但 log step 22、46 分别输出较小误差 0.0001、0.014，不能概括为全程逆解不收敛。推断：在较大残差的这些阶段，控制脚本仍执行未收敛的解并继续取铲，支持轨迹或逆解问题；它不能单独解释低残差时仍然发生的执行偏差，也不把控制步耗尽本身当作根因。" + }, + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 22 输出 ik err=0.0001，但脚本结合服务返回的关节、骨盆读数与自编正运动学算出的 grip world=[0.541,0.376,0.955]；本次逆解目标实际是 pre=H−0.10*xw，不是打印的 H=[0.69,0.53,0.88]，依 log step 18 的动作前骨盆读数与 log step 22 代码重算 pre≈[0.622,0.592,0.920]，执行后重建夹爪位置距 pre 约0.23米。log step 46 输出 ik err=0.014，按同类方法重建的 grip=[0.697,0.262,0.924] 对目标 [0.606,0.180,0.905] 仍差约0.12米。log step 41 从取铲动作保存的服务 proprio 数组读取骨盆：obs_g1 的 x 从0.282降至0.200、yaw 从0.062变至0.088；obs_g2 的 x 从0.090降至0.067、yaw 从0.153变至0.187。log step 20 的 move_arm 实现用动作前骨盆位姿求解后一次提交整段关节插值，动作中不更新世界坐标目标；log step 42、43 的修正也只在整段动作之间重新读取位姿。视频 36.4–38.8 s 右夹爪降至铲柄下方，视频 54–62 s 再次靠近及收回后锅铲仍在锅内。推断：求解器残差小仍未能执行到目标，结合骨盆位移与偏航变化，支持与基座漂移相关的执行/跟踪偏差及分段反馈未能补偿；这与较大逆解残差共同妨碍取铲。夹爪坐标是脚本重建值，并非独立末端传感器真值；不据此断定全身控制器内部的具体故障。" + } + ], + "gap_zh": "未提供模拟器状态日志或接触对，部分近锅瞬间被台面、锅沿遮挡，不能排除夹爪对工具或台面的短暂擦碰；因此 contact_actual 只记录确定可见的腿足支撑，不虚构成功夹持。评分记录未报告 sandwich_flat_angle、success_hold_counter 的数值，native_metrics 均留 null；这些缺口不影响三明治始终未到砧板的判断。逆解残差与夹爪世界坐标来自 agent 自编求解器及正运动学，骨盆漂移有服务 proprio 读数支持；反馈控制的因果归属是结合代码、读数及视频的推断，不能进一步量化运动学标定、逆解局部极值和全身运动跟踪各自的贡献，也不能确定全身控制器内部机制。" + }, + "summary_zh": "机器人接近、绕行灶台并多次用右夹爪尝试取铲，但锅铲未被带起，三明治始终留在煎锅内，“三明治上砧板”最终为 0/1。视频约 38.4 s 的取铲失败之后始终没有修复：日志在部分阶段记录较大逆解残差，另有低残差后仍偏离目标、骨盆漂移及分段修正未奏效的记录，分别支持控制·轨迹或逆解和控制·反馈控制；最终实时服务在 3150 控制步报告失败。缺少接触对及原生角度、保持计数，夹爪位置依赖脚本正运动学重建，细微擦碰和控制误差的更深来源不能确定。", + "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（三明治始终未上砧板）、时间换算（3150 步=63 s，step33 结束于 1940 步≈38.8 s）和断点与视频一致；问题在根因：只写“轨迹或逆解”，但日志里 IK 收敛后末端仍大幅偏离目标（执行/跟踪偏差，基座漂移），缺少反馈控制这一支持的根因。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（三明治始终在锅内，最终为假）、断点（取铲环节，约38.4 s）、现象“没建立接触”及两个控制根因均与视频和日志一致；第1轮的反馈控制补充已落实，限定语合理，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:02:01Z", + "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-sandwich-remove-i00-standard--jehrmcp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--jehrmcp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--jehrmcp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--jehrmcp/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "900be7111fdd1009cc0d108775f8627811340929094db052baaa509ac1ba3de5", + "video_sha256": "4c0821aaf6db3d9cc8a5c49ae2fb0ed297ddb957661eb96fe76641201ae14c6e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--tzwz9uu.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--tzwz9uu.json new file mode 100644 index 0000000000000000000000000000000000000000..efe066400403f4021e701a0fe53da977cc79c0d6 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard--tzwz9uu.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard--tzwz9uu", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 57, + "rows": 3150, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1516.2, + "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-sandwich-remove-i00-standard--tzwz9uu/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "4b9539fb3cf46d92c7f69a161b50e2ff10d627426fabd8cecfaf2a70eab546c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三明治与锅铲均在煎锅处，浅木色砧板为空；视频 0–30 s 的多次伸手和抬手没有把三明治带离煎锅。" + }, + { + "t": 30.5, + "log_step": 153, + "text_zh": "观察：视频 28.0–31.5 s，机器人右夹爪在工具柄附近闭合后抬起，锅铲和三明治仍留在锅处，抬起的夹爪中看不到工具。log step 151、153、157 分别执行 grasp4、lift_handle2、lift_tool。" + }, + { + "t": 57.0, + "log_step": 216, + "text_zh": "观察：视频 55.0–59.0 s，机器人在砧板侧降下右手、张开夹爪并撤手；全景中三明治仍在原来的煎锅内，砧板始终为空。" + }, + { + "t": 63.0, + "log_step": 229, + "text_zh": "观察：视频 62.2 s 和 63.0 s，机器人站在砧板侧，三明治与锅铲仍在煎锅处，砧板为空；log step 229 的实时机器人服务返回 control_steps=3150、done=true、reason=failed、outcome=timeout。因此本节点从未达到；不是仅凭零分判未完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 6.0–30.5 s 机器人右夹爪多次在锅铲柄附近开合，抬手后工具没有随动；现有外部视角无法确认指尖是否短暂碰到柄及具体接触方式，不能标为已建立抓握或手持工具托举。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–63.0 s，机器人双足和双腿支撑身体，接近煎锅、转身并沿台边走到砧板侧；未见倒地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 30.5, + "log_step": 153, + "where": "操作中", + "evidence_zh": "观察：视频 28.0–31.5 s 最后一轮柄部抓取和抬手后，机器人右手空着，锅铲及三明治没有离开煎锅；之后机器人转向砧板并做空手放置动作，到视频 63.0 s 仍未修复。断点属于三明治上砧板这一步的取工具和转移动作。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 30.5, + "log_step": 153, + "evidence_zh": "观察：视频 12.0–17.5 s、18.0–25.5 s、26.0–31.5 s，机器人右夹爪反复向工具柄靠近、闭合和抬起，未建立能带走锅铲的抓持；锅铲未随手抬起，三明治始终留锅。视频 33.0–55.0 s 机器人抬着空手向砧板移动，未形成工具承托三明治的操作接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 12.0–31.5 s 多次伸手、闭爪和试抬均未使工具随手运动，说明工具抓取执行未成功；log step 80 和 134 中 agent 也分别承认抓持不确定、闭爪抓空，随后仍反复调整手臂重试。具体属于抓取几何、轨迹求解还是跟踪问题，现有证据不足以细分。", + "source_zh": "视频 / 日志" + }, + { + "cat": "认知", + "item": "感知", + "evidence_zh": "推断：agent 在 log step 164 明确自述工具仍被举起持有，并在 log step 168 据此决定向砧板前进；相应的视频 31.5–36.0 s 却显示右手空着，锅铲和三明治留在锅处。持物状态判断错误使 agent 结束抓取重试，执行了后续空手搬运和放置。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志；外部视角无法确认指尖与工具柄是否短暂接触及其方式，因此该项 contact_actual 为未知。无法进一步区分抓取几何、轨迹求解和跟踪误差，原生平放角度与保持计数器也未报告；但三明治留锅、砧板为空在全景中清楚可见，节点判假不受这些缺口影响。" + }, + "summary_zh": "机器人多次尝试抓取锅铲，随后空手移动到砧板侧并执行降手、松爪和等待，三明治始终留在煎锅内，节点最终为 0/1。断点是“三明治上砧板”：工具抓取未建立有效接触，且 agent 将空手误判为持有工具后继续转移。无状态日志，工具柄处的瞬时触碰和控制失败的具体子类无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧（0、8、14、22、28、31、40、50、62 s）显示三明治始终留在煎锅、砧板为空；节点未达成、断点、现象与根因均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:52:18Z", + "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-sandwich-remove-i00-standard--tzwz9uu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard--tzwz9uu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "02b073aa44f70f8423db2a328eb9d124f8b740b5ca414385fa2aec86ebc91a0a", + "video_sha256": "4b9539fb3cf46d92c7f69a161b50e2ff10d627426fabd8cecfaf2a70eab546c3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--7toahpg.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--7toahpg.json new file mode 100644 index 0000000000000000000000000000000000000000..3dc110f607be773f6a48cfc7478c32246d670ec3 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--7toahpg.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--7toahpg", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 756, + "rows": 9012, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 264.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 62.993, + "max_lag_s": 0.0054, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 142, + "late_steps": 2305, + "requests_refused": 1, + "request_busy_s": 0.556, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.164, + "peak_processes": 8, + "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-sandwich-remove-i00-standard-realtime--7toahpg/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "6a7be6134303725f041e3a350cd8dc4a7434bad365563b7a0db6f281d27b63e3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s三明治位于黑色煎锅内，浅木色砧板为空；视频0.0–42.0 s的全程粗采样中，该物体关系未改变。" + }, + { + "t": 46.4, + "log_step": 14, + "text_zh": "观察：视频43.0–49.5 s机器人右臂抬起、向锅边下探再抬手；视频46.2–47.8 s橙色锅铲仍搭在煎锅边，未随夹爪抬起，三明治仍在锅内，砧板为空。" + }, + { + "t": 63.0, + "log_step": 16, + "text_zh": "观察：视频49.0–63.0 s机器人空手转动和移动；视频62.0、62.2、62.4、62.6、62.8及63.0 s均显示三明治留在煎锅中，砧板为空。log step 16中机器人实时服务返回control_steps=3150、done=true、reason=failed；评分字段success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频46.0–46.4 s右夹爪下探到橙色锅铲靠机器人一端时，锅铲在锅沿上转动、外伸；结合相邻帧，判为右夹爪碰拨锅铲。锅铲随后仍留在锅上，未形成夹持，不标抓握或手持工具托举。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频43.0–58.0 s机器人用双腿、双足支撑站立，并在右臂尝试取铲及后续空手转动、移动期间保持支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 45.6, + "log_step": 14, + "where": "操作中", + "evidence_zh": "观察：视频45.4–45.8 s机器人右夹爪在锅铲上方做合拢和转腕动作，没有带起锅铲；视频46.2–48.0 s虽继续下探和抬手，锅铲仍留在锅边。视频63.0 s三明治仍在锅内，整个放置步骤未被后续动作修复。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 45.6, + "log_step": 14, + "evidence_zh": "观察：视频45.4–45.8 s右夹爪在橙色锅铲上方空合，视频46.2–47.8 s只能看到夹爪下探碰拨后抬起，锅铲未被夹持带走。此处缺少的是持铲所需的夹持接触；三明治一直由锅承托，没有建立持铲托送三明治的接触链。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 45.6, + "log_step": 14, + "source_zh": "日志", + "evidence_zh": "推断：agent自写逆解在log step 14对右手接近和下降目标分别输出位置残差0.156 m与0.0611 m，脚本仍进入close、scoop阶段；log step 10可见solve函数仅打印残差后返回关节解，没有按残差拒绝执行。视频45.4–47.8 s右夹爪空合、锅铲未随手抬起，与未解到取铲位姿一致，支持将这次未建立夹持归因于轨迹或逆解；不能仅据这些残差断言锅铲物理上不可达。" + } + ], + "gap_zh": "无逐帧状态日志或接触力记录，夹爪碰拨锅铲由视频46.0–46.4 s相邻帧的运动推断，无法给出精确接触对；原生平放角度与50步保持计数未在评分字段中报告，故两个原生指标均为null。节点未达由三明治持续留锅、砧板为空直接判定，不依赖这些缺失数值。" + }, + "summary_zh": "机器人尝试用右夹爪取锅铲后搬送三明治，但视频45.4–47.8 s未建立持铲夹持，只碰拨了锅铲；截至视频63.0 s三明治仍在煎锅内，三明治上砧板节点始终未达，最终0/1。日志中的取铲逆解位置残差和视频空合动作共同支持控制·轨迹或逆解这一根因。无状态接触对和原生角度、保持计数，碰拨方式依相邻视频帧推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达（三明治全程在锅内）、断点、没建立接触和轨迹或逆解根因均与视频及log step 14一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:54:01Z", + "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-sandwich-remove-i00-standard-realtime--7toahpg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--7toahpg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c91c9efad3a1ed10100edcefa0ffb80d82eb2239a7dd895a79a0e8fc22691dda", + "video_sha256": "6a7be6134303725f041e3a350cd8dc4a7434bad365563b7a0db6f281d27b63e3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb.json new file mode 100644 index 0000000000000000000000000000000000000000..c976aee09a6346ee58ab338384d4d044d2d64c93 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb.json @@ -0,0 +1,204 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 108, + "rows": 200, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 102.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 62.99, + "max_lag_s": 0.0031, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 2948, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.532, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.338, + "peak_processes": 9, + "peak_disk_gb": 0.826, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sandwich-remove-i00-standard-realtime--cz8d8sb/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "37ca4a613786c811eb8c67db670805964f40004bf6b302949e5a8ff802d35062" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 起始双视角显示金黄色三明治仍在黑色煎锅内，浅木色砧板为空。" + }, + { + "t": 3.0, + "log_step": 11, + "text_zh": "观察：视频 0.0–3.0 s 以约0.2秒间隔检查，机器人仅小幅向台面前进，双手未拿起锅铲或煎锅，三明治没有离锅。log step 11 的首段命令只给50行前进动作，双臂关节目标均为零。" + }, + { + "t": 63.0, + "log_step": 17, + "text_zh": "观察：视频 3.0–63.0 s 每隔3秒检查，并密查视频 62.0–63.0 s，机器人保持站立，锅、锅铲和三明治没有被搬动，砧板始终为空；视频 63.0 s 近景仍清楚显示三明治在锅内。log step 17 的服务状态为 control_steps=3150、done=true、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s 机器人双足支撑身体作准备性短距离前进，之后站立至视频 63.0 s；没有进入上肢移放操作，未观察到夹爪抓工具或工具作用于三明治。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 3.0, + "log_step": 11, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–3.0 s 机器人只作准备性短距离前进；视频 3.0–63.0 s 一直站在台前，未用夹爪拿起锅铲或煎锅，也未移动三明治。视频 3.0 s 作为前进后停住的导航锚点；移放操作整个回合均未开始。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 3.0, + "log_step": 13, + "evidence_zh": "观察：视频 0.0–63.0 s 三明治一直在锅内，砧板为空，双手没有启动拿工具、铲取或倾锅操作；视频 62.0–63.0 s 的密集帧仍相同。log step 13 提交的是零行走速度、双臂零关节目标的 hold_inspect 命令，log step 17 服务确认回合已结束。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 3.0, + "log_step": 11, + "source_zh": "日志", + "evidence_zh": "推断：agent 选择了依赖自身逐轮更新命令文件的执行策略，未在启动实时回合前准备能继续接近并操作工具的控制流程。log step 9 明说先短距离接近再看图调整；log step 11 的后台循环只有命令文件修改时才提交新动作，其余时间只读取状态和保存头相机图像；log step 13 改为站立保持，log step 15 继续查询安装环境，直到 log step 16 才写下一段接近命令，服务此时已结束回合（log step 17）。这将物理进展绑定在 agent 后续轮次上，与 task_text 明示实时回合不会等待思考的条件不相适配；视频 3.0–63.0 s 的持续站立与该脚本行为一致。" + } + ], + "gap_zh": "观察：inputs/ 没有逐帧状态日志；评分器 reward 未报告 sandwich_flat_angle 或 success_hold_counter，因此原生指标值保留为 null。视频足以判定三明治从未到砧板上，但没有实际抓取或搬运动作可用于判断更细的接触设计、逆解或反馈控制能力。" + }, + "summary_zh": "机器人仅作准备性短距离前进并保持站立，视频 0.0–63.0 s 三明治始终在煎锅内，三明治上砧板未达到，最终进度为0/1。断点为移放首步前未启动操作；日志显示后台脚本依赖 agent 手动更新命令文件，未形成实时回合内可持续推进任务的执行流程。无逐帧状态日志和原生角度、保持计数器读数，但双视角足以确定目标关系从未成立。", + "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、断点首步前/没尝试均与视频一致：视频 3 s 与 62.5 s 帧显示三明治始终在锅内、砧板为空，机器人几乎未动。根因“推理/规划”有 log step 11/13/16/17 支撑（命令文件循环只在 agent 更新时提交动作，回合在 step 16 写出接近命令前已结束）。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": "2026-10-30T04:59:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3afc86ee4904e262085ecd087ff6b084b645a8dab87285feb413544c4c4c7a5a", + "video_sha256": "37ca4a613786c811eb8c67db670805964f40004bf6b302949e5a8ff802d35062", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk.json new file mode 100644 index 0000000000000000000000000000000000000000..bcd2d9d30680eebcba24586416d5fa9fd939d1e3 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 278, + "rows": 6648, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1194.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 62.996, + "max_lag_s": 0.0086, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1747, + "late_steps": 2870, + "requests_refused": 12, + "request_busy_s": 1.112, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.41, + "peak_processes": 10, + "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-sandwich-remove-i00-standard-realtime--dwfwzrk/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "dbf053749b9ec2b66626f0a16ff6c281ee65bd27e8e4e745641372587a6d564c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金黄色三明治位于黑色煎锅内，锅铲搭在锅上，浅木色砧板为空，初态不满足上板条件。" + }, + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 7.5–9.25 s 的近景中，机器人右夹爪在台面边缘下方伸缩，随后空手抬起；视频 10.0–16.5 s 右臂反复伸出、收回，锅铲及三明治仍留在锅内，未见夹持锅铲后托起三明治。" + }, + { + "t": 63.0, + "log_step": 99, + "text_zh": "观察：完整视频粗采样及视频 62.04–63.0 s 的末秒密集帧中，机器人已背对台面，三明治仍在原煎锅内、砧板为空；log step 99 的机器人实时服务状态为 control_steps=3150、done=true、reason=failed。全程未见三明治落到砧板，故该节点没有达成区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 7.5–9.25 s 机器人右夹爪向煎锅一侧伸手，但夹爪部分被台面边缘遮挡，无法确认是否擦碰柜沿及具体接触方式；随后可见空夹爪，未确认抓住锅铲，不标记工具承托。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s，机器人双腿及足部在地面支撑身体，先下蹲、接近台面，再在伸臂及转身过程中踏步支撑；未见跌倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 10.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 9.0–10.5 s，机器人开始收抬右手时夹爪为空，锅铲仍搭在煎锅上，三明治没有离锅；视频 11.0–16.5 s 的后续伸缩也未取得工具，视频 63.0 s 三明治仍在锅内。该放置步骤在取工具、建立搬运接触阶段即受阻，之后未修复。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.0, + "log_step": null, + "evidence_zh": "观察：视频 9.8、12.0、14.8 s 的近景中，机器人右夹爪空手在台面外侧伸缩，视频 12.0、14.8 s 夹爪与锅铲所在位置之间仍有可见间隔，未到达铲柄；锅铲和三明治仍留在原锅处。视频 7.5–9.0 s 有柜沿遮挡，不能据此确认早期是否短暂擦碰或实际夹握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：所选站位和取铲接近方式未建立合适的夹爪—铲柄接触几何。视频 9.8、12.0、14.8 s 近景显示机器人右手在台面外侧空伸，与铲柄未对准；log step 86 的脚本以锅位置的固定偏移生成抓取、铲入和抬起目标，并按预设时序闭爪、推进、抬起，未以取得锅铲为阶段切换条件，因而在接触未成立时仍继续动作。log step 97 只显示抬起末段的脚本求解残差 ik=3.9 cm；其后的 ik=0.0 cm 对应 log step 86 中 rt=None 的转身阶段，log step 78 的实现会在无右手目标时直接令 resm=0.0，不能据此证明跟踪准确。log step 95 的较大残差发生在后续阶段，不用于解释最初取铲失败。现有帧和日志未验证另一种站位或抓法能成功，故 alt_feasible=未知。" + } + ], + "gap_zh": "无逐帧状态日志；视频 7.5–9.0 s 右夹爪受台面边缘遮挡，无法判定是否存在擦碰台面，不能把 agent 自述的压台面或不可达距离当成已核实事实。日志中的 ik 是 agent 脚本计算的逆解残差；log step 78 在 rt=None 时直接输出零残差，因此 log step 97 的零值不能证明手臂跟踪成功，也没有取铲早段的实际末端—目标误差。根因按可见的站位与取铲接触几何推断，无法进一步判定是目标定位、运动学模型还是跟踪偏差造成错位；未验证可行替代抓法。评分器未报告 sandwich_flat_angle 与 success_hold_counter 数值，原生指标留 null。" + }, + "summary_zh": "机器人下蹲、靠近台面并尝试伸手取铲，但右手在台面外侧空伸、未到达铲柄，随后空手转身；视频 63.0 s 三明治仍在煎锅内、砧板为空，唯一节点“三明治上砧板”全程未达成，终态为 0/1。失败现象改为位姿不准，结合脚本预设取铲目标并在未取得工具时继续阶段的行为，根因推断为抓取和接触设计。无状态日志或实际末端跟踪误差，柜沿附近接触及错位的更细原因无法确定，因根因仍需推断将置信度降至 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、终态 0/1、断点 sandwich_on_board 均与视频一致；但根因“控制”不被证据支持：视频 12–15 s 机器人站在台边之外、伸出的右手悬空够不到锅铲，log 的 ik 残差仅 0.0–3.9 cm（手臂跟上了脚本目标），说明问题在目标位置/站位的设计，而非跟踪执行。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、0/1、断点 sandwich_on_board、位姿不准与抓取和接触设计（alt_feasible 未知）均与视频一致，上一轮修改已落实，证据限度表述诚实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:02:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--dwfwzrk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f08e27608e1636d068e68c2f0992a3ad53b7733c6d92c01380a697aaffb931ad", + "video_sha256": "dbf053749b9ec2b66626f0a16ff6c281ee65bd27e8e4e745641372587a6d564c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--gbwstpd.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--gbwstpd.json new file mode 100644 index 0000000000000000000000000000000000000000..47b716cf7ca1610f2e7c80ec0a282b12a9ae9f2d --- /dev/null +++ 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538, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 2.59, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.192, + "peak_processes": 9, + "peak_disk_gb": 0.246, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-sandwich-remove-i00-standard-realtime--gbwstpd/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "69b5de5b3d268f8ef9a51b9b6d510869b1cc68fb1a0efc6eb935c621ce26ea79" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "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三明治位于黑色煎锅内，浅木色砧板为空，节点初始不成立。" + }, + { + "t": 10.0, + "log_step": 73, + "text_zh": "观察：视频 8.32–20.80 s 的密集帧显示机器人右夹爪伸向锅旁后长时间停留，锅铲仍留在锅上，未被夹持带走，三明治没有离锅；log step 73 的实际启动后脚本输出为 grasp: timeout in view。日志只用于说明脚本阶段，不将其墙钟时间换算为视频时间。" + }, + { + "t": 33.0, + "log_step": 74, + "text_zh": "观察：视频 24.0、30.0、33.0 s 可见机器人双腿移动、右臂随后抬起，但右夹爪为空，煎锅、锅铲和三明治留在原工作台；log step 74 输出 scoop: timeout in align 后进入 carry，不能据阶段名称认定已铲起或搬运。" + }, + { + "t": 63.0, + "log_step": 80, + "text_zh": "观察：视频 50.0 s 机器人在砧板旁摆动空夹爪，视频 52.0 s 后退手；视频 62.0–63.0 s 每隔约0.2秒检查的末段帧均显示砧板为空，三明治仍在锅内。log step 80 的机器人实时服务（记录本次单回合状态的 API）返回 done=true、reason=failed、control_steps=3150；评分字段 live_success=0、replay_success=0、deterministic=1。三明治上砧板条件始终未见成立。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s，机器人双腿和足部支撑躯干，先接近锅边，后空手移向砧板并站立。视频 8.32–20.80 s 右夹爪尝试靠近锅铲，但未见包夹或持铲，随后移动时夹爪为空，因此不记已发生的抓握或手持工具托举。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 10.0, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频 9.36–19.76 s 机器人右夹爪反复停在锅旁，没有夹住锅铲；视频 20.0 s 后变换动作并空手移动，直到视频 63.0 s 三明治仍在锅中，早先取铲失败从未修复。log step 73 记录实际回合抓铲停在 view 阶段，log step 74 记录铲取停在 align 阶段；断点归于正在尝试的三明治上砧板步骤，视频 10.0 s 为停滞段导航锚点。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.0, + "log_step": 73, + "evidence_zh": "观察：视频 8.32–20.80 s 的右侧近景与视频 18.0–24.0 s 的全身视角显示右夹爪未夹持带走锅铲；视频 24.0、30.0、33.0 s 机器人离开锅边时右手为空，锅铲及三明治仍在锅中，后续砧板上也没有食物。需要的取铲夹持和持铲承托三明治接触均未建立，未观察到先拿住再滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：控制器的接近与阶段推进未能完成取铲，并在失败后继续空手执行后续动作。log step 52 写入的 grasp 函数只有在计算的夹爪位置满足水平误差<0.025米、竖直误差<0.02米时才从 view 进入 locate，随后才可能下降、闭爪；log step 76 展示实际脚本仍有该条件。log step 73 记录实际启动后 grasp 返回 view，log step 74 记录 scoop 返回 align，而 log step 35 的主流程在这些返回值之后仍调用 carry 和 place。视频 9.36–19.76 s 的停滞和视频 33.0–50.0 s 的空手动作与此一致，支持控制层失败；无法独立区分逆解、跟踪或坐标模型误差，故不细分控制子类。" + } + ], + "gap_zh": "本目录无逐帧状态日志，输入评分字段未报告 sandwich_flat_angle 或 success_hold_counter，两个原生指标均留空。没有真实末端位置与目标误差的逐帧记录，无法独立验证 agent 在 log step 77、86–87 将问题归于容差过紧及约3–4厘米逆解/跟踪误差的具体解释；根因只标控制。可见两视角足以确认三明治未离锅、砧板未接物和未形成持铲，不影响节点判为 false。" + }, + "summary_zh": "评分回合完成0/1个节点：机器人接近锅边并尝试取铲，随后空手移动到砧板旁，视频 63.0 s 结束时三明治仍在煎锅中、砧板为空。断点为三明治上砧板步骤操作中未建立取铲和承托接触，日志与视频支持控制阶段未推进却继续后续动作；无逐帧状态日志，不能进一步核实具体逆解或跟踪误差，原生角度与保持计数未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 sandwich_on_board 判 false、断点、没建立接触与控制根因均与视频和日志一致；视频 0/10/20/30/40/50/62 s 三明治始终在锅中、砧板为空。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:55:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--gbwstpd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--gbwstpd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a008d5b3b4df1415690e48887c88c23501bd881112459128e84baa719aeafce6", + "video_sha256": "69b5de5b3d268f8ef9a51b9b6d510869b1cc68fb1a0efc6eb935c621ce26ea79", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--krr8s5g.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--krr8s5g.json new file mode 100644 index 0000000000000000000000000000000000000000..817a5f60bf3e7f441509e237979033719509c81b --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--krr8s5g.json @@ -0,0 +1,182 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--krr8s5g", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 723.8, + "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": 0.603, + "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-sandwich-remove-i00-standard-realtime--krr8s5g/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "f9e3cf79ab0dad74ae3356204d7033240f980b02d5142efe4cffd16b61fa807c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频 0.00 s 的唯一一帧同时给出外部全景和近景；金黄色三明治仍在黑色煎锅内，浅木色砧板为空，三明治未接触砧板。该帧也是录像末帧，视频总长 0.04 s。" + }, + { + "t": null, + "log_step": 5, + "text_zh": "观察：log step 5 的机器人服务状态为 control_steps=0、rows=0、running=False；评分器最终字段 n_actions=0、sim_steps=0、rows=0、clock_s=0.0，与录像只含初始状态一致，未发生三明治转移。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0、rows=0，本次视频仅有初始一帧；log step 29 记录提供方过滤器阻断，未交付动作轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 29, + "where": "首步前", + "evidence_zh": "观察：log step 29 的最后消息明确写明“This request was blocked by Gemini's filters”；此前 log step 28 仍是 agent 在本地计算机械臂逆解，没有提交机器人动作。机器人服务在 log step 5 报告 control_steps=0、running=False，评分器最终记录零动作、零仿真步；视频 0.00 s 唯一帧为初始场景。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次仅有视频 0.00 s 的初始帧，无状态日志；评分器未报告 sandwich_flat_angle 或 success_hold_counter 的数值。log step 29 明确记录 Gemini 提供方过滤器阻断，阻断前没有提交动作或完成实时回合。推断：依 CASES.md FAIL-5 及外因中断规则，此次应重测并排除出机器人失败分析；保留目录中的 success=0 原始结果，但断点填 unknown／首步前，现象与根因均留空，不标“没尝试”，也不能从会话中的离线几何与逆解计算推断物理失败。" + }, + "summary_zh": "观察：本次视频 0.00 s 唯一帧中三明治仍在煎锅内、砧板为空，“三明治上砧板”未达到，节点终态为0/1；评分器记录零动作、零仿真步。观察：log step 29 明确记录 Gemini 过滤器阻断，之前仅完成初始观测和离线计算，没有交付动作轨迹。推断：这是首步前的外因中断，应重测并排除出机器人失败分析；录像只有初始帧且无状态日志，无法评估实际操作能力，故现象和根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "与外因中断规则（03 第5条、FAIL-5）一致：log step 29 为 Gemini 过滤器阻断，评分器零动作零仿真步，视频仅初始帧（三明治在锅内、砧板空）。断点 unknown/首步前，现象与根因为空并有 gap_zh，节点 false，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": "2026-10-30T04:52:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--krr8s5g/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--krr8s5g/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a4c59d23bba91122b165edbf23ee396858be6bda1a393d5515dc91a9bad719aa", + "video_sha256": "f9e3cf79ab0dad74ae3356204d7033240f980b02d5142efe4cffd16b61fa807c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--skxmzs5.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--skxmzs5.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0a300834862b50cdf6a0eb0c85e2012dff0c63 --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--skxmzs5.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--skxmzs5", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 189, + "rows": 1496, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1564.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 62.996, + "max_lag_s": 0.0057, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1654, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.514, + "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-sandwich-remove-i00-standard-realtime--skxmzs5/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "d062f56277e86fdfe99247c6f295ece21404d6b8482f249b21ef99879491b1c1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "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三明治在煎锅内，锅铲横放在锅上，浅木色砧板为空。" + }, + { + "t": 7.2, + "log_step": 26, + "text_zh": "观察：视频 3.36–19.68 s 每约0.48秒的连续抽帧中，机器人右夹爪在台面近侧边缘下方活动；视频 7.2 s 可见空夹爪，锅铲与三明治仍在锅内，视频 11.52 s、19.88 s 砧板仍为空。log step 26 打印的实时控制器日志虽含 grasped True，但这是 agent 程序的判断，画面未显示锅铲被拿起或三明治被铲起。" + }, + { + "t": 29.92, + "log_step": null, + "text_zh": "观察：视频 22.0 s 机器人开始离开台面时，右夹爪未携带锅铲或三明治；视频 29.92 s 机器人已空手走到台面前方空地。整段粗看及操作段密集抽帧均未见三明治离锅到砧板的转移。" + }, + { + "t": 63.0, + "log_step": 26, + "text_zh": "观察：视频 62.04 s、62.52 s、63.0 s 机器人仍空手站在远离台面的位置，背景砧板未见三明治；log step 26 服务状态为 control_steps=3150、done=True、reason=failed，run.json 的 live_success=0。推断：结合三明治始终留锅、砧板始终为空及未再返回操作，本节点从未达到。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.36 s 机器人用双足支撑身体接近煎锅，视频 7.2–19.88 s 在台边站立操作右臂，视频 22.0–29.92 s 空手走离台面。右夹爪未可见地夹住锅铲，未记录手持工具托舀或已成立的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 7.2, + "log_step": 26, + "where": "操作中", + "evidence_zh": "观察：视频 7.2 s 机器人右夹爪在台沿下方空夹，锅铲仍横在锅中；视频 11.52–19.88 s 的取铲、铲取动作未使工具或三明治随手移动，视频 22.0 s 后机器人空手离开，直至视频 63.0 s 未修复。推断：最早未修复的问题发生在三明治上砧板这一步的工具接触阶段，视频 7.2 s 是失败尝试的粗略导航锚点。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 7.2, + "log_step": 26, + "evidence_zh": "观察：视频 7.2 s 右夹爪空夹，视频 11.52 s、19.88 s 锅铲与三明治仍留在原锅内；视频 22.0 s 右夹爪从台边露出时没有工具，随后机器人空手走离。推断：机器人没有建立取铲并承托三明治所需的有效接触，不能把 log step 26 的程序输出 grasped True 当作实际抓取。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 25, + "note_zh": "候选细类：控制脚本异常；采用 DECISIONS.md D38 的现行处理。", + "source_zh": "日志", + "evidence_zh": "观察：log step 25 的实际运行回溯显示 agent 控制器调用 submit 时抛出 ValueError：at=1496 比下一控制步994超前，超过 max_ahead_steps=500；log step 27 的修补代码显示原 send() 把动作追加在 plan_end，默认每次提交8行、dt=0.02，并在循环中 sleep(0.09)。log step 26 服务确认同一回合最终 failed；视频 7.2–19.88 s 右夹爪未取得锅铲，视频 22.0–29.92 s 空手走离。推断：追加速度快于实时消费使动作队列及反馈检查失步，最终非法超前提交令 agent 自己的控制器退出，未能纠正实际未取到工具的状态；这是控制脚本问题。" + } + ], + "gap_zh": "没有逐帧状态日志或接触对记录；台沿遮住部分右夹爪运动，不能确定是否曾短暂擦碰柜体，因此 contact_actual 仅记录清楚可见的腿足支撑，不虚构抓握或工具承托。评分字段未报告 sandwich_flat_angle 与 success_hold_counter，原生指标均留 null。失败锚点约有半秒误差；动作排队导致反馈失步是结合代码、接口回溯与画面的推断，未推算每条指令的实际执行时刻。" + }, + "summary_zh": "机器人接近煎锅并在台边尝试取铲、铲取，但锅铲和三明治均未随手移动，随后空手走离；唯一节点“三明治上砧板”始终未达成，终态为0/1。断点是该步骤操作中的有效接触未建立，日志显示 agent 控制器把未来动作追加过快，超出接口排队上限后报错退出。没有状态接触日志且台沿遮挡部分夹爪运动，无法确认细微擦碰，两个原生指标也未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频中三明治始终留在锅内、砧板始终为空，机器人随后空手走离，节点未达成、断点与现象、D38 控制脚本根因均有日志和画面支持，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": "2026-10-30T05:01:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--skxmzs5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--skxmzs5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "219af0d29b8b5f7fd7c05c255e1b9166f6daaf26e0cb35c317a33e898023fe1b", + "video_sha256": "d062f56277e86fdfe99247c6f295ece21404d6b8482f249b21ef99879491b1c1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--tjtexov.json b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--tjtexov.json new file mode 100644 index 0000000000000000000000000000000000000000..738ca06215ad4bcc8ecc8f93527e474d615773fb --- /dev/null +++ b/phase2/bigym2/sandwich_remove/trajectories/bigym2-sandwich-remove-i00-standard-realtime--tjtexov.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-sandwich-remove-i00-standard-realtime--tjtexov", + "taskKey": "bigym2/sandwich_remove", + "dag_sha256": "044c47b3b671981e0e39bd2ab014488074861b07b8bc8397f157af645e8a6899", + "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": 3150, + "sim_steps": 3150, + "calls": 531, + "rows": 5290, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 369.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 62.992, + "max_lag_s": 0.006, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 38, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 1.186, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.312, + "peak_processes": 10, + "peak_disk_gb": 0.84, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sandwich-remove-i00-standard-realtime--tjtexov/replay.mp4", + "duration_s": 63.04, + "fps": 25.0, + "frames": 1576, + "sha256": "a98184695d61050798e3263273b6136c4a8443d4d130028cedfd4eae88c3ca46" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sandwich_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两外部视角中，金黄色三明治在煎锅内，浅木色砧板为空；全片粗查及视频 22.0–35.5 s、45.0–53.5 s 的密集帧未见三明治离锅或到达砧板。" + }, + { + "t": 31.44, + "log_step": 25, + "text_zh": "观察：视频 30.84–31.92 s，机器人右夹爪接近并拨动锅铲柄，铲面短暂翘动后回落在锅上，三明治仍在锅内。log step 25 的脚本下达右爪接近、闭合和抬升序列，但画面没有显示锅铲被持稳搬走。" + }, + { + "t": 50.0, + "log_step": 28, + "text_zh": "观察：视频 47.0–50.0 s，机器人再次伸右爪并抬手，手中未见锅铲，锅铲仍横在煎锅上；三明治未移动到砧板。agent 在 log step 28 自述首次接近未到达柄部，正在纠正手臂位姿。" + }, + { + "t": 63.0, + "log_step": 30, + "text_zh": "观察：视频 62.0、62.24、62.48、62.76、63.0 s，三明治仍留在煎锅内，砧板始终为空。log step 30 的机器人实时服务状态为 control_steps=3150、done=true、reason=failed；评分器 live_success=0，与未完成放置的画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 30.84–31.92 s，右夹爪拨动锅铲柄，使锅铲绕锅边翘动并回落；未见夹爪稳定夹住锅铲，因此不标抓握，也不标手持工具托舀三明治。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–63.0 s 的外部全景中，机器人以双腿、足部站立支撑，并在接近工作台及右臂尝试取铲期间调整站位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "sandwich_flat_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "success_hold_counter", + "unit": "control_steps", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_on_board", + "t": 31.5, + "log_step": 25, + "where": "操作中", + "evidence_zh": "观察：视频约 31.5 s，机器人右夹爪在锅铲柄附近下探，锅铲被拨起后落回煎锅，未形成可用于搬运三明治的持铲接触；视频 47.0–50.0 s 的再次尝试也空手抬起，至视频 63.0 s 三明治仍未上砧板。" + }, + "unmet": { + "sandwich_on_board": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 31.5, + "log_step": 25, + "evidence_zh": "观察：视频 30.84–31.92 s 右夹爪仅拨动锅铲，锅铲没有被稳定夹持；视频 49.52–50.0 s 右手抬离锅边时，锅铲仍留在锅上，三明治仍在锅内。所缺的是可持铲转移食物的夹持接触，并非完全未碰到锅铲。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 25 已明确下达右爪接近锅铲、闭合、抬升的控制序列，log step 27 又改用关节位姿接近和抬升；视频 30.84–31.92 s 只出现拨动，视频 47.0–50.0 s 再次抬手仍未带起锅铲，支持取铲精细操作的控制失败。现有证据不足以进一步区分接触几何、逆解及实际跟踪误差，故保留在控制大类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "观察：本输入没有状态日志，运行日志和评分器也未报告三明治角度、原生保持计数或具体终止约束；这些原生指标保留 null。外部画面能确认锅铲被拨动但未持稳、三明治未上板，不能精确恢复指尖接触对、夹持力或区分控制失败的具体子类；不据 reason=failed 推定手指触食物等违规。" + }, + "summary_zh": "机器人接近工作台并尝试用右夹爪取锅铲，但只拨动锅铲，后续抬手也未将其带起；三明治直到视频 63.0 s 仍在煎锅内，三明治上砧板节点从未达成，最终 0/1。断点为三明治上砧板操作中，现象为没建立可用夹持接触，证据支持控制失败。缺少状态日志、接触力和原生角度/保持计数，无法进一步细分控制根因或确定服务终止的具体约束。", + "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（三明治上砧板·操作中，~31.5 s）、接触与根因（控制，已说明无法细分）与视频一致；未发现需修改之处。终止原因 reason=failed 未被臆断，处理得当。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:58:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--tjtexov/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-sandwich-remove-i00-standard-realtime--tjtexov/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "56ad0b41b0d4af4f2a63fc5851faae4e218edd6675a1080b85a38da8a26368fe", + "video_sha256": "a98184695d61050798e3263273b6136c4a8443d4d130028cedfd4eae88c3ca46", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--2memkqf.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--2memkqf.json new file mode 100644 index 0000000000000000000000000000000000000000..44ec54cbaabf3c18065f6f2c55125bc6192dfd63 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--2memkqf.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--2memkqf", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 100, + "sim_steps": 100, + "horizon": 8750, + "episode_over": 0, + "fell": 0, + "replay_s": 2.59, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 36, + "agent_resets": 4, + "agent_replays": 3, + "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-stack-blocks-i00-privileged--2memkqf/replay.mp4", + "duration_s": 2.04, + "fps": 25.0, + "frames": 51, + "sha256": "5940b1eb7a881ac6e83b1149cfc8d5dbdf113bd5632345af6d67e6fea463ada8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.00–2.00 s 的全部51帧，两个外部视角中三个红色积木始终分散留在机器人面前的近桌原位；机器人保持站姿，双夹爪空置，没有抓取、搬运或放置积木。远桌绿垫只在左侧视角边缘露出，但三个积木均可在近桌清楚计数，没有积木从近桌移走。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.00–2.00 s 的全部51帧，两个外部视角中三个红色积木始终分散留在机器人面前的近桌原位；机器人保持站姿，双夹爪空置，没有抓取、搬运或放置积木。全程没有任何两个积木上下相接，未形成绿垫上的两层堆叠链。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.00–2.00 s 的全部51帧，两个外部视角中三个红色积木始终分散留在机器人面前的近桌原位；机器人保持站姿，双夹爪空置，没有抓取、搬运或放置积木。全程没有三层堆叠，末帧三个积木仍各自接触近桌桌面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 0.0, + "log_step": 68, + "where": "首步前", + "evidence_zh": "观察：本次视频 0.00–2.00 s 中三个积木始终在近桌，机器人未开始取块或向远桌搬放。log step 68 中 agent 的交付脚本新建会话，仅循环100次 s.step(s.hold_row()) 并保存轨迹；log step 70 的新进程回放及 log step 77 的最终报告确认交付仍为这段保持轨迹。第1块放到绿垫的工作从未启动。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 68, + "evidence_zh": "观察：本次视频 0.00–2.00 s（含最后一秒逐帧）中，机器人双手未伸向积木，也未拿起、搬走或放下任何积木；三个积木始终分散在近桌。log step 68 的交付代码仅录制100步 hold_row，评分器报告 n_actions=100、fell=0，交付轨迹没有开始第1块搬放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：会话中的抓取控制未调通，导致最终仍交付保持站立的基线。依据是 log step 36 的抓取位置误差约0.175 m、闭爪后双手 held=False 且积木位置未变；log step 50、55、56、61 的抓取测试也报告未持有积木；最后 log step 73 的修改虽把预抓取误差降到0.009 m，下探仍有0.175 m误差，两次闭爪均报告未持有。agent 在 log step 77 明确自述抓取流程未取得确认抓握，并确认交付仍为100步保持轨迹。这些会话测试仅支持控制根因，不作为本次评分回放的接触或运动现象。" + } + ], + "gap_zh": "没有状态日志，也没有会话调试测试的视频，无法独立核实 agent 在 log step 74、77 所述的躯干俯仰补偿机制，控制根因保留在大类。评分回放足以判断全部节点未达成及未启动操作；绿垫大部分在画面外，但三个积木在近桌全程可见，因此不影响节点判假。评分器未报告两项原生几何指标的数值，均填null。" + }, + "summary_zh": "评分轨迹在视频 0.00–2.00 s 内仅保持站立，三个积木始终分散在近桌，最终及峰值进度均为0/3。断点为“第1块堆好／首步前”，现象为没尝试；会话日志多次记录抓取控制误差与未持有积木，支持控制未调通后交付保持轨迹的归因。没有状态日志或调试视频，无法进一步核实具体控制机制；会话中的抓取与跌倒不计入评分回放。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回放（视频0.00–2.00 s）确为保持站立、三块积木始终留在近桌，三个节点均未达成、断点首步前/没尝试成立；控制根因停在大类，由会话测试支持，并明确声明不作为评分回放现象，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": "2026-10-30T04:44:56Z", + "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-stack-blocks-i00-privileged--2memkqf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--2memkqf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6cddd5ae3e322e118b6c810b1134fce30373e0e4cc124ad15107c5b7bc5cfe3d", + "video_sha256": "5940b1eb7a881ac6e83b1149cfc8d5dbdf113bd5632345af6d67e6fea463ada8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--4nszquf.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--4nszquf.json new file mode 100644 index 0000000000000000000000000000000000000000..cd386a2f8cf68d170d3c643a45cc619b5aba42e7 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--4nszquf.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--4nszquf", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 4000, + "sim_steps": 4000, + "horizon": 8750, + "episode_over": 1, + "fell": 0, + "replay_s": 36.4, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 11, + "agent_replays": 10, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.809, + "peak_memory_gb": 2.702, + "peak_processes": 13, + "peak_disk_gb": 0.846, + "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-stack-blocks-i00-privileged--4nszquf/replay.mp4", + "duration_s": 80.04, + "fps": 25.0, + "frames": 2001, + "sha256": "5a3016eec3e90c13bfd89d47a99153522e0e7a2bf93ebe51659e16278e3c56b4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 24.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，三个红色积木均在近桌，远桌绿垫为空；视频 7.0–20.0 s，机器人双手各夹一块离开近桌并绕桌搬运，近桌留下第三块。" + }, + { + "t": 24.2, + "log_step": null, + "text_zh": "观察：视频 23.6 s，机器人左夹爪中的底层积木仍悬在绿垫上方；视频 24.0–24.4 s，机器人将其降至垫面，底面与绿垫贴合，首次成立时刻记为视频约 24.2 s（误差约半秒），此时夹爪尚未完全撤开。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频 26.0–28.0 s，机器人左夹爪抬离后底层仍留在绿垫上；视频 30.0–78.0 s 的后续搬放画面及视频 79.0–80.0 s 的逐帧末段中，该底层均未离开垫面。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 7.0–20.0 s，机器人左右二指夹爪各夹住一个积木，共同完成第一趟搬运；视频 23.6–26.0 s，由左夹爪将其中一块降至绿垫、张开并向上撤离，右夹爪继续持有待叠的另一块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.0–20.0 s，机器人双脚交替支撑地面，持物绕桌走到绿垫一侧；视频 22.0–26.0 s，下蹲并倾身完成底层放置。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35.6, + "log_step": null, + "text_zh": "观察：视频 33.0–35.6 s，机器人右夹爪将第一趟带来的另一块积木移到绿垫上的底层正上方，视频 35.6 s 两块之间尚有可见空隙。" + }, + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 36.0–36.4 s，上层积木下落至底层顶面，两块上下接触、水平对齐，形成绿垫上的两层；首次成立记为视频约 36.0 s（误差约半秒），夹爪仍在上层旁。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频 38.0–40.0 s，机器人右夹爪向上撤离，两层仍相接；视频 42.0–74.0 s 可见的转场画面及视频 75.0–80.0 s 的最终放置画面中，两层关系保持，末帧仍是三层堆叠的下两层。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 7.0–20.0 s，机器人左右二指夹爪各夹一块同时搬运，左夹爪先放底层；视频 33.0–38.0 s，右夹爪将另一块叠到底层上、张开并向上撤离，左夹爪此阶段已空置。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.0–20.0 s，机器人双脚交替支撑，随双手持物绕桌；视频 30.0–38.0 s，双腿支撑调整站位、下蹲，使右夹爪能将第二块降到底层上。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [ + [ + 78.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 57.0 s，最后一块仍在近桌；视频 58.0–60.0 s，机器人左二指夹爪围住它，视频 61.0 s 积木已随左夹爪离开原位，近桌不再有积木；视频 62.0–74.0 s，机器人持它绕桌返回两层堆叠旁。" + }, + { + "t": 78.0, + "log_step": null, + "text_zh": "观察：视频 77.6 s，机器人左夹爪所持积木与第二层之间仍有空隙；视频 78.0 s 已降到第二层顶面，三个积木上下相接且近似对齐，底层仍触绿垫；三层几何关系首次成立记为视频约 78.0 s（误差约半秒），不额外等待离手。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频 79.0–80.0 s 逐帧末段显示三层始终保持；机器人张开左夹爪后向上撤离，视频 80.0 s 双夹爪均与积木有可见间隙。" + }, + { + "t": 80.0, + "log_step": 149, + "text_zh": "观察：log step 145 将最终 4000 行候选保存为交付轨迹，log step 149 的检查通过，报告两次新进程回放均成功、执行 4000 行、无跌倒且终态哈希相同；inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，与视频 80.0 s 三层已堆好且夹爪撤离一致。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "推断：评分器成功表明该运行所用的相邻层几何阈值与全体积木离手后连续 50 个控制步的联合验收通过；视频支持三层接触和最终离手，但没有状态日志，不能逐控制步独立复核微小接触、中心距离及验收计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 58.0–61.0 s，机器人左二指夹爪夹住近桌最后一块并提离；视频 62.0–78.0 s，左夹爪携带它绕桌并降到第二层上，随后张开、向上撤离；右夹爪空置。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 62.0–74.0 s，机器人双脚交替支撑，持最后一块绕桌返回；视频 75.0–80.0 s，双腿支撑下蹲、倾身放置顶层。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人分两趟搬运三个积木，绿垫上的一层、两层和三层关系分别约在视频 24.2 s、36.0 s、78.0 s 成立，此后均保持至末帧。视频 80.0 s 可见双夹爪撤离、三层堆叠稳定，评分器 success=1、replay_success=1，最终交付的两次新进程回放终态一致（log step 149）。无状态日志，无法独立逐控制步核实中心距离、微小手指接触与联合 50 步窗口，原生距离指标未由评分器报告，故数值留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "抽查视频 0/24.2/36/57/61/78/79.9 s 帧，三层成立时刻、搬运过程与末帧三层堆叠均与标注一致，成功运行无失败层，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": "2026-10-30T04:42:25Z", + "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-stack-blocks-i00-privileged--4nszquf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--4nszquf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ae2aa53195f356a5884ab23a96db5f210931eeb58e31ae9074e35622ae8bf2cc", + "video_sha256": "5a3016eec3e90c13bfd89d47a99153522e0e7a2bf93ebe51659e16278e3c56b4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--96gkxzm.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--96gkxzm.json new file mode 100644 index 0000000000000000000000000000000000000000..fdd3566fbfda608255207adcf3ce78300395856b --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--96gkxzm.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--96gkxzm", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1502, + "sim_steps": 1502, + "horizon": 8750, + "episode_over": 1, + "fell": 0, + "replay_s": 10.77, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 57, + "agent_resets": 0, + "agent_replays": 5, + "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-stack-blocks-i00-privileged--96gkxzm/replay.mp4", + "duration_s": 30.08, + "fps": 25.0, + "frames": 752, + "sha256": "e6d4389b14fce38807dfbb2dd7325ac561a2b9758b505fc29a5f410e95749370" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 22.0, + 29.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0–8.0 s，机器人左侧二指夹爪夹住一个红色积木并将其提离近桌；视频 10.0–20.0 s 携该积木绕行到远桌，近桌仍留两块。" + }, + { + "t": 22.0, + "log_step": null, + "text_zh": "推断：视频 21.8–23.4 s 的两视角及局部逐帧图显示，机器人将积木从悬空降到绿垫靠机器人一侧的边缘，下缘与垫面相接，随后保持到视频约 29.4 s。按本节点只要求底层触垫、允许夹爪仍接触的判据，计一层；首次接触时间约有 0.5 s 视觉误差。" + }, + { + "t": 28.8, + "log_step": null, + "text_zh": "观察：视频 28.2–29.2 s，机器人左夹爪抬离，红色积木停在绿垫边缘；右夹爪仍贴近桌面和积木。" + }, + { + "t": 29.6, + "log_step": null, + "text_zh": "观察：视频 29.4–29.8 s，机器人空手撤离，右夹爪沿桌面移动，积木随之离开绿垫并从靠机器人一侧的桌边落下；视频 30.04 s 末帧积木已在桌下接近地面，绿垫为空，底层关系没有恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 6.0–28.0 s，左二指夹爪从相对两侧夹住一个红色积木，提起、搬运并在远桌绿垫边缘下降，随后张开撤手。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频约 29.4–29.8 s，右侧张开的夹爪贴着桌面随身体后退，接触并带动刚放下的积木向桌边移动，积木随后落下。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 0.0–30.04 s，双脚支撑地面；搬运此块积木时双腿绕过两张桌子并转身，放置后又开始撤离。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 28.8, + "log_step": null, + "text_zh": "观察：视频 0.0–30.04 s 仅一块积木被搬到远桌，其余两块始终留在近桌；视频 28.8 s 远桌只有一个红色积木，视频 29.8–30.04 s 该块又落到桌下。全程未出现绿垫上连续相接的2层积木，也未启动该层的搬放。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 28.8, + "log_step": null, + "text_zh": "观察：视频 0.0–30.04 s 仅一块积木被搬到远桌，其余两块始终留在近桌；视频 28.8 s 远桌只有一个红色积木，视频 29.8–30.04 s 该块又落到桌下。全程未出现绿垫上连续相接的3层积木，也未启动该层的搬放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 29.4, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频 28.8 s，搬来的积木在绿垫边缘，左夹爪已抬起；视频约 29.4 s 机器人开始空手返回，右夹爪仍在桌面高度并接触、带动积木离垫，视频 29.8–30.04 s 积木跌至桌下，第一层丢失后未恢复。log step 167 的交付文件两次回放均在控制步 1502 终止且 success=false，末态哈希相同；评分器字段 deterministic=1、fell=0，与视频所见一致。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 29.4, + "log_step": null, + "evidence_zh": "观察：视频 29.4–29.8 s，机器人撤离时未抬离桌面的右夹爪触及刚放下的积木，积木随夹爪运动从绿垫边缘移到桌外，随后落下；视频 30.04 s 绿垫上已无积木。该接触破坏了已形成的单层放置关系。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 163 的最终放置修改只让执行放置的左手抬高；log step 157 的主循环在放置后直接调用 walk_to 返回，log step 165 将这一脚本打包，log step 167 重跑并验证了相同的失败末态。结合视频 28.8–29.8 s 左手已抬起、右手仍低置且在身体撤离时带动积木，说明撤离控制没有为另一只手留出积木间隙，导致放置关系被破坏；现有证据不足以进一步归为逆解或反馈子类。" + } + ], + "gap_zh": "没有状态日志，绿垫边缘的接触点部分被夹爪遮挡；第一层接触区间依据两视角前后帧推断，边界约有 0.5 s 误差，无法独立核实接触力及精确碰撞对。评分器未报告 DAG 两项相邻层几何指标，native_metrics 的值均留 null。log step 163 与交付重跑的末态哈希一致，仅用于佐证最终脚本和失败过程；其他会话测试不计入节点进度。", + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人用左夹爪将一个积木从近桌搬到远桌，在视频约 22.0–29.4 s 短暂形成绿垫边缘的一层接触，第二、三层始终未形成。视频约 29.4 s 空手返回时，仍低置的右夹爪带动积木离垫并落下，第一层丢失，最终为 0/3；证据支持撤离控制未清出另一只手的接触间隙。无状态日志，第一层的边缘接触及起止时刻存在视觉推断误差。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查帧与标注一致：约22.6–28.4 s红块在绿垫边缘，29.4–29.8 s撤离时右夹爪带动积木离垫，30.04 s垫上为空、积木在桌下；0/3、峰值1、断点与现象未见错误。", + "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": "2026-10-30T04:39:06Z", + "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-stack-blocks-i00-privileged--96gkxzm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--96gkxzm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fd9241cb24e24ee680450c058a4c79848d1dcc141f1255efb477bbc6837ee0e5", + "video_sha256": "e6d4389b14fce38807dfbb2dd7325ac561a2b9758b505fc29a5f410e95749370", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--dwnsvzi.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--dwnsvzi.json new file mode 100644 index 0000000000000000000000000000000000000000..ef9cbccf6ef5ddfdf5c5be9440ed647032c884e0 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--dwnsvzi.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--dwnsvzi", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 6320, + "sim_steps": 6320, + "horizon": 8750, + "episode_over": 1, + "fell": 0, + "replay_s": 57.3, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 119, + "agent_resets": 8, + "agent_replays": 3, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-stack-blocks-i00-privileged--dwnsvzi/replay.mp4", + "duration_s": 126.44, + "fps": 25.0, + "frames": 3161, + "sha256": "0cc09a132fa06369512dd51995bb9ee13ca8a6ff8dbb2b02ce3895c3ce4ff42f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 41.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始三个红积木均在近桌，远桌绿垫为空；视频5.0–10.0 s机器人先后用左右二指夹爪夹起两块，近桌只剩一块。" + }, + { + "t": 41.2, + "log_step": null, + "text_zh": "观察：视频40.0–41.0 s左夹爪所持积木仍在绿垫上方下降；视频41.2 s底面落到绿垫，随后左夹爪松开撤离。首次触垫时刻按画面估计，误差约0.3 s。" + }, + { + "t": 126.4, + "log_step": null, + "text_zh": "观察：视频48.0–122.4 s的连续抽帧以及视频123.4–126.4 s密集末段画面中，底块始终留在绿垫上，未被再次提起。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频5.0–40.0 s首趟搬运中左右二指夹爪各夹持一块红积木共同送往远桌；随后左夹爪先将一块放到绿垫作底层，右夹爪再将另一块叠到其上，两次落位依次完成。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频10.0–40.0 s机器人双脚交替接触地面，腿和躯干支撑双手持物绕行到远桌，落位时保持站立。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 46.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46.4, + "log_step": null, + "text_zh": "观察：视频43.2–46.2 s机器人右夹爪把第二块移至底块上方并下降，视频46.4 s两块形成上下接触，视频47.0–48.0 s右夹爪离开后两层仍直立。首次接触约视频46.4 s，误差约0.3 s。" + }, + { + "t": 126.4, + "log_step": null, + "text_zh": "观察：视频48.0–118.0 s机器人离开远桌、回近桌取最后一块并返回，两层积木仍留在绿垫；视频118.0–126.4 s的密集画面显示原两层一直保持上下连接。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频5.0–40.0 s首趟搬运中左右二指夹爪各夹持一块红积木共同送往远桌；随后左夹爪先将一块放到绿垫作底层，右夹爪再将另一块叠到其上，两次落位依次完成。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频10.0–40.0 s机器人双脚交替接触地面，腿和躯干支撑双手持物绕行到远桌，落位时保持站立。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [ + [ + 124.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.0, + "log_step": null, + "text_zh": "观察：视频83.0–87.0 s左二指夹爪夹起近桌最后一块，原位置清空；视频88.0–118.0 s机器人持该块行走返回远桌，右手空置并收在身体旁。" + }, + { + "t": 124.2, + "log_step": null, + "text_zh": "观察：视频123.4–124.0 s最后一块仍倾斜悬在两层上方；视频124.2 s左夹爪将其落在第二层顶面，形成三层，随后逐渐松爪。视频125.4–126.4 s夹爪上撤，三层继续保持；首次三层关系约视频124.2 s，误差约0.3 s。" + }, + { + "t": 126.4, + "log_step": null, + "text_zh": "推断：视频126.4 s的三层形态、底层触垫和夹爪撤开与评分器reward.success=1、replay_success=1、deterministic=1一致，支持最终三层几何关系和共同离手保持窗口通过验收；无逐帧状态数据，不能从像素独立量出厘米级中心距离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频84.0–87.0 s左二指夹爪夹住近桌最后一块，搬运至远桌后在视频124.2 s放到第二层上，随后松爪上撤；右手未参与该块操作。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频88.0–118.0 s双脚交替支撑行走，将左手积木送到远桌；视频124.2–126.4 s落位和验收时腿与躯干保持直立支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人分两趟搬运三个积木，分别约在视频41.2 s、46.4 s和124.2 s建立绿垫上的一层、两层和三层关系，末段三层保持至视频126.4 s。首趟双手各夹一块并依次落位，第二趟左手搬运最后一块，评分器记录成功且回放一致，无失败断点。无状态日志，几何阈值和全体离手的50控制步联合窗口由成功评分支持，落位时间为视频估计；评分器未报告两个原生距离指标的数值。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点的时间与画面一致（视频41.2/46.4/124.2 s），三层终态与评分成功一致，无失败断点；contact_actual 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": "2026-10-30T04:46:56Z", + "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-stack-blocks-i00-privileged--dwnsvzi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--dwnsvzi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "205e80a414233da1aea96e388903af6c0eeacb8fa16e40a5cfafc823b2a75316", + "video_sha256": "0cc09a132fa06369512dd51995bb9ee13ca8a6ff8dbb2b02ce3895c3ce4ff42f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--qhpudwj.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--qhpudwj.json new file mode 100644 index 0000000000000000000000000000000000000000..1bbd033b4334ad72a146111ea50b66c29e99063b --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--qhpudwj.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--qhpudwj", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 7069, + "sim_steps": 7069, + "horizon": 8750, + "episode_over": 0, + "fell": 0, + "replay_s": 51.17, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 48, + "agent_resets": 0, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.414, + "peak_memory_gb": 1.51, + "peak_processes": 9, + "peak_disk_gb": 0.835, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "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-stack-blocks-i00-privileged--qhpudwj/replay.mp4", + "duration_s": 141.4, + "fps": 25.0, + "frames": 3535, + "sha256": "f0fc643bf63803a6b2aa12b70ca8a289510589621032dc95becbe1f33a0e45a3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 37.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红色积木均在近桌，远桌绿垫为空，底层关系初始不成立。" + }, + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 3.2–5.0 s 左夹爪夹持一块积木离开近桌，机器人持物绕桌搬运；视频 36.5 s 积木尚在垫上方，视频 37.0 s 已落到绿垫面，随后左爪离开。首次触垫时间按视频约 37.0 s 标注，误差约半秒。" + }, + { + "t": 141.36, + "log_step": null, + "text_zh": "观察：视频 50.0–135.0 s 的巡检帧及视频 140.4–141.36 s 末段帧中，底层积木一直在绿垫上，末帧仍承托第二块。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–37.0 s，机器人左侧二指夹爪夹住第一块积木，持物搬运后降到远桌绿垫并松爪。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.0–30.0 s，机器人双脚交替支撑地面，持第一块积木绕过桌边，站稳后放置。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 113.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 78.0, + "log_step": null, + "text_zh": "观察：视频 76.0–80.0 s，右夹爪下降夹住第二块积木并将其提离近桌；近桌只剩一块，右爪随机器人搬运所夹积木。" + }, + { + "t": 113.0, + "log_step": 191, + "text_zh": "观察：视频 112.0 s 第二块仍悬在底层上方，视频 112.5 s 正下降接近，视频 113.0 s 两块上下相接，视频 114.0 s 起机器人空爪离开；视频 141.36 s 仍为两层。生成最终交付的日志 log step 191 记录释放后两块中心分别约为 [1.5692,-0.0456,0.7759] 与 [1.5627,-0.0418,0.7259] 米，与视频两层外观一致。" + }, + { + "t": 113.0, + "log_step": 191, + "text_zh": "推断：结合视频 113.0 s 的上下接触与 log step 191 的同次生成记录，中心高差约 0.050 米、水平偏差约 0.008 米，符合第二层判据；达成锚点按视频约 113.0 s 标注，误差约半秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 76.0–113.0 s，机器人右侧二指夹爪夹住第二块积木，提起搬运并降到第一块上；左爪保持空置，未见双手共同承托。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 80.0–100.0 s，机器人双脚交替支撑地面，持第二块积木绕桌到达绿垫所在桌边。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 139.0, + "log_step": 193, + "text_zh": "观察：视频 128.0–138.0 s，机器人空手返回近桌，剩余积木始终在桌面；视频 138.4–141.36 s 右臂跨向积木并下降，但右夹爪停在积木侧前方，没有把积木夹起。左爪张开并贴近积木，其部分手指与积木轮廓重叠；视频末帧积木仍由近桌支承，绿垫上仍只有两块。" + }, + { + "t": 141.36, + "log_step": 196, + "text_zh": "观察：log step 193 的最终生成进程报 pickup failed，左右 held 均为 false；log step 196 确认交付文件只有 7069 行动作，评分器 reward 的 n_actions 与 sim_steps 也均为 7069、success=0。视频 141.36 s 的近桌剩余一块与该次生成结果一致，未出现第三层。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 136.4–141.36 s 左夹爪张开贴近剩余积木，手指与积木轮廓重叠；右夹爪跨向积木后在侧前方下降，未建立可见的夹持。没有接触对日志，无法可靠判定左指是否实际贴擦积木及其接触方式，不把未成功的右爪动作记为实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 114.0–138.0 s，机器人双脚交替支撑并空手返回近桌，之后站立伸右臂抓取第三块。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_3", + "t": 139.5, + "log_step": 193, + "where": "操作中", + "evidence_zh": "观察：视频 138.4–141.36 s 机器人正在近桌抓取剩余积木，右爪下降位置偏在积木侧前方，未提起积木；远桌两层保持，第三层始终未形成。log step 193 报本次第三块抓取失败，log step 196 记录的交付动作数与评分器 7069 行一致，此后没有交付中的修复动作。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 139.5, + "log_step": 193, + "evidence_zh": "观察：视频 139.0–141.36 s，机器人右夹爪的两指未夹住目标积木，动作结束时积木仍留在近桌；log step 193 的本次生成记录也报告 pickup failed，未建立搬运所需的右爪夹持，而非搬运途中脱落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 139.5, + "log_step": 193, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 139.0–141.36 s 的右爪下降位置偏离积木；生成此次交付的 log step 193 记录积木中心约 [0.624,0.285,0.725] 米，右末端下降位置约 [0.665,0.130,0.734] 米，水平方向明显未对准，同时报左右均未持物。机器人已返回目标桌边并执行抓取，失败来自该次抓取控制未把夹爪送到能夹住积木的位置；没有足够的求解或跟踪记录进一步区分逆解、站位与反馈控制。" + } + ], + "gap_zh": "没有状态日志或接触对记录；视频能确认前两层及第三块未离桌，但不能精确测量堆叠几何阈值，第二层数值仅由最终生成日志作辅助核对。视频 136.4–141.36 s 左爪手指与第三块部分重叠，实际贴擦接触无法确定；右爪目标、逆解残差及执行跟踪未完整记录，因此根因保留在控制大类。", + "unmet": { + "blocks_stacked_1": true, + "blocks_stacked_2": true, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人先后用左、右夹爪搬运两块积木，约在视频 37.0 s 建立底层、视频 113.0 s 形成两层，并保持到视频 141.36 s，最终完成 2/3 个节点。第三块抓取时右爪下降位置偏离积木，未建立夹持，积木留在近桌；评分器 success=0。无状态日志，层间精确几何与末段左爪接触存在观测缺口，控制问题不能进一步细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（37 s 底层、113 s 第二层、第三层未成）与视频一致；断点在第三块抓取，无抓取成功，右爪偏离积木，现象与根因（控制）有 log step 193 的坐标支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:46:22Z", + "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-stack-blocks-i00-privileged--qhpudwj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--qhpudwj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "60a34454faf826518a99aaa9e8dfa312d7f7d0e83bd94d8c264ec83cff6290a2", + "video_sha256": "f0fc643bf63803a6b2aa12b70ca8a289510589621032dc95becbe1f33a0e45a3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--v9ogam5.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--v9ogam5.json new file mode 100644 index 0000000000000000000000000000000000000000..8cca8b26a7eb79aa4f06d0600354faf49518179a --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-privileged--v9ogam5.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-privileged--v9ogam5", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 4313, + "sim_steps": 4313, + "horizon": 8750, + "episode_over": 0, + "fell": 0, + "replay_s": 40.39, + "instance_exact": 1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 74, + "agent_resets": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-stack-blocks-i00-privileged--v9ogam5/replay.mp4", + "duration_s": 86.28, + "fps": 25.0, + "frames": 2157, + "sha256": "72184f05e1f479cd3f54591126c9114106e9257ebd8dae041e3770ce0272c471" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 80.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红色积木均在近桌，远桌绿垫为空；视频 12.0 s、22.0 s 分别可见右爪和左爪将一块积木举离近桌，剩余一块留在原处。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频 79.84–80.24 s，一块积木从左爪附近落下，短暂倾斜后直立在绿垫边缘，底面与垫面相接；视频 80.4–86.24 s 该块一直留在原处。按可互换积木计数，底层约在视频 80.0 s 达成，时间误差约0.2秒。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 12.0–24.0 s，右、左二指夹爪先后各夹起一块积木，此后两手各持一块共同搬运到远桌；视频 79.84–80.24 s 左爪旁的积木落到绿垫边缘，形成底层。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在地面交替支撑，持两块积木绕过近桌到达远桌，并下蹲、倾身操作。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.6, + "log_step": null, + "text_zh": "观察：视频 68.0–79.6 s，机器人在远桌前移动持物手臂，两块积木仍分离；视频 80.0 s 其中一块落到绿垫，另一块仍在右爪附近，没有相接成两层。" + }, + { + "t": 86.16, + "log_step": 121, + "text_zh": "观察：视频 80.4–86.0 s 绿垫上始终只有一个底层，右爪旁另一块位于机器人身侧；视频 86.04–86.24 s 该块从桌沿外下落，未接触绿垫上的底层。log step 121 最后保存4313行轨迹，报告右手释放块的位置为[1.747,0.033,0.562]、不再被持有；评分器 n_actions=4313，与本次交付长度一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 22.0–79.6 s 左右夹爪各夹持一块，配合搬运及远桌前操作；视频 80.0 s 一块成为底层后，右爪旁仍有另一块，直至视频 86.04–86.24 s 在桌外下落，未形成第二层。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚支撑机器人持两块绕行到远桌，腿和躯干配合下蹲、倾身与手臂操作。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 86.24, + "log_step": null, + "text_zh": "观察：从视频 0.0 s 的近桌三块，到视频 22.0 s 两块被取走，再到视频 86.24 s，近桌剩下的一块一直未被搬走；远桌末帧仅一块触绿垫，另一块刚落出桌沿，全程没有三层连续堆叠。成功参考视频 79.9 s 在相同两个视角可清楚看到绿垫上的三层塔，用于核对本次缺少的可见形态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_2", + "t": 86.04, + "log_step": 121, + "where": "操作中", + "evidence_zh": "观察：视频 80.0 s 已有一块落到绿垫形成底层，之后右爪旁的另一块一直没有移到该底层上方；视频 86.04–86.24 s 它在桌沿外下落，本次交付随即结束，没有补成第二层。推断：按可互换积木累计层数，第一层已由落垫积木补成，始终未修复的是第2块堆好，故断点归该节点。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 86.04, + "log_step": 121, + "evidence_zh": "观察：视频 85.6–86.0 s 右爪旁积木位于机器人身侧、偏离绿垫上已有的底层；视频 86.04–86.24 s 它向桌沿外下落，未落到底层上。log step 121 输出“!! block low, aborting”，随后报告 released[right]: blk=[1.747,0.033,0.562]、xy_err=0.207、still_held=False。推断：该块未到堆叠目标上方就下落，属于位姿不准；仅凭 released 字样不能确定主动松爪与失持的先后。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 121 的生成运行输出 stance [1.822,-0.218,2.889]，目标垫位为[1.553,-0.038]；随后输出“!! block low, aborting”和 released[right]: blk=[1.747,0.033,0.562]、xy_err=0.207、still_held=False，最终保存4313行，与评分器 n_actions=4313 一致。视频 83.0–86.0 s 右爪旁积木一直在身侧低位，视频 86.04–86.24 s 从桌外下落，未到绿垫上方。推断：相对脚本的垫位同y、朝向π目标，所报站位横向偏差约0.18米、朝向偏差约0.25弧度；结合持块未到目标即下落，支持站位、末端对位与持块控制未协调到位。log step 86 的 blocks_ok() 检查所有积木中心高度大于0.60米，log step 89 的 step() 在该检查失败时输出上述中止提示；它不是手块相对偏移超限的提示，也不能证明本次因对位循环耗尽而释放。具体逆解、跟踪、夹持及松爪先后仍不能区分。", + "source_zh": "日志" + } + ], + "gap_zh": "本作业没有状态日志，评分器也未报告两项相邻中心距离指标的实测值，故 native_metrics.value 保留 null。末段手指接触、手块相对位姿与关节误差没有逐帧记录，无法确定主动松爪与失持的先后，也无法确认对位循环是否耗尽，故控制根因不细分；节点进度和下落时刻取自视频，早期会话测试不用于计入本次进度。", + "unmet": { + "blocks_stacked_1": true, + "blocks_stacked_2": false, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人双爪各搬一块到远桌，约视频 80.0 s 一块落在绿垫边缘并保持到视频 86.24 s，最终达到1/3节点；第三块始终留在近桌。第2块堆好未达成：另一块在视频 86.04–86.24 s 从目标外下落，log step 121 记录站位偏差、积木过低中止及最终横向误差0.207米，支持控制未到位。置信度由8降至7：无状态日志，主动松爪与失持先后及具体控制子因无法核实，原先“对位循环耗尽后直接释放”的机理判断已删除。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点进度（第1块约 80.0 s 达成、第2/3块未达成）、断点与时间与视频一致，我核对无误。但根因证据与 log step 121 的实际输出不符：标签称“对位循环耗尽后仍直接 set_grip 释放”，而该步输出明确为 '!! block low, aborting'，随后才出现 released xy_err=0.207（块 z=0.562，已掉到桌面以下）；同时 stance 末位姿 [1.822,-0.218,2.889] 相对垫位 y=-0.038、朝向π 偏离明显，标签没有提及。根因‘控制’的机理叙述需改写，不能把中止路径说成循环耗尽后的直接释放。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与日志均支持标注：约视频 80.0 s 一块落到绿垫形成底层，第二块在视频 86.04–86.24 s 从桌沿外下落，第三块留在近桌；节点值、断点（blocks_stacked_2）、位姿不准与控制根因均有证据，推断与观察已区分。未发现需修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:00:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--v9ogam5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--v9ogam5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--v9ogam5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-privileged--v9ogam5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9e4a6dd77aac04d3ec0d936f9e096e9ce12f68f39c11ace8dceb776d95f923e1", + "video_sha256": "72184f05e1f479cd3f54591126c9114106e9257ebd8dae041e3770ce0272c471", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--2hcc9uk.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--2hcc9uk.json new file mode 100644 index 0000000000000000000000000000000000000000..167bdb30a25214b0811b0e4746a9355df9d4543f --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--2hcc9uk.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--2hcc9uk", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 5036, + "sim_steps": 5036, + "calls": 239, + "rows": 5036, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3579.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.233, + "peak_processes": 6, + "peak_disk_gb": 0.261, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard--2hcc9uk/replay.mp4", + "duration_s": 100.76, + "fps": 25.0, + "frames": 2519, + "sha256": "6c325923abb0d7eb633e71942657b2d79208c79c3ab3fcff03448eda2bb752af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 1, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 28.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.6, + "log_step": 62, + "text_zh": "观察：视频 28.4 s 左夹爪中的积木尚悬在绿垫上，视频 28.6–29.4 s 底面落到垫上；视频 30.0 s 夹爪已撤开，积木留在垫面。" + }, + { + "t": 100.72, + "log_step": null, + "text_zh": "观察：视频 79.2–80.0 s 上层倒下时，底层仍留在绿垫上；视频 85.0–97.0 s 的推移、重搭过程中仍有积木直接触垫，视频 100.72 s 仍可见垫上的底层。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第一块积木，从近桌搬至远桌，降低到绿垫后张开撤回；同时右手持另一块积木。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面，并在近桌和远桌之间行走搬运积木，配合下蹲、倾身完成搬放。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 34.2, + 79.5 + ], + [ + 95.5, + 96.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 34.2, + "log_step": 76, + "text_zh": "观察：视频 33.6–34.0 s 右夹爪所持积木与底层间还有间隙，视频约 34.2 s 两块上下相接，随后右手松开；视频 35.5–78.8 s 两层保持。" + }, + { + "t": 79.5, + "log_step": 102, + "text_zh": "观察：视频 79.2–79.6 s 机器人左手持第三块靠近堆顶，原上层积木倾斜并落到桌面，两层关系丢失。" + }, + { + "t": 95.5, + "log_step": 153, + "text_zh": "观察：视频约 95.5–96.5 s 机器人改用左手所持积木放在底层上，恢复两层；视频约 96.6 s 松手后的上层翻落，视频 97.0 s 已在桌面。" + }, + { + "t": 100.72, + "log_step": 163, + "text_zh": "观察：视频 100.72 s 两块积木在绿垫及其旁边并列，另一块已被右夹爪提起，末态没有两层堆叠。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "先由右二指夹爪夹住第二块搬运并叠到底层；后由左二指夹爪用第三块重建两层，末尾右夹爪又提起桌上的积木准备重试。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "原堆叠被碰倒后，右夹爪闭合，以指端在桌面上拨拉散开的积木，将其与垫上底层分开以便重新抓放。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面，并在近桌和远桌之间行走搬运积木，配合下蹲、倾身完成搬放。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [ + [ + 79.16, + 79.28 + ] + ], + "final": false, + "evidence": [ + { + "t": 79.2, + "log_step": 102, + "text_zh": "观察：逐帧检查视频 78.96–79.40 s，左夹爪中的第三块在视频约 79.16–79.28 s 底面短暂接触原上层，形成底层触垫、三块上下相接的链；第三块仍被夹住。该接触仅持续约 0.1 s，起止视觉误差约 0.1 s；节点不要求离手或等待。" + }, + { + "t": 79.32, + "log_step": 104, + "text_zh": "观察：视频约 79.32 s 第三块与下层重新出现间隙，原两层随即倾倒；视频 80.0–94.5 s 第三块仍由左夹爪拿着，机器人右手整理桌上积木。" + }, + { + "t": 100.72, + "log_step": 163, + "text_zh": "观察：视频 95.5–96.6 s 重搭的仅为两层，之后又倒下；视频 100.72 s 一块在右夹爪中、两块在桌面，三层未恢复，也未满足共同离手保持窗口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪从近桌夹起剩余积木，搬回远桌并移向两层堆顶；碰撞时第三块始终夹在左手中，未计划松手。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面，并在近桌和远桌之间行走搬运积木，配合下蹲、倾身完成搬放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_3", + "t": 79.3, + "log_step": 102, + "where": "操作中", + "evidence_zh": "观察：视频约 79.2 s 机器人持第三块移到堆顶并短暂触及上层，视频 79.3–79.6 s 第三块仍在左夹爪中，原上层却被带偏、倾倒至桌面；三层关系随此动作丢失，此后直到视频 100.72 s 都未恢复。后续重建两层不修复第3块堆好。" + }, + "unmet": { + "blocks_stacked_1": true, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 79.3, + "log_step": 102, + "evidence_zh": "观察：视频 79.12–79.40 s 左手持块下降到已有堆顶，与原上层相碰，原上层向侧方倾斜；视频 79.6 s 已倒到桌面。左夹爪没有松开第三块，因此这次破坏发生在持物移向堆顶过程中。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 79.3, + "log_step": 102, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 102 的脚本意图先抬高第三块，再悬停于两层上方，保持左夹爪闭合，逆解计算报告位置残差为0；视频 78.9–79.4 s 的实际接近运动却下降到堆顶并碰偏原上层，说明机器人执行的接近运动未保持所需净空。该日志的末端位置是 agent 自算的正运动学估计，不能据此细分为感知误差、逆解建模误差或伺服跟踪误差。" + } + ], + "gap_zh": "无状态日志，三层瞬时接触及两次两层区间的边界由视频估计；无法精确测量中心距离和接触对。评分器未报告两个原生几何指标；日志只有 agent 自算的运动学估计与关节读数，不能进一步确定控制子类。" + }, + "summary_zh": "机器人把积木搬到远桌，视频约 28.6 s 完成底层、约 34.2 s 完成两层；视频约 79.2 s 第三块仍在左夹爪中时短暂接触堆顶，几何进度瞬时为3/3，但随即碰倒原堆叠，未完成共同离手保持验收。随后重搭两层又在视频约 96.6 s 倒下，视频 100.72 s 最终仅底层成立（1/3），断点为第3块堆好，证据支持接近运动的控制问题。无状态日志，瞬时接触边界与控制子类仍有不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点1/2/3的取值、区间和最终状态与视频一致；第3块仅在视频约79.2 s 短暂触及堆顶、随即碰倒原上层，断点为blocks_stacked_3、操作中，被挡/碰撞加控制的标注有帧支持，且已说明控制子类无法细分。0.1 s 级的第3块接触靠低分辨率帧估计，文件已在 gap_zh 中承认该不确定性。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:44:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--2hcc9uk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--2hcc9uk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6f79c358a40f56c3698af4c7541b7d6ee802d6fd0c70d0158b63aa5e3f1b75a8", + "video_sha256": "6c325923abb0d7eb633e71942657b2d79208c79c3ab3fcff03448eda2bb752af", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--3bmwmkv.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--3bmwmkv.json new file mode 100644 index 0000000000000000000000000000000000000000..cac040eb0536c723cf5ba96b7b9357972f7d6691 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--3bmwmkv.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--3bmwmkv", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 816, + "rows": 8750, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 887.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.206, + "peak_processes": 8, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard--3bmwmkv/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "3fd25ed28adf9e2e3ee5269c414040bca2fd32d02f3b2aa2ed4b10d9b2fd007a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 91.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35.0, + "log_step": 39, + "text_zh": "观察：视频 34.5–35.5 s，机器人左右夹爪各夹住一块红色积木并提离近桌，近桌只剩一块；随后双手持物绕行到远桌。" + }, + { + "t": 91.0, + "log_step": 57, + "text_zh": "观察：视频约 91.0 s，机器人左夹爪把一块积木降到绿垫表面；视频 94.5–95.5 s 左夹爪抬走后，积木留在垫上。节点只要求底层接触垫面，起点不等到松手，视觉时间误差约半秒。" + }, + { + "t": 174.96, + "log_step": null, + "text_zh": "观察：视频 120.0 s、134.0 s、162.0 s 及 174.0–175.0 s，绿垫处始终至少有一个积木直接落在垫面；最后三块在垫边聚集而非竖直堆叠，底层条件仍成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 34.5–90.0 s，两只二指夹爪各夹住一块积木共同搬运；随后左夹爪单独把其中一块降到绿垫并张开撤离，右夹爪仍持另一块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面并交替迈步，持两块积木绕过近桌到远桌，躯干配合左臂俯身放下底块。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.8, + "log_step": 65, + "text_zh": "观察：视频 98.5–110.4 s，机器人右夹爪持第二块在底块侧方和桌面附近反复调整；视频 110.6–111.4 s 右侧画面有投影重叠，左侧画面仍显示持物偏在底块旁边，未构成上下接触的两层。" + }, + { + "t": 116.0, + "log_step": 66, + "text_zh": "观察：视频 115.6–118.0 s，右侧画面中持物倾斜并靠近底块上角，但左侧外部视角显示持物与底块侧向错开；视频 118.4–126.5 s 又降到底块侧面，未见满足判据的上下相接。不能把单视角重叠计成两层。" + }, + { + "t": 127.5, + "log_step": 68, + "text_zh": "观察：视频约 127.0 s 机器人张开右夹爪，视频 127.5–134.0 s 两块各自落在桌面/垫面上并排，第二块没有留在底块上。" + }, + { + "t": 174.96, + "log_step": 85, + "text_zh": "观察：视频 167.4 s 后及 174.96 s，后来搬来的积木也落到旁边，三块均未形成两层；log step 85 的 agent 自述“Two blocks were stacked on the green pad”与两外部视角的并排状态不符，节点采用视频判定。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 34.5–90.0 s 左右二指夹爪各夹一块同时搬运；底块放下后，右夹爪单独保持第二块并反复移动、降低，最后在底块侧边松开。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "双脚在搬运两块积木时交替支撑地面，放第二块期间腿与躯干支撑身体并配合侧移、俯身。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 155.0, + "log_step": 74, + "text_zh": "观察：视频 151.5–155.0 s，机器人左夹爪接近近桌最后一块并夹起；视频 155.0 s 该积木随左手离开，原位置已空，随后机器人持物走回远桌。" + }, + { + "t": 167.2, + "log_step": 79, + "text_zh": "观察：视频 164.4–167.2 s，机器人左夹爪将最后一块移向绿垫附近，已有两块仍并排；持物在两块附近上方悬着。视频 167.4–167.6 s 张爪后它落到侧后方，未出现三层接触链。" + }, + { + "t": 174.96, + "log_step": 83, + "text_zh": "观察：视频 168.0–174.96 s 三块在桌面上围在绿垫边，机器人双手已撤开，没有三层堆叠；log step 83 服务返回 done=True、reason=failed 和 timeout，评分器 success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹起近桌剩余积木，搬到远桌并降低，随后张开；右夹爪空着，未参与夹持此块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替支撑地面，持最后一块积木从近桌绕行回远桌，并以腿、躯干维持俯身放置姿势。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_2", + "t": 127.0, + "log_step": 68, + "where": "操作中", + "evidence_zh": "观察：视频 115.6–126.5 s，机器人右夹爪持第二块在底块侧方反复降低；视频约 127.0 s 松开后，视频 127.5–134.0 s 两块并排落桌，未搭成两层。视频 167.4–174.96 s 最后一块也落在旁边，没有修复第二层，因此断点为第2块堆好。" + }, + "unmet": { + "blocks_stacked_1": true, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 127.0, + "log_step": 68, + "evidence_zh": "观察：视频 115.6–126.5 s，机器人右夹爪中的第二块相对底块存在侧向偏移并倾斜；视频约 127.0 s 张爪时它已在底块侧边，视频 127.5 s 两块各自落桌，并非在目标顶面放下后才倒落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 61, + "evidence_zh": "推断：agent 的放置脚本未可靠实现积木相对底块的对齐。log step 61 将右夹爪目标设为机器人骨盆坐标系 [0.465,0.09,0.10] m，但脚本依据关节反馈计算的末端位置最后为 [0.479,-0.092,-0.053] m；视频 98.5–103.5 s 同样显示右手持物降在底块侧方近桌面处。log steps 65–68 虽继续调整，视频 115.6–127.5 s 仍显示物块倾斜、侧偏并最终并排落桌，故归控制；现有资料不足以细分逆解、跟踪或持物相对夹爪偏移各自的贡献。" + } + ], + "gap_zh": "无模拟器状态日志，无法直接读取积木中心距离、接触对及夹爪接触力；节点依据两外部视角前后帧和成功参考视频的可见形态判断，接近时的单视角投影重叠不作堆叠依据。原生几何指标未在评分器字段报告，故数值为 null；控制根因的具体子类无法确定。" + }, + "summary_zh": "机器人双手各搬一块到远桌，视频约 91.0 s 建立绿垫上的底层，但右手放第二块时持续侧偏，视频约 127.0 s 松手后两块并排；最后一块也搬到了远桌，却落在旁边，最终节点为 1/3。断点是第2块堆好，现象为位姿不准，日志中放置目标与关节反馈计算位置的偏差支持控制问题；agent 在 log step 85 声称已有两层，与视频不符。无状态日志，几何阈值和控制子类只能结合双视角及日志判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点和现象与视频一致：底块在约 91–95 s 落在绿垫，第二块在 120 s 附近倾斜靠在底块侧上方，127 s 后并排落桌，175 s 三块并排，没有两层。控制根因标为推断，证据足够。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:40:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--3bmwmkv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--3bmwmkv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cee116dcf6a8ba52d5e2fbc9f9a10f311a0b8b2fb96dd6617e8987b1096891ce", + "video_sha256": "3fd25ed28adf9e2e3ee5269c414040bca2fd32d02f3b2aa2ed4b10d9b2fd007a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--bcxsawj.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--bcxsawj.json new file mode 100644 index 0000000000000000000000000000000000000000..f4e86fdb399e72c1a941418bed6bf48b52f8ebc0 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--bcxsawj.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--bcxsawj", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 341, + "rows": 8315, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1618.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.261, + "peak_processes": 6, + "peak_disk_gb": 0.316, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard--bcxsawj/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "69686700f423b4709dbaa98e0dcccefacc065cdee03fa9420372559d4f2af7aa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 44.8, + 158.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红色积木均在近桌，远桌绿垫为空；视频 9.0–13.0 s 左夹爪夹起其中一块，原位置留下另外两块，机器人随后持块绕桌行走。" + }, + { + "t": 44.8, + "log_step": 128, + "text_zh": "观察：视频 44.4 s 积木尚悬在绿垫上，视频 44.8–46.4 s 左夹爪降低积木，积木底面落到绿垫边部；视频 47.0–50.0 s 松爪离开后积木仍接触绿垫。首次接垫时间约视频 44.8 s，误差约半秒。" + }, + { + "t": 158.2, + "log_step": 260, + "text_zh": "观察：视频 145.0–157.6 s 两块积木在绿垫附近并排，仍有一块底面接垫；视频 158.0–158.8 s 右夹爪介入抓取并挤动两块，两块移到垫前侧裸露桌面，接垫关系约视频 158.2 s 丢失。视频 161.6 s、166.0 s、174.0 s 和 175.0 s 的两外部视角均显示绿垫在两块旁边，底层没有回垫。边缘被夹爪局部遮挡，丢失时间为约半秒精度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.0–44.8 s，机器人左侧二指夹爪夹持第一块积木，将其从近桌搬到远桌绿垫并放下。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 13.0–44.0 s，机器人双脚支撑地面并绕桌行走，腿与躯干配合左臂搬运积木。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 144.0, + 144.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 74.0, + "log_step": 139, + "text_zh": "观察：视频 73.0–77.0 s 右夹爪在近桌积木旁闭合后抬走，但两块积木仍在原桌；log step 139 的“grasp finished”和 log step 143 的持物搬运自述不能证明此次拿起。视频 120.0–125.0 s 则清楚显示左夹爪夹起一块、原桌只剩一块，并将夹住的积木搬到远桌。" + }, + { + "t": 144.2, + "log_step": 154, + "text_zh": "观察：视频 143.84 s 左夹爪所持积木与底层之间仍有间隙；视频 144.0–144.4 s 上块底面短暂接触绿垫上底块的上缘，视频 144.48–144.64 s 上块在松爪过程中倾倒至桌面。推断：依据两个外部视角中的接触、约一块高度的中心高差及小于一块宽度的错位，短暂满足两层几何关系，记约视频 144.0–144.5 s；该节点允许夹爪仍接触。" + }, + { + "t": 152.8, + "log_step": 230, + "text_zh": "观察：视频 148.0–157.6 s 左夹爪反复抓取和抬动相邻积木；视频 152.56–152.96 s 可见积木相互挤压、前块倾斜，但随后仍为桌面上并排的两块，没有恢复上下两层。视频 158.0–165.6 s 改用右夹爪抬放，最终仍并排落在绿垫旁；视频 174.0 s 和 175.0 s 没有两层堆叠。" + }, + { + "t": 145.1, + "log_step": 154, + "text_zh": "推断：log step 8 报告控制周期 0.02 s，log step 154 的现场服务累计 control_steps=7255 对应视频 145.1 s，已用视频 145.0–145.2 s 松爪撤离后的两块位置核对。这里只用于关联现场脚本与视频；节点时间取自所检查画面，未使用 agent 工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 120.0–144.4 s 左侧二指夹爪夹住第二块，搬到远桌并尝试放到底块上；视频 163.2–165.2 s 右夹爪也夹起一块再次抬放。左右手依次操作，未见两手共同夹持完成堆叠。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 152.56–152.96 s 左夹爪操作使前侧积木倾斜，视频 158.0–161.2 s 右夹爪抓取尝试挤动两块积木，将它们推离原接垫位置。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 125.0–142.0 s，机器人双脚交替支撑地面、绕桌携带左夹爪中的第二块积木；到远桌后腿与躯干支撑手臂反复堆放。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 175.0, + "log_step": 288, + "text_zh": "观察：视频 125.0 s 左夹爪拿走第二块后，第三块仍留近桌；视频 145.0–175.0 s 机器人一直在远桌操作已搬来的两块，没有返回取最后一块。视频 174.0 s 和 175.0 s 两块并排在绿垫旁，另一块在近桌，整个检查序列没有形成三层；log step 288 的现场服务最终返回 done=True、reason=failed。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_2", + "t": 144.5, + "log_step": 154, + "where": "操作中", + "evidence_zh": "观察：视频 144.0–144.4 s 机器人左夹爪将上块压到绿垫上的底块边缘，视频 144.48–144.64 s 松爪时上块倾倒到桌面，两层关系丢失。视频 148.0–165.6 s 的反复抓放没有恢复两层，后续右夹爪尝试还将底层推离绿垫；视频 174.0–175.0 s 两块仍并排在垫旁。因此断点是第2块堆好，第三块尚未搬来。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 144.5, + "log_step": 154, + "evidence_zh": "观察：视频 144.0–144.4 s 上块已接触底块上缘；机器人左夹爪按放置动作逐渐张开，视频 144.48 s 上块开始倾斜，视频 144.64 s 已落到桌面，视频 145.0–145.8 s 撤手后两块并排。log step 151 的 stack_block_left 明确安排下降、张爪和撤离，log step 152 执行该脚本，故这是计划放下后的不稳定，而非搬运途中丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 144.5, + "log_step": 151, + "evidence_zh": "推断：log step 151 的 stack_block_left 依据动作开始时的骨盆位姿求解目标关节角，然后一次提交悬停、下降、张爪、撤离序列，序列内没有根据实际积木接触或支承姿态修正。视频 144.0–144.64 s 显示机器人能把上块带到底块上缘，却未使其在撤去夹爪支承后稳定；视频 152.56–152.96 s、158.0–161.2 s 的再抓取又明显挤动相邻积木。证据支持堆放及接触控制失败，但不足以区分夹持几何、逆解误差或跟踪误差。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，无法直接读取积木间接触、中心距离及夹爪接触力；短暂两层关系和接垫丢失均依据双外部视角判断，时间为视觉近似，边缘接触尤其受夹爪局部遮挡。视频 152.56–152.96 s 的倾斜接触不足以确认再次满足至少0.03米中心高差，未另记两层达成。评分器未报告两项原生几何指标，均填null；控制根因的具体子类缺少足够证据。" + }, + "summary_zh": "机器人在视频约 44.8 s 把第一块放到绿垫上，视频约 144.0–144.5 s 曾短暂形成两层，但松爪后上块倾倒，后续再抓放未修复，并在视频约 158.2 s 将底层接垫关系也破坏；终态为0/3，第三块仍留近桌。断点为第2块堆好，现象为放后不稳，证据支持控制失败；没有状态日志，短暂接触与边缘离垫时间只能按画面估计，无法进一步确定控制子类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 44–50 s、143.8–147 s、157.4–175 s 的帧：第1块上垫、约144 s 短暂两层随后倾倒并排、约158–160 s 底块被推离垫、第三块未搬来，均与标注一致；断点、现象、根因与证据相符，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": "2026-10-30T04:45:19Z", + "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-stack-blocks-i00-standard--bcxsawj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--bcxsawj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "52cbc18f7f2170b8232897083efc78d6caef8e0e96bce0878445f795443cda41", + "video_sha256": "69686700f423b4709dbaa98e0dcccefacc065cdee03fa9420372559d4f2af7aa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--dzqrzys.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--dzqrzys.json new file mode 100644 index 0000000000000000000000000000000000000000..0d95289a5e4d2f5c63854cd219346a62f9f4a43d --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--dzqrzys.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--dzqrzys", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 7418, + "sim_steps": 7418, + "calls": 346, + "rows": 7418, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 3587.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.193, + "peak_processes": 9, + "peak_disk_gb": 0.866, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard--dzqrzys/replay.mp4", + "duration_s": 148.4, + "fps": 25.0, + "frames": 3710, + "sha256": "45c93e2f08a03e7d1f820991204f1e9c6f4235f8fcb5bdb45fea7d56260cf3cf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红积木均在近桌，远桌绿垫为空；全片粗采样及末段密集帧中未见任何积木触垫。" + }, + { + "t": 82.0, + "log_step": null, + "text_zh": "观察：视频 80.0 s 至 82.0 s，机器人左夹爪夹住一块积木并抬离近桌，原桌面留下两块；随后机器人持该块绕行到远桌。这里只完成了搬运，尚未建立底层触垫关系。" + }, + { + "t": 146.2, + "log_step": 529, + "text_zh": "观察：视频 145.5 s 左夹爪仍持积木下降，视频 146.2 s 积木已落在绿垫旁的灰色桌面；视频 147.4 s、147.8 s 和 148.36 s 积木与绿垫仍有清楚的横向间隔，未触垫。log step 529 记录 agent 的脚本打开左夹爪。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：前段机器人右夹爪反复接近、拨动近桌积木，随后改用左夹爪；视频约 80–82 s 左爪两指夹住一块红积木并抬离桌面，持续夹持搬运，视频约 146 s 张爪将其放到远桌绿垫旁。两手先后尝试，未见共同承载。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双腿支撑抓取时的下蹲、起立，视频约 82–144 s 持块绕过桌边行走并转身，放置时再次降低身体。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 148.36, + "log_step": null, + "text_zh": "观察：视频 0.0 s 起三块分置近桌；中段操作均在近桌或为单块搬运，末段仅一块到达远桌且落在绿垫旁，另外两块留在近桌。视频 148.36 s 绿垫上既无底层，也无上下接触的两层积木，未见绿垫上两层关系成立。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 148.36, + "log_step": null, + "text_zh": "观察：全片未见三块积木在绿垫上堆成一摞；视频 148.36 s 两块仍在近桌，一块在远桌绿垫旁，三层关系不成立。inputs/run.json 的评分器字段 success、live_success、replay_success 均为 0，与此终态一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 146.0, + "log_step": 529, + "where": "操作中", + "evidence_zh": "观察：机器人将一块积木搬到远桌后，在视频约 146.0 s 张开左夹爪；视频 146.2 s 积木落在绿垫旁的桌面，视频 148.36 s 仍未触垫，第一块底层放置未完成。log step 529 是打开左夹爪的动作，log step 532 随后升高骨盆并收臂，未修复该放置。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 146.0, + "log_step": 529, + "evidence_zh": "观察：视频 145.5 s 积木在左夹爪中下降时已横向偏离绿垫；视频 146.2 s 松手后落点是绿垫旁的灰色桌面，视频 147.4–148.36 s 仍停在垫外。机器人在松手前未把积木对到目标垫面上。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 521 的脚本以固定左臂姿态向前移动，log step 524 保持同一臂姿仅将骨盆目标高度从 0.74 m 降到 0.58 m，log step 529 随即打开左夹爪；这些命令未包含把积木横向移到绿垫的末端修正。视频 144.0 s、145.5 s、146.2 s 显示这一下降和释放始终保留着积木相对绿垫的横向偏差，支持放置控制未完成对准；不足以细分为逆解或跟踪问题。" + } + ], + "gap_zh": "无状态日志，不能精确量化积木与绿垫的距离及手指接触力；评分器未报告两个相邻中心距离指标。日志也未记录末段采用的绿垫空间估计或期望末端轨迹，根因仅归到控制，不进一步指定其子类。两个外部视角足以判定末段落点在垫外，不影响三个节点均为 false。" + }, + "summary_zh": "机器人最终用左夹爪抓起并搬运了一块积木，但在视频约 146 s 将它释放到远桌绿垫旁，另外两块仍在近桌，三个堆好节点均未达成。断点为第1块堆好的放置操作，现象是位姿不准；日志中的固定臂姿降身后张爪命令支持控制未完成横向对准。无状态日志及末段期望末端轨迹，无法进一步细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均为 false 与视频一致：视频 148.36 s 放大帧显示左手松开的红积木落在绿垫右侧的灰色桌面，未触垫，另两块仍在近桌；断点 blocks_stacked_1 / 操作中 / 位姿不准合理，根因仅到“控制”且标为推断，证据允许。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:54:44Z", + "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-stack-blocks-i00-standard--dzqrzys/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--dzqrzys/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e2558ca3fdd009c0933fcde1860294157279b0a22e8303ea55b5b9d05386c0b0", + "video_sha256": "45c93e2f08a03e7d1f820991204f1e9c6f4235f8fcb5bdb45fea7d56260cf3cf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gcwtszc.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gcwtszc.json new file mode 100644 index 0000000000000000000000000000000000000000..61707ffe13d6d68deee36dfdf0599c1f06035c8c --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gcwtszc.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--gcwtszc", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 425, + "rows": 8700, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 762.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.412, + "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-stack-blocks-i00-standard--gcwtszc/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "250729de984b80a360009b01045741e29561d1f4e81f1351a04b630fe6a6613b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红色积木均在近桌，远桌绿垫为空；全片粗查并密查视频 156.0–174.96 s，未见任何积木接触绿垫。" + }, + { + "t": 164.0, + "log_step": 166, + "text_zh": "观察：视频 158.0–164.0 s 左爪夹住一块红积木并将它带离原位置，另两块留在近桌；视频 169.0–173.4 s 机器人持物停在远桌侧边，绿垫仍为空。" + }, + { + "t": 174.96, + "log_step": 173, + "text_zh": "观察：视频 173.6–174.2 s 积木脱离左爪、飞起后落回近桌，视频 174.96 s 三块积木均在近桌一侧，远桌绿垫为空，第一块放置从未达成。log step 173 的服务状态为 control_steps=8750、done=true、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 158.0–173.4 s 左手二指夹爪从两侧夹住一块红积木并搬运；视频 162.0–164.0 s 积木离开近桌并随左爪移动，视频约 173.6 s 脱手。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚支撑地面，视频 162.0–169.0 s 持物绕桌行走，视频 169.0–173.4 s 在远桌边踏步。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.96, + "log_step": null, + "text_zh": "观察：视频 0.0–174.96 s 抽查的双外部视角中绿垫始终为空；视频 169.0–174.96 s 密查也未见底层或两层积木。其余积木留在近桌，机器人没有开始在绿垫上堆第二层。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.96, + "log_step": null, + "text_zh": "观察：视频 174.96 s 三块红积木分散在近桌，远桌绿垫为空，全片未见绿垫上的三层连续堆叠。对照成功参考视频 79.96 s，同样两个外部视角能清楚显示绿垫上竖立的三层积木；本回合无此关系，也未开始第三层堆叠。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 169.0, + "log_step": 166, + "where": "操作中", + "evidence_zh": "观察：视频 169.0–173.4 s 机器人左爪仍持第一块积木，手爪与积木贴在远桌侧边、桌面高度附近，机器人持续踏步但未向绿垫靠近；log step 166 的最后多轮 goto 读数停在骨盆约 (1.022,-0.754)，目标为 (1.05,-0.40)。视频约 173.6 s 积木脱手，视频 174.96 s 绿垫仍为空，此放置步骤未修复。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 169.0, + "log_step": 166, + "evidence_zh": "观察：视频 168.5–173.4 s 左爪及所夹红积木抵在远桌侧缘，机器人腿部踏步而持物位置基本不前移；log step 166 的 goto it2–it7 骨盆坐标几乎不变、到目标仍约 0.355 m。推断：持物接近远桌时受到桌缘阻挡，未完成向绿垫的搬运。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 173.6, + "log_step": 173, + "evidence_zh": "观察：视频 162.0–173.4 s 红积木随左爪搬运；视频约 173.5 s 左臂突然回摆，视频 173.6–173.9 s 积木已脱离夹爪并在空中飞行，视频 174.2–174.96 s 落回近桌。它没有被送到绿垫，属于搬运途中失去握持。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 166 的 final3.py 在抓取后直接执行平面 goto 路线，最后从 (0.95,-0.85) 向 (1.05,-0.40) 走，未先抬高所夹积木或规划绕过远桌侧缘；多轮反馈几乎无位移仍继续同一路段。视频 164.0–173.4 s 左爪保持低位，接近远桌后卡在侧边。推断：搬运与目标接近阶段的路线未处理桌缘和持物高度的冲突，导致第一块尚未送达绿垫。" + }, + { + "cat": "控制", + "item": "控制", + "note_zh": "控制脚本未继承持物命令状态。", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 59 的 Bot.__init__ 用 lib.row() 初始化 self.row，obs() 只更新观测；log step 31 的 lib.row() 默认两臂关节为零、两爪命令为0.6。log step 173 在新进程新建 Bot 后仅修改 self.row 的行走槽位并发送76行，未恢复上一段左臂持物姿态和闭爪命令。视频约 173.5 s 左臂从竖直持物姿态突变，视频约 173.6 s 积木飞离。推断：控制脚本把默认手臂及夹爪目标当作上一条持物命令继续发送，破坏了已建立的抓握；不是已有握持姿态下自然滑落。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，无法独立给出桌缘碰撞的具体刚体对、接触力及精确几何距离。log step 182–183 根据夹爪间距称末态仍持物，但视频 173.6–174.96 s 清楚显示脱手并落回近桌，末态采用视频；未据该间距给持物或放置记分。推断：本回合控制步长为0.02 s（log step 9），log step 173 起点8674步对应视频约173.48 s，已由视频约173.5 s 的手臂突变核对；8750步对应175.0 s，与视频末尾一致，该映射仅用于核对日志动作。" + }, + "summary_zh": "机器人多次伸爪后在视频约 162.0 s 用左爪带走一块积木，三个绿垫堆叠节点均未达成，最终为0/3。首块搬运在视频约 169.0 s 被远桌侧缘挡住，最后一段脚本又发送默认手臂和夹爪目标，视频约 173.6 s 积木脱手并落回近桌。没有状态日志，具体接触对需推断；日志末态持物自述与末尾视频不符，按视频标注。", + "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（绿垫全程为空）；断点 blocks_stacked_1、被挡/碰撞与脱手没保持住、控制脚本未继承持物命令的根因均有视频帧和 log step 166/173 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": "2026-10-30T04:45:46Z", + "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-stack-blocks-i00-standard--gcwtszc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--gcwtszc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8f166ffd41f1bffa0e9bdd8682db5aa93d993629970eb18b61721daa4f8a0fff", + "video_sha256": "250729de984b80a360009b01045741e29561d1f4e81f1351a04b630fe6a6613b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gwnhvw4.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gwnhvw4.json new file mode 100644 index 0000000000000000000000000000000000000000..44add164bc17c34eb072a6097fe74e1683eb8e54 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--gwnhvw4.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--gwnhvw4", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 3258, + "sim_steps": 3258, + "calls": 110, + "rows": 3258, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1788.3, + "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-stack-blocks-i00-standard--gwnhvw4/replay.mp4", + "duration_s": 65.2, + "fps": 25.0, + "frames": 1630, + "sha256": "3e56b9cfcae444b1dc0f1273c2902966f16545326f08da5643839ad38b604009" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频初态三个红积木均分散在机器人面前的近桌上，远桌绿垫未承载积木。" + }, + { + "t": 10.4, + "log_step": 24, + "text_zh": "观察：视频 8.0–12.4 s，机器人双夹爪在积木后方闭合并空手抬起，三个积木仍在近桌；视频 30.0–31.6 s 有夹爪推歪积木，但仍未夹起。" + }, + { + "t": 65.12, + "log_step": 35, + "text_zh": "观察：视频全程粗查并加密检查抓取段，直到视频 65.12 s 三个积木仍在近桌、双手为空，没有任何积木搬到远桌绿垫。视频 65.16 s 末帧机器人降至桌下且近桌不再显示红积木，也未出现绿垫上堆叠；log step 35 服务状态为 done=True、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：机器人双手分别朝近桌两个积木做夹取，视频 10.4–12.4 s、视频约 47.6 s 和视频约 61.0–63.4 s 均空夹后空手抬起。候选“空夹尝试”：没有夹爪包夹积木的对向接触，故不能记抓握；推/扫也不能描述这些未碰到目标的闭爪动作。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 29.6–30.8 s，一侧夹爪指端碰动近桌中间的红积木，使其倾斜后回落桌面；没有形成夹持搬运。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双腿支撑地面，在近桌前下蹲、倾身并恢复站姿以尝试取料，未携带积木走向远桌。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.8, + "log_step": 27, + "text_zh": "观察：视频 23.2–31.6 s，机器人双手同时尝试取两个积木，但只有一块被指端推歪后回落，未出现积木随夹爪离桌搬运，更未出现远桌绿垫上的两层接触链。" + }, + { + "t": 65.12, + "log_step": 31, + "text_zh": "观察：视频 32.0–65.12 s 的后续重试中，三个积木仍在近桌同一层，双手抬起时为空，第二层从未堆成；log step 31 的 pickA 仍只在重试双手取料。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：log step 15 的脚本将 pickA 两手取料分别用于 placeA1 底层和 placeA2 第二层；视频中同步空夹包含第二层的取料尝试。观察：视频 10.4–12.4 s、视频 61.0–63.4 s，拟取另一块的夹爪均空手抬起。候选“空夹尝试”：未见对向夹持接触，不能记抓握，现有推/扫等方式也不适用。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频中机器人双腿支撑下蹲和站起，为同时获取底层及第二层积木做准备；未开始持物搬运或第二层放置。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 63.4, + "log_step": 31, + "text_zh": "观察：视频 63.4 s 双手为空、三块积木仍在近桌；本次机器人始终在原桌前反复取料，未到远桌放置，也没有第三层堆叠动作。" + }, + { + "t": 65.16, + "log_step": 35, + "text_zh": "观察：视频直到末帧均未出现绿垫上三层红积木；log step 35 服务确认回合失败。推断：三层几何关系从未成立；此判断来自可见的取料失败和始终没有搬运，不是单由零分推得。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 10.4, + "log_step": 24, + "where": "操作中", + "evidence_zh": "观察：视频 10.4 s 机器人在近桌前闭爪，视频 11.2–12.4 s 双手空手抬起，三个积木仍在原桌。此后取料重试始终没有将积木搬到绿垫，第一块放置未获修复。推断：以首轮空夹作为这一持续失败的导航锚点；log step 3 给出的 control_dt=0.02，log step 24 的控制步 520×0.02=视频 10.4 s，已用闭爪及随后抬手事件核对；此映射使用现场控制步，不使用 agent 工作时间。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.4, + "log_step": 24, + "evidence_zh": "观察：视频 10.4–12.4 s 机器人夹爪闭合后空手抬起，未包夹积木；视频 29.6–30.8 s 的指端推碰也未形成所需抓握，后续视频 61.0–63.4 s 仍空手收回。推断：搬放所需的抓取接触始终未建立；不把后来的单侧推碰算作成功抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "观察：log step 24 的脚本诊断在多个下降阶段输出 blob None，仍继续闭爪及抬手；log step 26 的 do_pick/wrist_servo 代码在未检测到目标色块时继续求解并推进预定高度序列，两轮空夹后仍进入 lift，未以实际末端到位或物体夹持成功作为推进条件；log step 31 再次出现整段 blob None、两轮 empty grip 后 lift。视频 8.0–12.4 s 与视频 61.0–63.4 s 显示夹爪未对准包住积木便空手抬起。推断：目标观测缺失、抓取未成时仍推进动作的反馈处理，使取料误差持续而未得到有效修正。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志或逐步末端位姿记录，不能独立确认 agent 在 log step 39 所称的关节跟踪速度与滞后量，也无法判定关节偏差的底层原因。视频 65.12 s 仍站立且三个红积木在近桌，视频 65.16 s 末帧却同时变为机器人低于桌面、近桌不再显示红积木，缺少连续下坠或落地过程；log step 35 只报 reason=failed，没有具体触发项。因此保留这处末帧突变的观察，不据此断言积木触地、连续跌倒过程或仿真故障。两个原生几何指标未由评分器报告，值记 null。" + }, + "summary_zh": "机器人在近桌前多次双手取料，只有指端推歪积木，始终未建立抓握或把积木搬到绿垫，三个节点全程均未达成，最终为0/3。断点为第1块堆好：视频约 10.4 s 首次空夹后未修复，日志代码与视频支持目标反馈缺失时仍推进闭爪、抬手的控制问题。无状态日志，视频 65.16 s 末帧有突然下坠及积木消失的画面突变，具体终止触发原因无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点全程未达成、final=0 与视频一致（近桌积木始终在原处，末帧前双手为空）；断点在第1块、没建立接触与反馈控制均有视频和日志支撑，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:55:59Z", + "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-stack-blocks-i00-standard--gwnhvw4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard--gwnhvw4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d102581c33bf3cb53b60fe3c254cc84cc32199bda78a7c88c5840889d0a0be9c", + "video_sha256": "3e56b9cfcae444b1dc0f1273c2902966f16545326f08da5643839ad38b604009", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--kt39ykn.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--kt39ykn.json new file mode 100644 index 0000000000000000000000000000000000000000..53f33929ccf307970de59f035152e75011fd9f5a --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--kt39ykn.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--kt39ykn", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8411, + "sim_steps": 8411, + "calls": 395, + "rows": 8411, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1516.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.173, + "peak_processes": 9, + "peak_disk_gb": 0.243, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-stack-blocks-i00-standard--kt39ykn/replay.mp4", + "duration_s": 168.24, + "fps": 25.0, + "frames": 4206, + "sha256": "afea163738e7455de29e5c51b5290daed435943a210f70ce999da6e8877d6e5e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三个红色积木均分散在近桌，远桌绿垫为空，底层关系初始不成立。" + }, + { + "t": 80.0, + "log_step": 94, + "text_zh": "观察：视频 76–84 s 机器人两爪各夹一块，身体沿近桌侧移，尚未到达远桌；视频 80.0 s 积木仍在近桌一侧。log step 94 的持物行走命令为 carry 0.70 0.07，随后机器人服务的本体感知读数为骨盆约(0.327,0.348,0.690)米。" + }, + { + "t": 127.0, + "log_step": 102, + "text_zh": "观察：视频 127.0 s 左右夹爪各夹一块积木并抬离近桌，原位置只剩一块；远桌绿垫仍空。夹住和抬起并不满足触垫放置判据。" + }, + { + "t": 168.2, + "log_step": 111, + "text_zh": "观察：视频 167.3–168.2 s 机器人仍在近桌后方，两爪及所夹积木降回近桌高度，另一块仍在近桌，远桌绿垫清晰可见且为空；全程抽帧未见任何积木到垫面，底层从未成立。log step 111 的服务状态为 control_steps=8411、done=False，agent 随后停止提交。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人为搬运前两块积木，先后用右、左二指夹爪各夹住一块，再同时持握；视频 127.0 s 两块分别随两爪抬离近桌。两块尚未被送到绿垫或叠放。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面，腿和躯干在持物搬运尝试中配合侧移、调整站姿及转向；视频 76–84 s 可见沿近桌侧移，未走到远桌。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 127.0, + "log_step": 92, + "text_zh": "观察：log step 92 中 agent 为同时携带两块积木增加持物行走代码；视频 127.0 s 两块确实分别夹在左右爪中，第三块留在近桌，两块彼此分离，绿垫为空。此为前两块的共同搬运准备，尚无垫上两层关系。" + }, + { + "t": 168.2, + "log_step": null, + "text_zh": "观察：视频 0.0 s 至 168.2 s 的全程粗采样及视频 68–89 s、122–146 s、末秒密集帧中，没有积木放到绿垫，更无以触垫底层为起点的两块相接堆叠；视频 168.2 s 两个外部视角均显示积木仍在近桌一侧。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人为搬运前两块积木，先后用右、左二指夹爪各夹住一块，再同时持握；视频 127.0 s 两块分别随两爪抬离近桌。两块尚未被送到绿垫或叠放。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑地面，腿和躯干在持物搬运尝试中配合侧移、调整站姿及转向；视频 76–84 s 可见沿近桌侧移，未走到远桌。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 168.2, + "log_step": null, + "text_zh": "观察：视频 127.0 s 两块随双手抬离近桌，第三块仍留在近桌；视频 167.3–168.2 s 三块均处于近桌一侧，绿垫为空。全程未见三层堆叠，也未见机器人开始搬取余下第三块；不存在符合判据的三层关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 80.0, + "log_step": 94, + "where": "操作中", + "evidence_zh": "观察：视频 76–84 s 机器人两爪夹着积木，却主要沿近桌侧移，未将第一块运往绿垫；视频 127.0 s 抬起两块后仍留在原桌，直到视频 168.2 s 绿垫仍空。log step 94 开始向远桌持物行走，log step 100、104、107–110 的重试均未使机器人到达远桌，第一块触垫放置始终未完成。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 80.0, + "log_step": 94, + "evidence_zh": "观察：视频 76–84 s 机器人持物时沿近桌侧移；视频 84–168.2 s 经多次站姿、抬臂和转向调整仍留在近桌，未见跌倒，绿垫一直未装载。log step 100 的服务本体感知显示多轮朝远桌行走后骨盆前向坐标仍约0.32–0.33米，log step 104 的两次前向重试后仍约0.325米；持物行走未完成所需前移。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 的脚本在 log step 94、100、104 中明确向远桌下发持物行走命令，但机器人服务返回的骨盆前向坐标几乎不变，视频 80.0 s、127.0 s、168.2 s 也显示仍在近桌。抬高两块后（log step 102–104，视频约127–136 s）以及收臂后（log step 107，视频约137–142 s）仍未实现搬运，支持持物行走控制未奏效；现有证据不能进一步确定控制子类型。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或接触力记录，无法确定前向行走未奏效是动作跟踪、持物姿态还是未显示的接触阻滞造成，故根因仅标控制；不能据 agent 在 log step 113 的自述认定全身控制器或仿真本身故障。评分器未报告两个原生几何指标的数值，均填null。推断：本次为无重置的单现场回合，log step 3 的control_dt=0.02秒，log step 111 的8411控制步对应视频168.22秒，与视频168.24秒长度一致；log step 100 的6328步对应视频126.56秒，紧接抬臂动作已在视频127.0秒核对。所用时间映射来自回合控制步而非agent工作时间。", + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人先后夹住两块积木，并在视频 127.0 s 将两块共同抬离近桌，但远桌绿垫始终为空，三个堆叠节点均未达成。失败断在第1块的持物搬运：行走主要侧移，后续调整仍未抵达远桌；log step 111 显示回合尚未终止，agent 随后主动停止。无状态日志，行走控制未奏效的底层原因及原生几何指标数值无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个堆叠节点均未达成，与视频一致（远桌绿垫全程为空）；断点在第1块持物搬运、步态现象与控制根因均有服务本体感知读数支持，时钟映射合理。", + "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": "2026-10-30T05:10:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/bigym2-stack-blocks-i00-standard--kt39ykn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/bigym2-stack-blocks-i00-standard--kt39ykn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e92a70f89c7bd732f9b0117ab4fecdda5f494f5f217d2490385f7222e664dbdb", + "video_sha256": "afea163738e7455de29e5c51b5290daed435943a210f70ce999da6e8877d6e5e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--uynkg4d.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--uynkg4d.json new file mode 100644 index 0000000000000000000000000000000000000000..6676fafd80924e6aa7a05fd3ee03584449a60267 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard--uynkg4d.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard--uynkg4d", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 5978, + "sim_steps": 5978, + "calls": 260, + "rows": 5978, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1239.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.304, + "peak_processes": 9, + "peak_disk_gb": 0.844, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-stack-blocks-i00-standard--uynkg4d/replay.mp4", + "duration_s": 119.6, + "fps": 25.0, + "frames": 2990, + "sha256": "dfcdf8b0356959a07606140d550da371a965f511add5cc6878ce2b33cb8df5e7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 1, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [ + [ + 60.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，三个红色积木均在近桌，远桌绿色方垫为空。" + }, + { + "t": 60.4, + "log_step": 85, + "text_zh": "观察：视频 60.0–60.8 s，机器人右夹爪降低积木并张开，积木在约视频 60.4 s 落到绿色方垫上；视频 61.5–62.2 s 撤手后底块仍直接接触垫面。" + }, + { + "t": 119.56, + "log_step": 132, + "text_zh": "观察：视频 118.9–119.56 s，上部积木倾倒，但底层红块始终留在绿色方垫上；视频 119.56 s 仍可见红块与绿垫接触，故底层关系未丢失。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 18–60 s，左、右二指夹爪各夹住一个红块并共同搬运；右夹爪将其中一块放到绿垫，左夹爪同时保留另一块待叠。两手各自夹住物体，并非两臂挤压同一块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 24–56 s，机器人双脚交替支撑地面，绕桌行走并携带两块积木抵达远桌。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [ + [ + 65.4, + 119.1 + ] + ], + "final": false, + "evidence": [ + { + "t": 65.4, + "log_step": 94, + "text_zh": "观察：视频 65.0–65.8 s，机器人左夹爪将第二块降至底块上方，约视频 65.4 s 两块上下相接；视频 66–68 s 张爪撤手后两层仍成立，中心高差约一块高度，水平偏移小于一块边长。" + }, + { + "t": 104, + "log_step": null, + "text_zh": "观察：视频 70–114 s 的巡看帧中，机器人返回近桌取第三块并携回，绿垫上的两层保持不动。" + }, + { + "t": 119.2, + "log_step": 131, + "text_zh": "观察：视频 118.9–119.2 s，上部两块一起偏转、倾倒；视频 119.2–119.56 s 桌上剩下并排的低矮红块，已不构成上下两层。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 24–60 s，两夹爪各持一块同步搬运；视频 60–62 s 右夹爪先放底块、左夹爪仍握住待叠块，随后视频 64–67 s 左夹爪单独降低、释放第二块，右手已离开积木。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 24–56 s，双腿支撑并绕桌携带待叠积木，抵达绿垫后站立、配合手臂堆放。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [ + [ + 118.0, + 119.1 + ] + ], + "final": false, + "evidence": [ + { + "t": 94, + "log_step": 112, + "text_zh": "观察：视频约 94–96 s，最后一块离开近桌并随左夹爪抬起；视频 96–114 s 该块随机器人行走到远桌，原近桌位置不再有积木。" + }, + { + "t": 118.2, + "log_step": 129, + "text_zh": "观察：视频 117.6–117.8 s，左夹爪所夹第三块与第二层之间仍有缝隙；视频约 118.0–118.8 s，第三块降至第二层并相接，形成底块触绿垫、相邻层上下接触的三层链。节点允许夹爪仍接触，故记录短暂达成；接触起点目测误差约 0.2 s。" + }, + { + "t": 119.2, + "log_step": 131, + "text_zh": "观察：视频 118.8–119.2 s，机器人左爪张开并向上撤离，堆叠上部随即倾倒、散开；视频 119.56 s 一块已落到桌下地面附近，绿垫处没有三层。" + }, + { + "t": 119.56, + "log_step": 132, + "text_zh": "推断：这是单一现场回合，reward.resets=0、deterministic=1；log step 7 给出 control_dt=0.02 s，log step 132 的 control_steps=5978 对应视频 119.56 s，与末帧落块及结束核对一致。log step 129 的 5915 步对应视频 118.30 s、log step 131 的 5945 步对应视频 118.90 s，支持最后接触、释放的定位；未把 agent 时间当作视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 94–118.8 s，左二指夹爪夹住最后一块、抬起搬运并放到第二层；随后左爪张开撤离。右手调整观察姿态，未见其接触积木。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 96–114 s，机器人双脚交替支撑地面并携带第三块绕桌返回绿垫，最后站立堆放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_3", + "t": 118.9, + "log_step": 130, + "where": "操作中", + "evidence_zh": "观察：视频 118.0–118.8 s，机器人左爪把第三块接到第二层后张开；视频 118.9–119.2 s 撤手时上部积木倾倒，三层链与原两层关系一并丢失，此后未修复。log step 130 明确执行 release_third、withdraw_final；log step 131 服务在 5978 控制步报告 done=True、reason=failed，视频 119.56 s 可见一块落至桌下。断点为当时正在操作的第三块堆放。" + }, + "unmet": { + "blocks_stacked_1": true, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 118.9, + "log_step": 131, + "evidence_zh": "观察：视频约 118.0–118.8 s 第三块已经接触第二层，并非在目标之外释放；左夹爪张开、撤离后，视频 118.9–119.2 s 上部两块偏转并倒下，随后一块落地，底层仍触绿垫。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：失稳发生在机器人最后一块的承托转换与撤手执行中。视频 118.0–118.8 s 顶块略倾斜、各层有水平错位，左爪离开后上部立即倾倒；log step 126、128 按当前手姿 R 降低，log step 130 随后直接张爪并改变肩关节撤手。证据支持最后堆放控制未形成能独立承重的稳定接触，但不足以分清接触几何、位姿估计或撤手跟踪各自的贡献，保留在控制大类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或接触力、物体精确位姿读数，三层接触起止及相邻中心阈值只能按两个外部视角目测，约有 0.2–0.5 s 误差；无法精确归因于接触布局、估计误差或撤手轨迹。两项原生中心距离/高差指标未由评分器报告，记为 null。" + }, + "summary_zh": "机器人先把两块积木搬到绿垫，约视频 60.4 s 达成底层、视频 65.4 s 达成两层；第三块于约视频 118.0 s 短暂接成三层，峰值为 3/3。视频约 118.9 s 最后释放撤手时上部倾倒并有积木落地，结束仅底层关系成立（1/3），断在第三块堆放；证据支持放后不稳与堆放控制问题，但无状态或力日志，不能进一步区分具体控制成因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": 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"claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c8b564a76d1a5d8157a1fb35cd7afd196f335e95862c739ee8c57112eb34aa53", + "video_sha256": "dfcdf8b0356959a07606140d550da371a965f511add5cc6878ce2b33cb8df5e7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--99jxcbv.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--99jxcbv.json new file mode 100644 index 0000000000000000000000000000000000000000..026f639e54796af4bb093925890b49342a17a34a --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--99jxcbv.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--99jxcbv", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 7475, + "sim_steps": 7475, + "calls": 1245, + "rows": 2482, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1107.6, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 149.489, + "max_lag_s": 0.0103, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 2.702, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.12, + "peak_processes": 9, + "peak_disk_gb": 0.891, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard-realtime--99jxcbv/replay.mp4", + "duration_s": 149.52, + "fps": 25.0, + "frames": 3738, + "sha256": "5a71ba535aba8429982127fd08656ffae8a297fdfdde0a54690fadb441741dca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三块红色积木均在近桌，远桌绿色方垫为空。" + }, + { + "t": 48.4, + "log_step": 43, + "text_zh": "观察：视频 46.0–48.0 s 机器人右夹爪把第一块降到绿垫旁，积木未覆盖垫面；视频 48.4–51.0 s 右夹爪松开并撤离，积木落在垫旁桌面，未成为触垫底层。" + }, + { + "t": 65, + "log_step": null, + "text_zh": "观察：视频 60.0–65.0 s 两块积木分居绿垫两侧；此后机器人离开去取剩余积木，未再挪动远桌这两块。" + }, + { + "t": 149.48, + "log_step": 51, + "text_zh": "观察：视频 149.48 s 远桌绿垫仍空，先前两块仍在垫旁；第三块已脱离机器人左夹爪并落到脚边。log step 51 的服务状态为 done=true、reason=failed；节点未达依据为画面中的空垫，而非零分。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 17.0–40.0 s 左右二指夹爪各夹一块红积木，同时搬向远桌；随后视频 46.0–51.0 s 由右夹爪单独降下并松开第一块，另一手仍握第二块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 18.0–40.0 s 机器人双脚交替支撑地面，携两块积木绕桌走到目标桌；放置时双腿支撑下蹲的身体。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17, + "log_step": null, + "text_zh": "观察：视频 17.0 s 左右夹爪各持一块，两块均已离开近桌，近桌剩一块；首次运输确实携带了两块。" + }, + { + "t": 60, + "log_step": 44, + "text_zh": "观察：视频 56.0–59.0 s 机器人左夹爪降低第二块，视频 60.0–63.0 s 松手后第二块停在绿垫另一侧，与先放下的积木分离，两块均未处于绿垫上，未形成两层堆叠。" + }, + { + "t": 149.48, + "log_step": null, + "text_zh": "观察：视频 65.0 s 及视频 149.48 s 远桌的两块始终分开放在垫旁；末段的视角投影虽会让两块重叠，但另一外部视角清楚显示并排分离，不是上下相接。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 17.0–40.0 s 双手各夹一块同时搬运，左夹爪携带准备作第二层的积木；视频 56.0–60.0 s 右手已空，由左夹爪单独降低并松开第二块。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 18.0–40.0 s 双脚交替支撑，机器人携两块走向远桌；第二次放置时双腿支撑身体。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 132, + "log_step": null, + "text_zh": "观察：视频 128.0 s 剩余红积木仍在近桌，视频 130.0–132.0 s 机器人左夹爪重夹并抬起它；视频 133.0–136.0 s 近桌原位置为空，积木随左手升高，随后机器人携其行走。此抓取只说明尝试继续堆第三层，不等于三层关系成立。" + }, + { + "t": 149.48, + "log_step": 50, + "text_zh": "观察：视频 146.0–149.0 s 机器人仍在远桌外侧持第三块移动，未把它放到另两块上；视频 149.2–149.48 s 积木从左夹爪脱离并落到脚边，终帧仍无三层堆叠。log step 50 记录服务回合以 failed 结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 130.0–133.0 s 左二指夹爪夹住近桌剩余红积木并将其提离桌面，随后保持至末段运输；视频 149.2 s 起积木脱手。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 135.0–149.0 s 双脚交替接触地面，双腿和躯干支撑携第三块绕桌行走的机器人。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 48.4, + "log_step": 43, + "where": "操作中", + "evidence_zh": "观察：视频 47.2–48.0 s 机器人右夹爪所持第一块停在绿垫侧方，视频 48.4–51.0 s 松手后积木留在垫旁桌面；视频 60.0–65.0 s 第二次放置也未给绿垫建立底层，此后直到视频 149.48 s 均未修复。推断：最早未修复的是第1块堆好，断点锚定首次偏位松手，而不是后来的第三块脱手或服务终止。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 48.4, + "log_step": 43, + "evidence_zh": "观察：视频 47.2–49.2 s 右夹爪在绿垫旁打开，第一块下降到旁侧桌面；视频 51.0 s 夹爪已离开，积木与绿垫明显分离。积木在松手前就未对准目标垫面，并非先在垫上放稳后倒出。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 48.4, + "log_step": 48, + "source_zh": "日志", + "evidence_zh": "推断：放置控制在误差未消除时仍放行松手，导致视频 48.4 s 的偏位释放。log step 48 打印首次 release block right 的实际关节值与指令值，其中右臂第二关节为 0.1603 与 0.5998 rad，相差约 0.44 rad，尽管自算逆解误差很小；log step 34 的 settle 只在限定时长内等待末端误差下降，超出时长直接返回，而 log step 24 的 place 随后无条件打开夹爪并增加 stack_count。视频 47.2–51.0 s 可见未对准仍松手，且 log step 44 所对应的后续动作继续放第二块，未先纠正底层。这支持放置反馈和松手条件不足，不能据此认定具体电机或动力学故障。" + } + ], + "gap_zh": "无状态日志，不能给出积木中心距离、高差或手指接触的精确实测值；两项原生几何指标在评分器字段中均未报告，故 value 为 null。log step 24 的控制代码中段在输入中截断，现有实测关节与指令差异及可见 settle/释放逻辑支持反馈控制问题，但不足以进一步区分运动学模型偏差、负载或执行器跟踪误差。所有节点达成与否及断点时间均由本回合视频判断，未把 agent 时钟换算成视频时钟。", + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人成功把两块积木搬到远桌，但视频 48.4 s 和视频 60.0 s 的两次放置均落在绿垫旁，三个计数节点全程未达成，终态为0/3。最早未修复的断点是第1块堆好，现象为位姿不准；日志显示放置尚有明显关节跟踪误差时，控制器的有限等待仍会结束并执行松手，支持反馈控制根因。剩余积木在视频 132.0 s 左右才被真正提起，并在视频 149.2–149.48 s 脱手落至脚边；没有状态日志及完整控制代码中段，无法再细分底层误差来源。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、断点锚定首次偏位松手（视频约48 s）与帧一致；根因反馈控制为带不确定性的推断，证据可接受。", + "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": "2026-10-30T04:59:38Z", + "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-stack-blocks-i00-standard-realtime--99jxcbv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--99jxcbv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "69120a822d97fc959cf8ff48e13f5f921af3b3a034142ab8f74ee965c994f1fe", + "video_sha256": "5a71ba535aba8429982127fd08656ffae8a297fdfdde0a54690fadb441741dca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--awglxc4.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--awglxc4.json new file mode 100644 index 0000000000000000000000000000000000000000..7a8d6dc3ebda9a20d0487de169633aadd511d36d --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--awglxc4.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--awglxc4", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 692, + "rows": 5515, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 700.2, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 174.991, + "max_lag_s": 0.0177, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 3791, + "late_steps": 0, + "requests_refused": 9, + "request_busy_s": 1.405, + "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-stack-blocks-i00-standard-realtime--awglxc4/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "fcfa166e14ed52a21d5250280ebeb41ac7de893c15171cbbd22b8880a6e851d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 98, + "text_zh": "观察：视频 3.4 s 左夹爪在近桌积木附近闭合，视频 4.6 s 抬起后夹爪为空，三个红色积木均留在近桌；log step 98 的控制器自报“Grasp complete with left arm”不代表实际夹住。" + }, + { + "t": 44, + "log_step": 104, + "text_zh": "观察：视频 42–46 s 机器人在桌旁空手做左臂伸出、收回动作，三个积木仍在近桌且远桌绿垫为空；log step 104 自报左臂放置完成，与积木实际未搬运的画面不符。" + }, + { + "t": 174.96, + "log_step": 129, + "text_zh": "观察：全程每隔约视频 5 s 检查两个外部视角，并检查视频 173.8–174.96 s 尾段；三个红色积木始终留在近桌，绿垫没有底层积木。log step 129 的服务状态为 control_steps=8750、done=True、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.4 s 左夹爪指尖与近桌积木在投影上邻近，视频 4.6 s 空手抬起；没有形成可搬运的对向夹持，短暂单侧擦碰是否发生无法从画面分辨，不能记为抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–46 s 机器人双脚承重，随后交替踏步、绕到桌旁，支撑第一块搬放的未成功尝试；未见积木随身搬运。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10, + "log_step": 99, + "text_zh": "观察：视频 8–12 s 右臂也执行下探和抬起，但右夹爪为空、三个积木仍在近桌；log step 99 自报右臂抓取完成不能据以认定拿起。" + }, + { + "t": 50, + "log_step": 106, + "text_zh": "观察：视频 48–52 s 右臂空手向侧后方伸出并收回，近桌仍有三个分离的积木，绿垫为空；log step 106 将该动作称为第二层放置完成，画面未显示任何上下相接的两块堆叠。" + }, + { + "t": 174.96, + "log_step": null, + "text_zh": "观察：视频 174.96 s 三个积木仍在近桌分开放置，绿垫没有积木；两层连续堆叠从未出现。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8–52 s 双脚支撑右臂抓取及第二层放置的动作；右夹爪下探后始终空手，未见右夹爪夹住积木，也未见第二层物体接触。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60, + "log_step": 106, + "text_zh": "观察：视频 58–62 s 左臂再次空手下探、回收，三个红色积木仍留在近桌；log step 106 记载脚本进入中心积木抓取阶段，但画面没有显示中心积木离桌。" + }, + { + "t": 70, + "log_step": 134, + "text_zh": "观察：视频 68–74 s 左臂空手伸出再收回；log step 134 的脚本日志将该阶段称为第三层放置，画面中没有搬来的积木或三层堆叠。" + }, + { + "t": 174.96, + "log_step": null, + "text_zh": "观察：视频 174.96 s 三个积木仍分离地留在近桌，绿垫没有底层、更没有三层连续堆叠。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 58–74 s 机器人以双脚支撑中心积木抓取和第三层放置的空手动作；左夹爪没有带走积木，未见手与第三层积木之间的实际夹持或堆叠接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 4.6, + "log_step": 98, + "where": "操作中", + "evidence_zh": "观察：视频 3.4 s 左夹爪在积木附近闭合，视频 4.6 s 空手抬起，三个积木留在原桌；视频 12–40 s 机器人空手踏步离开并绕行，之后直到视频 174.96 s 都没有一块积木到达绿垫。第一块搬放在起始抓取时失败，后续没有修复。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.6, + "log_step": 98, + "evidence_zh": "观察：视频 3.4 s 的闭爪未形成对积木的夹持，视频 4.6 s 夹爪抬高但没有红色积木随其离桌；视频 8–12 s 另一只手也空手收回。所需抓握没有建立，不是搬运后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：机器人抓取执行没有把夹爪与积木形成有效夹持，且未根据抓取结果修正就继续搬放动作：视频 3.4–4.6 s 左爪闭合后空手抬起，视频 12–40 s 空手离开；log step 98–99 的脚本却连续输出左右臂“Grasp complete”，log step 104–106 又继续输出放置完成。log step 79–80 的极小逆解误差来自 agent 自建运动学模型的计算，并非真实抓取验收，无法据此证明实际末端到位；控制子类型暂不细分。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或接触力、真实末端位姿记录；视频可确定没有夹起或搬运任何积木，但无法确定初次闭爪是否曾有瞬时单侧擦碰，也无法区分运动学模型误差、执行跟踪偏差与接触几何问题。两个原生几何指标的实测值未由评分器报告，均留 null。日志若干源码片段在输入中已截断；所有节点进度均依据视频，没有把控制器的完成宣告当作达成。" + }, + "summary_zh": "观察：机器人先后执行左右夹爪抓取、绕行及空手放置动作，但三个积木一直留在近桌，直到视频 174.96 s 绿垫仍为空，三个节点最终均未达成。推断：断点是第1块搬放的初次抓取，所需夹持未建立，控制器随后仍按完成抓取推进流程；未见后续修复。观察：缺少状态日志及真实末端、接触记录，无法进一步定位控制子类型，初次指尖是否短暂擦碰也不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全部未达成、断点在第1块初次抓取（视频约4.6 s空手抬起）、现象“没建立接触”与画面一致；根因“控制”较笼统但已标明为推断且未细分，证据不足以改判。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:57:30Z", + "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-stack-blocks-i00-standard-realtime--awglxc4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--awglxc4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f93f9e199714761e655dca5203a5784a3225ff48b94c5ea4d12fe437dfea18c5", + "video_sha256": "fcfa166e14ed52a21d5250280ebeb41ac7de893c15171cbbd22b8880a6e851d7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--fciwzlh.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--fciwzlh.json new file mode 100644 index 0000000000000000000000000000000000000000..150b582baaa5d6cd0a22328ca6e7a4e1843258d1 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--fciwzlh.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--fciwzlh", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 37190, + "rows": 223082, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1680.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 174.989, + "max_lag_s": 0.0063, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1160, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 11.021, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.341, + "peak_processes": 10, + "peak_disk_gb": 1.009, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stack-blocks-i00-standard-realtime--fciwzlh/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "94e82905c1affd0105fd7dd215d137de29aa797f80f268ad0975c9455d92f765" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两个外部视角中，三个红色积木在近桌并排，远桌绿垫为空；初始没有底层积木。" + }, + { + "t": 20.8, + "log_step": 101, + "text_zh": "观察：视频 9.8–10.4 s 左夹爪碰到近桌中间积木，使其倾斜后回落；视频 17.6–20.8 s 该积木仍贴近桌面，左夹爪随后空手抬离，另外两块也未被搬走。log step 101 中脚本输出“grasped C? lifting”，没有获得视频中的实际提起支持。" + }, + { + "t": 76.0, + "log_step": 103, + "text_zh": "观察：视频 62.0–76.0 s 机器人空手小幅移动并伸手，三个积木仍在近桌，绿垫为空；log step 103 中脚本输出“placed block 0”不能作为放置完成的依据。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 174.0、174.2、174.4、174.6、174.8、175.0 s 两视角仍显示三个积木在近桌，远桌绿垫没有积木；首块放置从未补成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 9.8–10.4 s、17.6–18.8 s，机器人左夹爪指端碰推近桌中间的红积木，积木短暂倾斜并回落；未见两指相向夹紧后带起积木，故不记抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.0–10.0 s 接近积木、62.0–78.0 s 空手移动时，机器人双脚接触地面并支撑躯干，配合首轮搬放尝试。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 62.0、64.0、66.0、70.0、76.0 s 的两个外部视角显示，首轮空手搬放期间机器人基座整体相对近桌及远桌绿垫移动，由双腿支承行走；双手没有持积木，三个积木仍留在近桌。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 92.0, + "log_step": 103, + "text_zh": "观察：视频 82.0–92.0 s 机器人左夹爪再次伸向近桌积木，三个积木仍各自落在近桌，没有被提起。log step 103 记录脚本进入“grasp A”及“grasped A? lifting”；这是第二轮取料尝试，不能据此认定已有第一层或第二层。" + }, + { + "t": 144.0, + "log_step": 106, + "text_zh": "观察：视频 134.0–144.0 s 机器人仍在近桌一侧，手中没有积木，绿垫为空；虽然 log step 106 的脚本输出“placed block 1”，两块积木在绿垫上上下相接的关系并未出现。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 175.0 s 三个积木仍在近桌分开摆放，绿垫上没有底层，更没有两层堆叠。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 82.0–85.2 s 第二轮取料时，机器人左夹爪指端抵在近桌中间积木的上部和侧面，未见完整包夹及提离桌面；右手悬空，未协同操作。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 82.0–92.0 s 伸手及134.0–152.0 s 后续小幅移动时，机器人双脚支撑地面；未见持物行走。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 150.0, + "log_step": 106, + "text_zh": "观察：视频 150.0 s 机器人双手为空，三个积木在近桌且绿垫为空；log step 106 记录脚本在第二轮后以“BUDGET LOW”结束，未进入第三轮取料。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 175.0 s 仍无积木到达绿垫、无任何三层连续堆叠；对照成功参考视频 80.0 s，同样两个视角能够清楚显示绿垫上的三层红积木，本次缺失该可见关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 20.8, + "log_step": 101, + "where": "操作中", + "evidence_zh": "观察：视频 17.6–20.8 s 首轮搬放取料时，机器人左夹爪只碰动近桌中间积木，随后空手抬离，积木没有被夹住提起；视频 62.0–76.0 s 仍未搬到绿垫，视频 175.0 s 三块均留在近桌。首块堆好是最早失败且此后一直未修复的步骤。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 20.8, + "log_step": 101, + "evidence_zh": "观察：视频 9.8–10.4 s、17.6–20.8 s 左夹爪虽碰推了积木，却未形成搬运所需的相向夹持；抬手后积木留在桌面，夹爪为空。视频 82.0–92.0 s 的再次伸手也没有带起积木；所缺的是有效抓持接触，并非已拿起后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 9.8–20.8 s 左夹爪到达积木上方并碰动它，但夹合与抬起动作没有建立有效抓持，视频 82.0–92.0 s 又重复空手取料，支持抓取执行环节的控制失败。log step 80 的脚本按下降、夹合、抬升的顺序执行，log step 101、103 随后仍打印“grasped …? lifting”，与视频未提起的结果不符；没有完整逐步执行数据，根因只停在控制大类。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志；log step 68 的控制器代码文本存在省略，日志没有完整逐步末端目标、实际关节跟踪及接触力，无法可靠区分接触设计、逆解、目标更新或反馈控制的具体问题。log step 120 的 agent 自述把失败猜作跌倒，但全片粗查及视频 174.0–175.0 s 密查均见机器人站立，服务在 log step 108 只报 reason=failed，故不据此添加平衡现象。节点值依视频判断，不采用脚本的两次放置自述。", + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + } + }, + "summary_zh": "机器人进行了两轮近桌取料和空手搬放动作，但三个积木始终未到达远桌绿垫，三个节点最终均未达成。首块搬放在视频约 20.8 s 因未建立有效夹持而失败，之后未修复；实际可见的是左夹爪碰推或抵压积木、双脚支撑及首轮空手搬放期间的基座整体移动。缺少状态与完整控制执行记录，根因仅归控制；agent 在 log step 120 猜测的跌倒未获视频支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（三个均未达成）、断点 blocks_stacked_1 与「没建立接触」与视频一致：积木始终留在近桌，绿垫为空。仅有一处接触标注遗漏：62–76 s 机器人整体行走，未标底盘。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、断点 blocks_stacked_1、没建立接触与控制根因均与视频一致；上轮底盘条目已补。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:02:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": 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"states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--ifrsxdb.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--ifrsxdb.json new file mode 100644 index 0000000000000000000000000000000000000000..906d5887e343c19895dd2bb4518a4462732b0831 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--ifrsxdb.json @@ -0,0 +1,298 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--ifrsxdb", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 703, + "rows": 12100, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 587.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 175.702, + "max_lag_s": 0.6981, + "stalls": 1, + "stalled_s": 0.698, + "stalled_share": 0.004, + "held_steps": 3298, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.797, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.171, + "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-stack-blocks-i00-standard-realtime--ifrsxdb/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "b5971e3ccfc2eaedcf8df31f87e3f542f36ebaffad85d5676919dc2ae7d380cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，三个红积木均在近桌，远桌绿垫为空。" + }, + { + "t": 5.0, + "log_step": 15, + "text_zh": "观察：视频 4.5–7.5 s 左夹爪夹起中间积木，右侧积木仍在近桌；视频 24.0 s 左爪仍持块，视频 25.5–26.0 s 三块均回到近桌、双爪空手。log step 15 的 phase1.py 读取手指状态时发生 KeyError，log step 16 已修复并重启，log step 17–19 随后继续执行后退扫描；视频后续粗查至 175.0 s 未见任何积木搬到远桌。" + }, + { + "t": 137.0, + "log_step": 23, + "text_zh": "观察：视频 131.0–137.0 s 机器人再次合拢双爪并抬起两块积木；视频 137.0–175.0 s 两块保持在近桌上方的夹爪中，第三块仍在近桌，远桌绿垫始终为空。log step 23 的实际启动脚本在抬起后执行 hold(60)，未执行搬往远桌或放置。" + }, + { + "t": 175.0, + "log_step": 25, + "text_zh": "观察：视频 174.0–175.0 s 密查及视频 175.0 s 末帧仍无积木触绿垫；log step 25 中机器人服务（负责执行控制命令并判定实时回合的接口）返回 control_steps=8750、done=True、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 136.0–175.0 s，机器人左右二指夹爪各夹住一块红积木并提离近桌，作为搬放准备；视频 4.5–24 s 可见左爪先单独夹持一块。两爪均未将积木送至绿垫。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–175.0 s，机器人双脚支撑地面，配合倾身抓取；视频约 33–75 s 后退并转身观察，视频约 120–130 s 再向近桌靠近。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.8, + "log_step": null, + "text_zh": "观察：视频 29.0–31.8 s 双手抬起后，三个积木仍各自位于近桌，未形成绿垫上的两层堆叠。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 137.0–175.0 s，两块积木分别在左右夹爪中，另一块留在近桌；没有任何积木被置于绿垫，也没有上下相接的两层结构。双爪提取属于搬放准备，尚未开始第二层的堆放动作。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：全片粗查及视频 174.0–175.0 s 密查，未出现绿垫上的底层或三层积木链；末帧两块分别在手中，第三块仍在近桌，未开始第三层堆叠。" + } + ] + } + }, + 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}, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 31.8, + "log_step": 17, + "note_zh": "右爪未建立能夹起积木的抓握；左爪这次究竟未夹住还是短暂夹住后失去，证据不足，不另标没保持住。", + "evidence_zh": "观察：视频 26.0–29.5 s 机器人再次向近桌积木伸手合爪；视频 30.0–32.0 s 双爪抬起后为空，三块红积木仍各自在近桌。inputs/run.json log step 16–17 的 run1.log 在控制步 1473 记录右手指 -0.019987/-0.020007、左手指 -0.010608/-0.005459；控制步 1599 记录左右手指分别 -0.020012/-0.019965。推断：右爪合拢却未提起目标，属于未建立所需抓握；左手读数变化不能单独区分未夹住与滑脱。视频 136.0–138.0 s 后段虽重新夹起两块，但视频 174.0–175.0 s 仍停在近桌上方、绿垫为空，blocks_stacked_1 从未完成，因此早期失败仍属于该未修复步骤。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 17, + "source_zh": "日志 / 视频", + "note_zh": "候选细分：抓取位姿误差及接触反馈未闭环修正（推断）。现有证据不能明确区分轨迹或逆解、反馈控制及接触几何因素，按 docs/03_trajectory.md Step 3.3 保留控制上位标签；不再以已修复的脚本异常解释抓取失败或全程未搬运。", + "evidence_zh": "观察：inputs/run.json log step 8 的 geom.ik 返回值 err 是模型夹爪点到目标的欧氏位置残差；log step 10 的 ik_row 即使 err>0.01 也只打印错误并继续使用该解，move 按固定关节目标开环插值。log step 12 的 phase1.py 从 t0/head.npy 估计积木位置，每个 grasp_rows 阶段调用 to_pelvis 重算目标，阶段内不持续追踪；合爪后只打印手指读数，随后直接抬起、收臂、后退扫描，没有按抓取结果分支修正。log step 15 报右臂 IK err=0.025；log step 16–17 重启后报告 0.024，控制步 1473 右手指 -0.019987/-0.020007，控制步 1599 双爪手指均约 -0.020。视频 30.0–32.0 s 双爪空手、三块仍在近桌。推断：这次未建立抓握有抓取控制证据，非仅依据失败得分或 agent 自述；脚本接受残差且不根据空夹结果修正，是候选机制。观察：log step 23 的后段 track 循环重算目标，log step 24 在控制步 6838 仍有右臂 IK err=0.024，但控制步 6863 左右手指为 -0.006933/-0.005239，视频 136.0–138.0 s 确实夹起两块。推断：相近的模型残差也能伴随成功抓取，不能仅凭残差断定实际末端误差或唯一的反馈控制根因。log step 15 的 KeyError 在 log step 16 修复、log step 20 的 IndexError 位于扫描制图，均只作流程背景；这条抓取控制归因不解释后段重抓后为何仅 hold(60) 而没有搬往绿垫。" + } + ], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，没有模拟器状态日志，评分器未报告相邻积木几何指标。视频 30.0–32.0 s 及 log step 16–17 的手指读数支持右爪未建立抓握；左爪在这次抓取中是否曾短暂持块、视频 24.0–26.0 s 原持块回桌的释放或脱落机制均未知。推断：代码和模型残差支持抓取控制问题，但没有实际夹爪位姿与目标误差、接触力及接触对记录，不能明确细分为反馈控制或轨迹或逆解；phase1 已在各动作阶段重算骨盆坐标目标，不能称为完全没有更新。观察：log step 23–24 的重抓及视频 136.0–138.0 s 提起两块表明后来能建立抓握，但未完成搬放；log step 23 后续只有 hold(60)，其为何未接搬运放置仍缺乏充分根因证据。KeyError 和 IndexError 只保留为已观察的流程背景，不把已修复异常或停止本身当作完整失败原因。" + }, + "summary_zh": 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"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": 4590, + "sim_steps": 4590, + "calls": 689, + "rows": 9915, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1950.3, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 91.789, + "max_lag_s": 0.0082, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 61, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.611, + "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-stack-blocks-i00-standard-realtime--jtwvqpm/replay.mp4", + "duration_s": 91.84, + "fps": 25.0, + "frames": 2296, + "sha256": "e94a3513d248cc3cd188737cbd5eaada9b3f84764c53c51bd7605cb18861c4ae" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，三个红色积木均在近桌，远桌绿垫为空。" + }, + { + "t": 37.24, + "log_step": null, + "text_zh": "观察：视频 37.04 s，机器人右夹爪仍夹着从近桌取出的积木；视频 37.24 s，该积木已脱离抬高的右夹爪向下掉落，随后停在远桌绿垫旁的桌面，未接触垫面。视频 39.5–42 s，右臂空手向绿垫执行放置动作。" + }, + { + "t": 47.5, + "log_step": 46, + "text_zh": "观察：视频 47.5 s，两块积木分开放在远桌绿垫两侧，绿垫仍空；log step 46 的控制脚本虽打印 Placing stack_L1 和 Placing stack_L2，画面没有显示任何底层触垫关系。" + }, + { + "t": 91.8, + "log_step": null, + "text_zh": "观察：视频 49.5–91.8 s 所检查的双视角画面中，远桌两块积木仍分置垫旁，机器人返回近桌取第三块再搬运，未修复底层；视频 91.8 s，第三块已脱手落到地面，绿垫仍空。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 5–10.5 s，机器人右、左二指夹爪依次各夹起一块积木；视频 10.5–37.04 s，两手各持一块同时搬运到远桌，右手负责拟作底层的块、左手负责拟作第二层的块。视频 37.24 s 右手失去积木，视频 42.4 s 左手也失去积木，随后分别空手下探。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 11–37 s，机器人双脚交替支撑地面，腿和躯干在双手持块期间绕行到远桌，并在后续下探动作期间维持站立。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频 5–10.5 s，机器人先以右夹爪、再以左夹爪各夹起一块积木，近桌只余一块；随后两手各持一块行走到远桌。" + }, + { + "t": 42.4, + "log_step": null, + "text_zh": "观察：视频 42.4 s，第二块积木已从抬高的左夹爪脱离、正在下落；视频 43–47.5 s，它停在绿垫旁，与先掉落的第一块分离，左臂随后空手下探，没有形成上下相接的两层。" + }, + { + "t": 91.8, + "log_step": null, + "text_zh": "观察：视频 47.5 s 及视频 91.8 s，远桌两块积木均各自落在桌面，绿垫为空，既无底层触垫也无两块堆叠；全段检查未见两层关系成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 5–10.5 s，机器人右、左二指夹爪依次各夹起一块积木；视频 10.5–37.04 s，两手各持一块同时搬运到远桌，右手负责拟作底层的块、左手负责拟作第二层的块。视频 37.24 s 右手失去积木，视频 42.4 s 左手也失去积木，随后分别空手下探。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 11–37 s，机器人双脚交替支撑地面，腿和躯干在双手持块期间绕行到远桌，并在后续下探动作期间维持站立。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 76.12, + "log_step": 48, + "text_zh": "观察：视频 72–76.12 s，机器人左夹爪从近桌夹起最后一块红积木，近桌原位置变空，随后持物离开；log step 48 的脚本记录正在抓取 t1_far_left，与这一动作顺序相符。" + }, + { + "t": 91.8, + "log_step": 50, + "text_zh": "观察：视频 90.8–91.3 s，第三块仍随左夹爪移动；视频约 91.4 s 开始脱手下落，视频 91.8 s 已到地面。远桌另两块始终分置绿垫旁，未出现三层堆叠；log step 50 的服务最终状态为 control_steps=4590、done=true、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 72–76.12 s，机器人左二指夹爪夹起近桌最后一块积木，持块搬运至视频约 91.4 s 脱手；右夹爪为空。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 76–91.8 s，机器人双脚交替支撑地面，腿和躯干带着左手中的第三块绕行返回远桌方向。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 37.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 37.04 s，机器人右夹爪仍高举拟作底层的积木；视频 37.24 s，积木已脱手下落，随后落在绿垫外的桌面。机器人随后空手执行底层放置动作，第二块也落在垫旁；直到视频 91.8 s，绿垫始终未出现底层，故首次失败的第1块堆好从未修复。末段第三块触地发生得更晚，不改变此断点。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 37.2, + "log_step": null, + "evidence_zh": "观察：视频 5–6 s，机器人右夹爪夹起积木，近桌原位置变空；视频 10.5–37.04 s，该块随右手搬运。视频 37.24 s，右手仍在高位而块已独立下落，视频 37.5–38 s 块落在绿垫旁，右手变空；此前建立的持物接触未维持到目标。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 37.04–37.5 s，机器人在到达远桌、右臂仍为高位搬运姿态时失去积木；视频 39.5–42 s 又空手执行放置，未重新取得该块。搬运到放置的衔接未维持持物，支持归于控制；现有画面与被截断的控制脚本不足以区分夹爪开合命令、夹持力或接触几何问题，不进一步指定子类。" + } + ], + "gap_zh": "本次无状态日志；inputs/run.json 中控制脚本与部分运行输出被截断，缺少掉块瞬间的完整夹爪命令及接触力，无法细分控制根因。视频已直接显示各块脱手和绿垫为空，节点无需留未知；评分器未报告两项原生几何指标的数值。成功参照只用于核对绿垫上堆叠的可见外观，不作为本次达成证据。" + }, + "summary_zh": "机器人夹起前两块并双手搬到远桌，但第一块在视频约 37.2 s 脱手落在绿垫旁，第二块在视频约 42.4 s 也脱手，随后两臂均空手执行放置，三个节点始终未达成，最终为 0/3。断点为第1块堆好，现象为没保持住，根因保留在控制层；机器人又取来第三块，在视频约 91.4–91.8 s 脱手落地，服务判为失败。缺少状态日志、完整控制命令和接触力，不能进一步确定夹持失效的控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与标注一致：第一块约37.2 s从右手脱落、第二块约42.4 s脱落，绿垫全程为空，三节点未达成，断点与现象、根因（停在“控制”未细分）有证据支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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+ "video_sha256": "e94a3513d248cc3cd188737cbd5eaada9b3f84764c53c51bd7605cb18861c4ae", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--nhezggq.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--nhezggq.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1e225298ed00f34667a3d06814e846b1e0e883 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--nhezggq.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--nhezggq", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 325, + "rows": 7115, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 2090.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 174.99, + "max_lag_s": 0.0403, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4191, + "late_steps": 0, + "requests_refused": 8, + "request_busy_s": 0.473, + "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-stack-blocks-i00-standard-realtime--nhezggq/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "7e0b4bb8f5bdd42f9858f52860b33f47fbab1f0436614e9c8cf5679fd228a739" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，三个红色积木均在近桌，另一桌绿垫为空。" + }, + { + "t": 34.0, + "log_step": 55, + "text_zh": "观察：视频 26.0–34.0 s，机器人向近桌靠近，左夹爪在桌面上碰推积木，使其中两块靠到一起；三块仍由近桌支承，未见任何一块被夹持提离桌面，绿垫仍为空。log step 55 记录的是该单回合内的行走测试，并非另一轮重置。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 103.0 s，三块积木仍在近桌桌面，远桌绿垫为空；视频 106.0–130.0 s，机器人空手走离近桌，积木留在原桌。" + }, + { + "t": 136.0, + "log_step": 61, + "text_zh": "观察：视频 129.0–140.0 s，积木留在近桌，机器人在远离桌面的空处移动左臂并合爪，夹爪中没有红色积木；log step 61 中脚本自报“pick L: lifted”并进入 carry，该自报不被画面支持。" + }, + { + "t": 174.96, + "log_step": 62, + "text_zh": "推断：视频 140.0 s 后机器人持续空手远离桌子，已密查视频 173.8–174.96 s，末帧仍空手站立且未返回操作积木；结合此前三块均留在近桌、全程没有搬到绿垫的动作，第1块放置始终未达成，终态为假。log step 62 的服务状态为 control_steps=8750、done=true、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 26.0–34.0 s，机器人左夹爪碰推近桌的红色积木，使两块在桌面上并拢；没有形成围住积木的对向夹持，后续左爪在空处闭合，故不标抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 26.0–34.0 s 及视频 104.0–140.0 s，机器人双脚支撑地面并交替迈步，躯干随之移动；后段是在取第1块的过程中空手走离桌子。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 0.0–103.0 s 的两个外部视角中，绿垫一直为空；视频 34.0 s、103.0 s 仅见近桌两块红积木水平并拢，另一块仍分开，没有绿垫上的两层连续堆叠。" + }, + { + "t": 174.96, + "log_step": null, + "text_zh": "推断：视频 129.0–140.0 s，三块仍留在近桌而机器人空手合爪；随后至视频 174.96 s 持续空手远离，未进行后续取放或堆叠，第2块堆好始终未达成且终态为假。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 136.0, + "log_step": 61, + "text_zh": "观察：视频 103.0 s 三块仍在近桌；视频 129.0–140.0 s，机器人在桌外空处做抓取动作，近桌积木没有被带走，未出现绿垫上的三层积木摞。log step 61 的 lifted 只是脚本自报。" + }, + { + "t": 174.96, + "log_step": null, + "text_zh": "推断：视频 140.0–174.96 s 机器人继续空手离开，没有取第三块或建立三层关系的动作；第3块堆好从未成立，终态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 105.0, + "log_step": 61, + "where": "转场", + "evidence_zh": "观察：视频 101.0–104.0 s 机器人仍在近桌旁，视频 105.0–106.0 s 开始明显转身迈步离桌，视频 108.0–130.0 s 空手越走越远，三个积木留在近桌；视频 132.0–136.0 s 才在桌外空处合爪，至视频 174.96 s 未返回完成取放。log step 61 记录取第1块的目标站位 stand=[0.154,-0.109]，但 control_steps=6250 时 pelvis=[-0.18,-0.94,0.74]，平面误差约0.90米；log step 62 最终骨盆平面位置为[-1.554,-1.755]。推断：第1块取放尝试先在空手走向工作位置时走偏，后续空夹是其后果；断点仍归 blocks_stacked_1，视频锚点取约105秒的离桌运动。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 105.0, + "log_step": 61, + "evidence_zh": "观察：视频 105.0–106.0 s 机器人开始转身迈步离开近桌，视频 108.0–130.0 s 持续空手走远，未到达能取积木的站位，也未摔倒；视频 132.0–136.0 s 在桌外空处合爪。log step 61 的取物目标站位为[0.154,-0.109]，control_steps=6250 时骨盆平面位置为[-0.18,-0.94]，相差约0.90米；log step 62 的最终骨盆平面位置为[-1.554,-1.755]。推断：行走偏离工作位置而未修复，符合步态的走偏定义，空处合爪不另列现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：视频 105.0–130.0 s 机器人离桌走远；log step 61 的取物目标站位[0.154,-0.109]与 control_steps=6250 时骨盆平面位置[-0.18,-0.94]相差约0.90米，此后没有先恢复取物站位，而继续执行逆解残差0.867–0.959的伸手、合爪并进入 carry；视频 132.0–140.0 s 显示手中无积木。站位偏差没有被有效纠正，控制程序仍推进抓取和搬运阶段，支持控制问题。观察：log step 59 所示循环用同一份 proprio 连续生成一批未来动作；log step 61 多次记录 at 超过允许提前500步的提交报错、以 at=None 重试，以及脚本自报“pick L: lifted”；log step 65 的替换代码显示原分支未经持物验证就将 carried、holding 置真。推断：这些动作排队与抓取确认缺陷是控制链失效的旁证，不能单独证明走偏的具体机制，也不足以断言控制器完全没有位置反馈。" + } + ], + "gap_zh": "没有状态日志，无法独立核实各指接触对、力或将控制失败进一步分解为逆解、跟踪和排队时序各自的贡献；原生几何指标也未由评分器报告。末段桌子退出两个外部视角，但此前三块留在近桌且机器人随后一直空手离开，足以判断三个节点为假。回合结束后的控制器修改（log step 65–85）未执行于本次评分轨迹。" + }, + "summary_zh": "评分回合中机器人只在近桌碰推积木，随后空手离桌并在空处合爪，绿垫上从未形成底层，三个节点均未达成。第1块取放尝试在空手走向工作位置时走偏，断点锚定视频约105秒的转场，现象为全身·步态；日志中的目标站位与实际位置偏差未被有效纠正，仍推进抓取和搬运阶段，支持控制问题。没有状态日志，无法进一步独立核实具体接触或走偏机制，动作排队报错与脚本自报 lifted 仅作旁证。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "三个节点全假、无进展的判断与帧一致；但断点位置与现象选错：真正先失败的是视频约 101–106 s 起机器人没有走到取放位置，而是偏航走离近桌（步态/走偏），空处合爪只是走偏后的后果，不是“抓取位姿不准”。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点全假与帧一致（近桌积木始终未被提起、绿垫为空）；断点转场·约105秒、步态走偏与控制根因均有视频和日志支持，第一轮意见已采纳，未见新错误。", + "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": "2026-10-30T05:03:34Z", + "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-stack-blocks-i00-standard-realtime--nhezggq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--nhezggq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--nhezggq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--nhezggq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "116e903cdce45c46c9a6a3ec7f1df0ed6db73b44633f71d6f4a204c606efa52b", + "video_sha256": "7e0b4bb8f5bdd42f9858f52860b33f47fbab1f0436614e9c8cf5679fd228a739", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--njrzpmo.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--njrzpmo.json new file mode 100644 index 0000000000000000000000000000000000000000..8e84c804d574fc0646563f6452cb8d314346d825 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--njrzpmo.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--njrzpmo", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 2409, + "rows": 11332, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 1522.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 174.994, + "max_lag_s": 0.4169, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 5191, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 1.327, + "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": 0.239, + "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-stack-blocks-i00-standard-realtime--njrzpmo/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "81f2161e8041604578f2d178ec4eccd985d1e6589d39dc3f59a1757830244a53" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "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三块红色积木分散在近桌，远桌绿垫没有积木，底层条件未成立。" + }, + { + "t": 9.2, + "log_step": 88, + "text_zh": "观察：视频 7.6–12.0 s 按约0.4秒间隔检查，机器人夹爪没有夹起积木，三块均仍在近桌；视频 12.0–19.0 s 机器人空手退向侧后方，三块没有随手移动。log step 88 的实跑控制器输出记录了闭爪，但这不等于持物。" + }, + { + "t": 175.0, + "log_step": 111, + "text_zh": "推断：视频 20.0–170.0 s 的全程粗查以及视频 173.8–175.0 s 的末段密查显示，机器人一直远离桌边、双手空着，没有返回取料或到绿垫放置；结合视频 19.0 s 前三块均未搬离近桌，底层从未形成，终态为假。log step 111 的服务状态为 control_steps=8750、done=True、reason=failed，与本次单回合结束一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–12.0 s 机器人双脚接触地面支撑取料尝试；视频 12.0–20.0 s 双脚交替支撑并带动机器人侧后退。左右夹爪均未见夹住积木，不记抓握。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.2, + "log_step": 73, + "text_zh": "观察：log step 73 的控制器计划先同时取两侧积木、搬到绿垫后叠两层；视频 7.6–12.0 s 两夹爪取料失败，视频 12.0–19.0 s 三块仍分散在近桌，机器人空手离开，没有两层关系。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "推断：视频 20.0–170.0 s 的粗查和视频 173.8–175.0 s 的末段检查均未见机器人返回取料或进行叠放；首层从未形成，也没有两块被搬运，故第二层在全程及终态均未成立。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–20.0 s，机器人为首批两块取料及搬运准备站立、侧后退，双脚支撑地面；这次双块取料没有建立任何可见的夹持，也未进入实际叠放。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": null, + "text_zh": "观察：视频 19.0 s 仍可见三块红积木留在近桌，彼此分开，机器人双手空着；未见第三块取料或三层叠放动作。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "推断：视频 20.0–170.0 s 的粗查及视频 173.8–175.0 s 的末段密查中机器人未返回桌边，结合此前没有任何积木搬离近桌，三层关系从未形成，终态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 9.2, + "log_step": 88, + "where": "操作中", + "evidence_zh": "观察：视频 7.6–12.0 s 机器人在近桌尝试取料，夹爪未夹住积木；视频 12.0–19.0 s 空手离桌，三块仍在近桌，随后直到视频 175.0 s 都没有返回完成首块搬放。log step 88 实跑日志记录闭爪时左右位置误差仍约0.19米。首块放到绿垫这一步由取料失败开始，之后没有修复；视频时间直接取自画面，未由 agent 时间换算。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 9.2, + "log_step": 88, + "evidence_zh": "观察：视频 7.6–12.0 s 两夹爪停在积木后侧，未形成包夹；视频 12.0–19.0 s 机器人撤离时两手为空，三块仍留近桌。log step 88 的控制器虽然发出闭爪命令，但画面没有任何积木被提起，所需抓取接触未建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：实跑控制器的反馈读取错误和未到位即切换阶段共同导致空夹。log step 96 展示 q_meas(right) 使用 prop[15:22]，而同一输出的服务关节布局明确右臂应为 prop[12:19]；因此伺服输入混入手指及骨盆数值。log step 84 的代码还允许下降阶段因共享计时阈值直接闭爪，log step 88 实跑输出证实约0.19米误差尚未消除就闭爪；视频 7.6–12.0 s 对应可见末端未到积木，视频 12.0–19.0 s 为空手撤离。log step 93 的直接关节命令能使右臂关节明显改变，支持问题在该控制器反馈与阶段切换，而非右臂无法执行命令。" + } + ], + "gap_zh": "没有状态日志，不能逐帧核实微小擦碰或接触力；这里只确认未形成夹持，不把空夹命令标成抓握。视频约20秒后跟随机器人而使积木和绿垫离开视野，后段节点为假的判断结合了此前三块仍在近桌、双手为空且机器人始终未返回的连续行为。两个原生几何指标没有评分器数值，均填null。" + }, + "summary_zh": "本次单回合在首次取料时空夹，机器人随后空手离开近桌，绿垫底层及两层、三层关系均未形成，最终0/3。断点为第1块堆好，现象为没建立接触；日志直接显示右臂反馈索引错误，并在约0.19米末端误差尚存时切换闭爪，支持反馈控制根因。无状态日志且后段桌面离开视野，但离桌前积木未搬动、后段空手且未返回足以判定三个节点未达成。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点终态为假、断点为第1块堆好（操作中）、现象没建立接触、根因反馈控制，均与视频和日志一致；视频中积木全程留在近桌，机器人约12秒后空手退离并一直站在桌外。log 步号按 id 引用，与 run.json 对应。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T04:58:38Z", + "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-stack-blocks-i00-standard-realtime--njrzpmo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--njrzpmo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bdd245aa9fdb5febfd440359d0105e61717034c8911e99b45960982d5712558c", + "video_sha256": "81f2161e8041604578f2d178ec4eccd985d1e6589d39dc3f59a1757830244a53", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--unyrtbj.json b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--unyrtbj.json new file mode 100644 index 0000000000000000000000000000000000000000..f5e2498598a412c3a79ba185d0f1ccbf76fb0875 --- /dev/null +++ b/phase2/bigym2/stack_blocks/trajectories/bigym2-stack-blocks-i00-standard-realtime--unyrtbj.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "bigym2-stack-blocks-i00-standard-realtime--unyrtbj", + "taskKey": "bigym2/stack_blocks", + "dag_sha256": "b301458c6a5babe1062f495c16e37335efdc317b1c1e526395a95c54469b0537", + "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": 8750, + "sim_steps": 8750, + "calls": 278, + "rows": 2627, + "resets": 0, + "reset_budget": 0, + "sim_startups": 1, + "elapsed_s": 429.5, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 174.994, + "max_lag_s": 0.0221, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 6159, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.474, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.201, + "peak_processes": 10, + "peak_disk_gb": 0.831, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/bigym2-stack-blocks-i00-standard-realtime--unyrtbj/replay.mp4", + "duration_s": 175.04, + "fps": 25.0, + "frames": 4376, + "sha256": "ca6c9d6b7f7c340702bc01c19e1dfac0e9d5cf37ad0e31cc3f766444518a3bc5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blocks_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两个外部视角显示三个红色积木分开放在近桌上，远桌绿垫尚无积木。" + }, + { + "t": 4.8, + "log_step": 23, + "text_zh": "观察：视频 1.6–4.6 s 机器人左夹爪在近桌中间积木旁收拢，视频 4.8–8.0 s 左手抬起时夹爪为空，三个积木仍分别留在近桌。log step 23 的命令队列要求左手闭合并抬起中间积木，但画面没有显示积木随手离桌。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 130.0–175.0 s 机器人绕到桌侧并下蹲伸出空左手；视频 174.0、174.4、174.8 和 175.0 s 左侧外部视角仍可见近桌三个分立积木，两个视角中的远桌绿垫均无红色积木，底层放置从未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 1.6–4.6 s 左夹爪在中间积木旁执行闭合，随后空手抬起；未建立可见的对向夹持。指尖局部重叠遮挡，无法确认是否短暂擦到积木，故不将该尝试记为实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–8.0 s 双脚支撑机器人下蹲、起身；视频 130.0–175.0 s 双腿交替支撑其向桌侧行走并再次下蹲，属于第一块搬放尝试。" + } + ] + }, + "blocks_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0 s 三个积木仍分开放在近桌，左手为空；全片按视频每 5 s 抽帧检查至视频 170.0 s，并加密检查视频 166.0–175.0 s，未见任意两块在远桌绿垫上上下相接。" + }, + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 175.0 s 远桌绿垫为空，三个积木仍在近桌，未出现第二块的独立抓取或堆叠尝试。" + } + ] + }, + "blocks_stacked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 175.0, + "log_step": null, + "text_zh": "观察：视频 0.0–175.0 s 的粗检及视频 1.6–5.0 s、166.0–175.0 s 的加密帧中，三个积木未形成任何位于绿垫上的堆叠链；视频 175.0 s 三块仍分立于近桌，第三层未达成且未独立尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "adjacent_center_height_difference", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "adjacent_center_horizontal_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "blocks_stacked_1", + "t": 4.8, + "log_step": 23, + "where": "操作中", + "evidence_zh": "观察：机器人执行第一块的闭爪、抬手动作时，视频 4.8 s 左手已升起却没有积木，三个积木仍在近桌；视频 8.0、90.0 和 175.0 s 均未见此抓取被修复。log step 38 仍为搬放第一块安排绕桌及释放动作，画面始终未达到底层触垫关系。" + }, + "unmet": { + "blocks_stacked_1": false, + "blocks_stacked_2": false, + "blocks_stacked_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.8, + "log_step": 23, + "evidence_zh": "观察：视频 1.6–4.6 s 左夹爪在积木旁闭合，视频 4.8–8.0 s 空手离开；被尝试抓取的积木没有随夹爪抬起，三块均留在近桌。所需的夹持接触从未建立，不能按持物后掉落解释。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.8, + "log_step": 23, + "source_zh": "视频", + "evidence_zh": "推断：log step 23 明确要求夹取并提升中间积木，而视频 1.6–5.0 s 显示左夹爪没有将积木包入夹持区域，抬手只抬起空夹爪；视频 8.0–130.0 s 未重做有效抓取，后续绕桌也没有搬走任何积木。抓取执行没有实现所需接触，支持控制层面归因；现有证据不足以再区分逆解、跟踪或接触几何子类。" + } + ], + "gap_zh": "无状态日志和指尖接触、夹力读数，不能确认闭爪期间是否短暂擦碰积木，也不能确定控制失败的具体子类。agent 在 log step 42、46 自述已抓住第一块，与视频 4.8–175.0 s 中空夹爪及近桌仍有三块积木的画面不一致，节点和现象以视频为准。评分器只报告失败而未给具体终止触发项；视频最后一秒未见机器人跌倒或积木落地，不能据此认定终止原因。" + }, + "summary_zh": "机器人尝试抓取第一块并绕桌执行搬放，但视频 4.8 s 已显示抬起的是空左夹爪，至视频 175.0 s 三块积木仍在近桌、绿垫为空，三个节点均未达成。断点为第一块堆好，现象是未建立所需夹持接触，证据支持控制层面失败。agent 的已抓住自述与画面冲突；缺少状态接触读数和具体终止原因，不能进一步细分控制问题。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频抽帧显示三块积木始终在近桌、绿垫为空，三个节点均未达成，与标注一致；断点与「没建立接触」现象有画面支持，控制归因为推断且措辞克制。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": "2026-10-30T04:59:46Z", + "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-stack-blocks-i00-standard-realtime--unyrtbj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/bigym2-stack-blocks-i00-standard-realtime--unyrtbj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90dc25313ad4209898927a4736c7010e6a000ec97467bd34fd807087e033b68d", + "video_sha256": "ca6c9d6b7f7c340702bc01c19e1dfac0e9d5cf37ad0e31cc3f766444518a3bc5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}