Add 36 tasks (phase 1)

README.md

@@ -16,7 +16,7 @@ root causes. Label text is in Chinese.
 - Phase 1: two runs per task (one success when there is one, plus a failure of another model; runs with a video first).
   Run records and videos: dataset `MLL-Lab/embodied-exam-media`, `runs/<runId>`.
 - Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation, so the list below
-  grows during the run. Status: 245 tasks (3 pilot, 242 full run), 490 trajectories.
+  grows during the run. Status: 281 tasks (3 pilot, 278 full run), 562 trajectories.
 
 ## Layout
 
@@ -36,6 +36,7 @@ root causes. Label text is in Chinese.
 | `phase1/behavior-1k/boxing_books_up_for_storage/` | 2 | full run |
 | `phase1/behavior-1k/boxing_food_after_dinner/` | 2 | full run |
 | `phase1/behavior-1k/bringing_water/` | 2 | full run |
+| `phase1/behavior-1k/can_meat/` | 2 | full run |
 | `phase1/behavior-1k/carrying_in_groceries/` | 2 | full run |
 | `phase1/behavior-1k/chopping_wood/` | 2 | full run |
 | `phase1/behavior-1k/clean_a_patio/` | 2 | full run |
@@ -43,8 +44,11 @@ root causes. Label text is in Chinese.
 | `phase1/behavior-1k/clean_up_your_desk/` | 2 | full run |
 | `phase1/behavior-1k/clean_your_rusty_garden_tools/` | 2 | full run |
 | `phase1/behavior-1k/cleaning_up_branches_and_twigs/` | 2 | full run |
+| `phase1/behavior-1k/cleaning_up_plates_and_food/` | 2 | full run |
 | `phase1/behavior-1k/clearing_food_from_table_into_fridge/` | 2 | full run |
 | `phase1/behavior-1k/collecting_aluminum_cans/` | 2 | full run |
+| `phase1/behavior-1k/collecting_childrens_toys/` | 2 | full run |
+| `phase1/behavior-1k/cook_a_brisket/` | 2 | full run |
 | `phase1/behavior-1k/cook_a_frozen_pie/` | 2 | full run |
 | `phase1/behavior-1k/cook_bacon/` | 2 | pilot |
 | `phase1/behavior-1k/cook_broccolini/` | 2 | full run |
@@ -75,10 +79,12 @@ root causes. Label text is in Chinese.
 | `phase1/behavior-1k/sorting_vegetables/` | 2 | full run |
 | `phase1/behavior-1k/sweeping_garage/` | 2 | full run |
 | `phase1/behavior-1k/unloading_the_car/` | 2 | full run |
+| `phase1/behavior-1k/vacuuming_floors/` | 2 | full run |
 | `phase1/behavior-1k/wash_a_baseball_cap/` | 2 | full run |
 | `phase1/behavior-1k/wash_dog_toys/` | 2 | full run |
 | `phase1/bigym2/dishwasher_close/` | 2 | full run |
 | `phase1/bigym2/dishwasher_load_plates/` | 2 | full run |
+| `phase1/bigym2/flip_cutlery/` | 2 | full run |
 | `phase1/bigym2/move_two_plates/` | 2 | full run |
 | `phase1/bigym2/pick_box/` | 2 | full run |
 | `phase1/bigym2/put_cups/` | 2 | full run |
@@ -94,14 +100,17 @@ root causes. Label text is in Chinese.
 | `phase1/dexhand/essential_rotary_gait/` | 2 | full run |
 | `phase1/dexhand/fan_guard_install/` | 2 | full run |
 | `phase1/dexhand/stool_brace_insert/` | 2 | full run |
+| `phase1/dexhand/sweep_dustpan/` | 2 | full run |
 | `phase1/dexhand/usb_plug_insert/` | 2 | full run |
 | `phase1/dexhand/vacuum_bin_reseat/` | 2 | full run |
 | `phase1/dexjoco/bimanual_photograph/` | 2 | full run |
 | `phase1/dextoolbench/brush_blue_brush_sweep_forward/` | 2 | full run |
 | `phase1/dextoolbench/brush_red_brush_sweep_forward/` | 2 | full run |
 | `phase1/dextoolbench/eraser_handle_eraser_wipe_c/` | 2 | full run |
+| `phase1/dextoolbench/hammer_claw_hammer_swing_down/` | 2 | full run |
 | `phase1/dextoolbench/hammer_claw_hammer_swing_side/` | 2 | full run |
 | `phase1/dextoolbench/hammer_mallet_hammer_swing_side/` | 2 | full run |
+| `phase1/dextoolbench/marker_sharpie_marker_draw_smile/` | 2 | full run |
 | `phase1/dextoolbench/marker_sharpie_marker_write_c/` | 2 | full run |
 | `phase1/dextoolbench/marker_staples_marker_draw_smile/` | 2 | full run |
 | `phase1/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/` | 2 | full run |
@@ -116,18 +125,28 @@ root causes. Label text is in Chinese.
 | `phase1/embodied-olympics-fun/box_jump/` | 2 | full run |
 | `phase1/embodied-olympics-fun/clean_and_jerk/` | 2 | full run |
 | `phase1/embodied-olympics-fun/dunk_between_legs/` | 2 | full run |
+| `phase1/embodied-olympics-fun/high_jump/` | 2 | full run |
 | `phase1/embodied-olympics-fun/hurdles_freestanding/` | 2 | full run |
 | `phase1/embodied-olympics-fun/juggling_head/` | 2 | full run |
 | `phase1/embodied-olympics-fun/long_rope/` | 2 | full run |
 | `phase1/embodied-olympics-fun/pole_vault/` | 2 | full run |
+| `phase1/embodied-olympics-fun/steeplechase/` | 2 | full run |
+| `phase1/embodied-olympics-fun/triple_jump/` | 2 | full run |
 | `phase1/embodied-olympics-fun/vault/` | 2 | full run |
 | `phase1/embodied-olympics-fun/volleyball_spike/` | 2 | pilot |
 | `phase1/embodied-olympics-match/badminton_duelrl_i01/` | 2 | full run |
+| `phase1/embodied-olympics-match/badminton_match_i01/` | 2 | full run |
+| `phase1/embodied-olympics-match/badminton_match_i04/` | 2 | full run |
+| `phase1/embodied-olympics-match/badminton_matchlow_i01/` | 2 | full run |
 | `phase1/embodied-olympics-match/fencing_bout_i01/` | 2 | full run |
+| `phase1/embodied-olympics-match/soccer_jointgpu_i01/` | 2 | full run |
+| `phase1/embodied-olympics-match/soccer_match/` | 2 | full run |
 | `phase1/embodied-olympics-match/soccerssl_match/` | 2 | full run |
+| `phase1/embodied-olympics-match/tabletennis_duelrl_i01/` | 2 | full run |
 | `phase1/embodied-olympics-match/tabletennis_match_i01/` | 2 | full run |
 | `phase1/embodied-olympics-match/tabletennis_match_i02/` | 2 | full run |
 | `phase1/embodied-olympics-match/tabletennis_matchlow_i01/` | 2 | full run |
+| `phase1/embodied-safety-exam/a01_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/a01_i02/` | 2 | full run |
 | `phase1/embodied-safety-exam/a01_i08/` | 2 | full run |
 | `phase1/embodied-safety-exam/a02_i03/` | 2 | full run |
@@ -137,9 +156,12 @@ root causes. Label text is in Chinese.
 | `phase1/embodied-safety-exam/a08_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/a26_i02/` | 2 | full run |
 | `phase1/embodied-safety-exam/a28/` | 2 | full run |
+| `phase1/embodied-safety-exam/a28_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/a28_i03/` | 2 | full run |
+| `phase1/embodied-safety-exam/a29_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/a29_i03/` | 2 | full run |
 | `phase1/embodied-safety-exam/a33_i01/` | 2 | full run |
+| `phase1/embodied-safety-exam/a33_i04/` | 2 | full run |
 | `phase1/embodied-safety-exam/a34_i09/` | 2 | full run |
 | `phase1/embodied-safety-exam/b06_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/b06_i02/` | 2 | full run |
@@ -149,7 +171,9 @@ root causes. Label text is in Chinese.
 | `phase1/embodied-safety-exam/b12_i04/` | 2 | full run |
 | `phase1/embodied-safety-exam/b12_i06/` | 2 | full run |
 | `phase1/embodied-safety-exam/c02/` | 2 | full run |
+| `phase1/embodied-safety-exam/d12_i04/` | 2 | full run |
 | `phase1/embodied-safety-exam/e06/` | 2 | full run |
+| `phase1/embodied-safety-exam/e06_i03/` | 2 | full run |
 | `phase1/embodied-safety-exam/f01/` | 2 | full run |
 | `phase1/embodied-safety-exam/f04_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/f04_i02/` | 2 | full run |
@@ -157,10 +181,12 @@ root causes. Label text is in Chinese.
 | `phase1/embodied-safety-exam/f05_i01/` | 2 | full run |
 | `phase1/embodied-safety-exam/f06/` | 2 | full run |
 | `phase1/embodied-safety-exam/f06_i01/` | 2 | full run |
+| `phase1/embodied-safety-exam/f08/` | 2 | full run |
 | `phase1/embodied-safety-exam/f09/` | 2 | full run |
 | `phase1/embodied-safety-exam/f11/` | 2 | full run |
 | `phase1/humanoidbench/loco_balance_hard/` | 2 | full run |
 | `phase1/humanoidbench/loco_hurdle/` | 2 | full run |
+| `phase1/humanoidbench/manip_bookshelf_simple/` | 2 | full run |
 | `phase1/humanoidbench/manip_door/` | 2 | full run |
 | `phase1/humanoidbench/manip_powerlift/` | 2 | full run |
 | `phase1/humanoidbench/manip_room/` | 2 | full run |
@@ -177,6 +203,7 @@ root causes. Label text is in Chinese.
 | `phase1/maniguard/cabinet_pickup_i26/` | 2 | full run |
 | `phase1/maniguard/dusty_transfer_i03/` | 2 | full run |
 | `phase1/maniguard/dusty_transfer_i16/` | 2 | full run |
+| `phase1/maniguard/jar_transport_i13/` | 2 | full run |
 | `phase1/maniguard/lid_transport_i12/` | 2 | full run |
 | `phase1/metaworldplus/button_press_topdown/` | 2 | full run |
 | `phase1/molmospaces/pick/` | 2 | full run |
@@ -196,24 +223,32 @@ root causes. Label text is in Chinese.
 | `phase1/myosuite/obj_reorient/` | 2 | full run |
 | `phase1/myosuite/osl_run/` | 2 | full run |
 | `phase1/myosuite/soccer/` | 2 | full run |
+| `phase1/pandadyn/d01_reciprocal_cup_relay/` | 2 | full run |
 | `phase1/pandadyn/d03_cooperative_puck_course/` | 2 | full run |
 | `phase1/pandadyn/d07_spring_gate_switchyard/` | 2 | full run |
 | `phase1/pandadyn/s01_cup_route_delivery/` | 2 | full run |
 | `phase1/pandadyn/s06_cube_flip_route_recover/` | 2 | full run |
+| `phase1/pandadyn/s09_toss_recatch_delivery/` | 2 | full run |
 | `phase1/pandadyn/s11_cylinder_rescue_route_deliver/` | 2 | full run |
 | `phase1/pandadyn/s12_moving_bridge_puck_relay/` | 2 | full run |
+| `phase1/roboarc/blanket_flatten_02/` | 2 | full run |
 | `phase1/roboarc/blanket_flatten_03/` | 2 | full run |
+| `phase1/roboarc/blanket_flatten_07/` | 2 | full run |
 | `phase1/roboarc/blanket_flatten_08/` | 2 | full run |
 | `phase1/roboarc/blanket_fold_01/` | 2 | full run |
+| `phase1/roboarc/blanket_fold_03/` | 2 | full run |
 | `phase1/roboarc/blanket_fold_05/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_01/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_02/` | 2 | full run |
+| `phase1/roboarc/buzz_wire_3d_04/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_06/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_07/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_09/` | 2 | full run |
 | `phase1/roboarc/buzz_wire_3d_10/` | 2 | full run |
 | `phase1/roboarc/cast_coil_04/` | 2 | full run |
+| `phase1/roboarc/cast_coil_06/` | 2 | full run |
 | `phase1/roboarc/cast_coil_08/` | 2 | full run |
+| `phase1/roboarc/cast_keyhole_03/` | 2 | full run |
 | `phase1/roboarc/cast_keyhole_04/` | 2 | full run |
 | `phase1/roboarc/cast_keyhole_05/` | 2 | full run |
 | `phase1/roboarc/fiber_bundling_04/` | 2 | full run |
@@ -222,6 +257,7 @@ root causes. Label text is in Chinese.
 | `phase1/roboarc/fiber_bundling_10/` | 2 | full run |
 | `phase1/roboarc/hedgehog_in_cage_05/` | 2 | full run |
 | `phase1/roboarc/hedgehog_in_cage_06/` | 2 | full run |
+| `phase1/roboarc/horseshoe_ring_02/` | 2 | full run |
 | `phase1/roboarc/interlocked_claws_05/` | 2 | full run |
 | `phase1/roboarc/interlocked_claws_11/` | 2 | full run |
 | `phase1/roboarc/interlocked_claws_12/` | 2 | full run |

phase1/behavior-1k/can_meat/task_dag.json

@@ -0,0 +1,798 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/can_meat",
+ "suite": "behavior-1k",
+ "base": "behavior-can-meat-i00",
+ "title_zh": "香肠分罐入柜",
+ "summary_zh": "四根熟香肠按每罐两根装入两只铰链罐，两罐合盖并在原橱柜内，柜门关闭，全部目标释放并静置达标。",
+ "embodiment_zh": "两种模式均为R1Pro移动双臂机器人，左右臂各装二指夹爪，配辅助抓取、可动躯干及轮式底盘；头部及左右腕部相机提供视图，模式差别在状态访问与控制接口。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-can-meat-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "cabinet_opened",
+    "zh": "打开橱柜",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部画面可见装有两只罐的上柜门板离开柜框、露出可取放罐的通道；对应至少一个开合关节越过全行程的5%，仅触碰把手而门仍闭合不算。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住目标橱柜门把手并拉开。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "任一夹爪手指勾住目标橱柜门把手并拉开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4",
+     "inputs/task/privileged/instruction.md:43-44",
+     "inputs/bddl/can_meat.literals.json:11,415",
+     "inputs/bddl/can_meat.bddl:15-16,26-29"
+    ],
+    "conf": 7,
+    "note_zh": "初始柜门关闭，两只罐在柜内；必须先获得柜内操作通道。机器人与所有目标均在厨房，无证据表明必须另开跨房间的门。"
+   },
+   {
+    "id": "jars_opened_1",
+    "zh": "打开第1只罐",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "cabinet_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "累计已有至少1只不同的铰链罐曾被打开：腕部或头部画面可见盖片翻离罐口，形成装入香肠的通道，开合关节越过全行程的5%；同一只罐反复开盖只计一只，先前已装好并合上的罐仍保留曾打开的计数。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住铰链罐的盖缘并翻开，罐身由柜板或台面承托。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住盖缘翻开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,44",
+     "inputs/bddl/can_meat.literals.json:5-6,415",
+     "inputs/bddl/can_meat.bddl:44-50"
+    ],
+    "conf": 6,
+    "note_zh": "两只罐初始均关闭；每只都需开盖装填。计数针对不同罐曾打开的历史，不要求两盖同时打开，也不规定罐的实例身份或先后。"
+   },
+   {
+    "id": "jars_opened_2",
+    "zh": "打开第2只罐",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "jars_opened_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "累计已有至少2只不同的铰链罐曾被打开：腕部或头部画面可见盖片翻离罐口，形成装入香肠的通道，开合关节越过全行程的5%；同一只罐反复开盖只计一只，先前已装好并合上的罐仍保留曾打开的计数。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓���",
+      "note_zh": "任一二指夹爪夹住铰链罐的盖缘并翻开，罐身由柜板或台面承托。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住盖缘翻开。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,44",
+     "inputs/bddl/can_meat.literals.json:5-6,415",
+     "inputs/bddl/can_meat.bddl:44-50"
+    ],
+    "conf": 6,
+    "note_zh": "两只罐初始均关闭；每只都需开盖装填。计数针对不同罐曾打开的历史，不要求两盖同时打开，也不规定罐的实例身份或先后。"
+   },
+   {
+    "id": "sausages_in_jars_1",
+    "zh": "第1根香肠入罐",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened",
+     "jars_opened_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部画面确认两只罐内可按每罐最多计两根、同一根不重复计数的方式容纳至少1根不同香肠；香肠轴对齐包围盒中心须在罐的包围盒及内腔中，悬在罐口外或合格数量降到1根以下即未完成。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住一根熟香肠，送入一只铰链罐的内腔。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住熟香肠并送入罐内。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,7,43",
+     "inputs/bddl/can_meat.bddl:44-50",
+     "inputs/bddl/can_meat.literals.json:7-15,17-414",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "四根香肠按数量计，两只罐可互换。计数是当前inside关系能实现的最大不同香肠分配数，每罐容量计数上限为二；四根全达成即两罐各两根，不给同一香肠双重计分。此处只跟踪装填关系，允许持物时成立，统一释放、静置窗口归入success；没有日志所以success亦为null。"
+   },
+   {
+    "id": "sausages_in_jars_2",
+    "zh": "第2根香肠入罐",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "sausages_in_jars_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部画面确认两只罐内可按每罐最多计两根、同一根不重复计数的方式容纳至少2根不同香肠；香肠轴对齐包围盒中心须在罐的包围盒及内腔中，悬在罐口外或合格数量降到2根以下即未完成。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住一根熟香肠，送入一只铰链罐的内腔。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住熟香肠并送入罐内。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入���能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,7,43",
+     "inputs/bddl/can_meat.bddl:44-50",
+     "inputs/bddl/can_meat.literals.json:7-15,17-414",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "四根香肠按数量计，两只罐可互换。计数是当前inside关系能实现的最大不同香肠分配数，每罐容量计数上限为二；四根全达成即两罐各两根，不给同一香肠双重计分。此处只跟踪装填关系，允许持物时成立，统一释放、静置窗口归入success；没有日志所以success亦为null。"
+   },
+   {
+    "id": "sausages_in_jars_3",
+    "zh": "第3根香肠入罐",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "sausages_in_jars_2",
+     "jars_opened_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部画面确认两只罐内可按每罐最多计两根、同一根不重复计数的方式容纳至少3根不同香肠；香肠轴对齐包围盒中心须在罐的包围盒及内腔中，悬在罐口外或合格数量降到3根以下即未完成。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住一根熟香肠，送入一只铰链罐的内腔。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住熟香肠并送入罐内。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,7,43",
+     "inputs/bddl/can_meat.bddl:44-50",
+     "inputs/bddl/can_meat.literals.json:7-15,17-414",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "四根香肠按数量计，两只罐可互换。计数是当前inside关系能实现的最大不同香肠分配数，每罐容量计数上限为二；四根全达成即两罐各两根，不给同一香肠双重计分。此处只跟踪装填关系，允许持物时成立，统一释放、静置窗口归入success；没有日志所以success亦为null。"
+   },
+   {
+    "id": "sausages_in_jars_4",
+    "zh": "第4根香肠入罐",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "sausages_in_jars_3"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部画面确认两只罐内可按每罐最多计两根、同一根不重复计数的方式容纳至少4根不同香肠；香肠轴对齐包围盒中心须在罐的包围盒及内腔中，悬在罐口外或合格数量降到4根以下即未完成。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪夹住一根熟香肠，送入一只铰链罐的内腔。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住熟香肠并送入罐内。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,7,43",
+     "inputs/bddl/can_meat.bddl:44-50",
+     "inputs/bddl/can_meat.literals.json:7-15,17-414",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "四根香肠按数量计，两只罐可互换。计数是当前inside关系能实现的最大不同香肠分配数，每罐容量计数上限为二；四根全达成即两罐各两根，不给同一香肠双重计分。此处只跟踪装填关系，允许持物时成立，统一释放、静置窗口归入success；没有日志所以success亦为null。"
+   },
+   {
+    "id": "jars_closed_1",
+    "zh": "关上第1只罐",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少1只铰链罐的盖片已回到罐口闭合位置，全部开合关节距关闭端不超过全行程的5%；可在开局成立，闭合罐数低于1只即失去，与曾打开的罐计数不要求身份对应。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪推合由柜板或台面承托的铰链罐盖片。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住盖缘并合盖。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:8,44",
+     "inputs/bddl/can_meat.bddl:38-43",
+     "inputs/bddl/can_meat.literals.json:5-6,415",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "初始两只罐均关闭，两个闭合计数从开局成立；开盖后按当前关闭数量下降，合盖后恢复。state不受after门控；不强加先填满第一罐再装第二罐的顺序。"
+   },
+   {
+    "id": "jars_closed_2",
+    "zh": "关上第2只罐",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "jars_closed_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少2只铰链罐的盖片已回到罐口闭合位置，全部开合关节距关闭端不超过全行程的5%；可在开局成立，闭合罐数低于2只即失去，与曾打开的罐计数不要求身份对应。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一夹爪推合由柜板或台面承托的铰链罐盖片。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一侧夹爪握住铰链罐身，另一侧夹爪夹住盖缘并合盖。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:8,44",
+     "inputs/bddl/can_meat.bddl:38-43",
+     "inputs/bddl/can_meat.literals.json:5-6,415",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "初始两只罐均关闭，两个闭合计数从开局成立；开盖后按当前关闭数量下降，合盖后恢复。state不受after门控；不强加先填满第一罐再装第二罐的顺序。"
+   },
+   {
+    "id": "jars_in_cabinet_1",
+    "zh": "第1只罐在柜内",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少1只铰链罐位于任务指定的原上柜内腔，罐的轴对齐包围盒中心同时在柜体包围盒和内腔中；头部或腕部画面可见罐在柜内层板区域，柜外或另一柜中的罐不计，数量低于1只即失去。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "需要恢复柜内关系时，任一二指夹爪握住铰链罐身并送回指定上柜。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,9,43",
+     "inputs/bddl/can_meat.bddl:15-16,34-37",
+     "inputs/bddl/can_meat.literals.json:3-4,415",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "两只罐初始都在柜内，按S4(a)作为可保留的目标状态分别计数，从开局成立；原位装填可全程保持，取出后会降低计数，因此没有柜门打开这一全局前置边。接触描述的是需要恢复时的操作，未要求必须取罐或必须重新放罐。统一释放条件只在最终success验收。"
+   },
+   {
+    "id": "jars_in_cabinet_2",
+    "zh": "第2只罐在柜内",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "jars_in_cabinet_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "至少2只铰链罐位于任务指定的原上柜内腔，罐的轴对齐包围盒中心同时在柜体包围盒和内腔中；头部或腕部画面可见罐在柜内层板区域，柜外或另一柜中的罐不计，数量低于2只即失去。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "需要恢复柜内关系时，任一二指夹爪握住铰链罐身并送回指定上柜。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4,9,43",
+     "inputs/bddl/can_meat.bddl:15-16,34-37",
+     "inputs/bddl/can_meat.literals.json:3-4,415",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "两只罐初始都在柜内，按S4(a)作为可保留的目标状态分别计数，从开局成立；原位装填可全程保持，取出后会降低计数，因此没有柜门打开这一全局前置边。接触描述的是需要恢复时的操作，未要求必须取罐或必须重新放罐。统一释放条件只在最终success验收。"
+   },
+   {
+    "id": "cabinet_closed",
+    "zh": "关上橱柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "cabinet_opened",
+     "sausages_in_jars_4",
+     "jars_in_cabinet_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部画面可见目标上柜的所有门板回到柜框闭合位置，全部开合关节距关闭端不超过全行程的5%；开局成立，门再次打开即失去。最终联合验收要求全部目标同时成立，四根香肠、两只罐和橱柜均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹）。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "任一二指夹爪或其外侧推合目标橱柜门板。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一二指夹爪握住橱柜门把手，将门带回关闭位置。",
+      "plan": 2
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘支承机器人，在橱柜或装填位置调整操作位置；现有输入不能排除这一步需要底盘移动。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10,44",
+     "inputs/bddl/can_meat.bddl:52-54",
+     "inputs/bddl/can_meat.literals.json:11,415",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105,1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "初始关闭，开柜使本状态暂失，开柜event抵消这一进度变化；state的after只说明最终装好并在柜内后的��柜，不限制开局计分。两只罐可在柜内合盖，故不增加两盖先合上才可关柜的边。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座高度低于地面0.03米，或其向上轴的世界竖直分量小于0.75（倾斜约超过41.4度），连续300个控制步（30赫兹，10秒）；短于该窗口的倾斜不算。成功判定在同一控制步先于跌倒判定，若成功已触发则不再以本规则失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99,124-144,1393-1396,1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，任一位置坐标绝对值超过10000米，或基座线速度范数超过100米/秒；每30个控制步还检查目标物体位置是否非有限或任一坐标绝对值超过10000米，触发即失败。视频可能表现为物体飞走或画面异常，精确判断需要原生状态诊断。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "cabinet_opened",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.cabinet.n.01_1.open。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4, inputs/task/privileged/instruction.md:43-44, inputs/bddl/can_meat.literals.json:11,415"
+   },
+   {
+    "atom": "jars_opened_1",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.hinged_jar.n.01_1.open, proc.hinged_jar.n.01_2.open; apply ever separately, then atleast(k)。需记录每帧两只罐和橱柜的原生Open状态，并按对象累计ever后计数；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,44, inputs/bddl/can_meat.literals.json:5-6,415, inputs/bddl/can_meat.bddl:44-50"
+   },
+   {
+    "atom": "jars_opened_2",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.hinged_jar.n.01_1.open, proc.hinged_jar.n.01_2.open; apply ever separately, then atleast(k)。需记录每帧两只罐和橱柜的原生Open状态，并按对象累计ever后计数；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,44, inputs/bddl/can_meat.literals.json:5-6,415, inputs/bddl/can_meat.bddl:44-50"
+   },
+   {
+    "atom": "sausages_in_jars_1",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside bratwurst.n.01_i hinged_jar.n.01_j), i=1..4, j=1..2; maximum distinct-object matching, capacity 2 per jar。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,7,43, inputs/bddl/can_meat.bddl:44-50, inputs/bddl/can_meat.literals.json:7-15,17-414"
+   },
+   {
+    "atom": "sausages_in_jars_2",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside bratwurst.n.01_i hinged_jar.n.01_j), i=1..4, j=1..2; maximum distinct-object matching, capacity 2 per jar。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,7,43, inputs/bddl/can_meat.bddl:44-50, inputs/bddl/can_meat.literals.json:7-15,17-414"
+   },
+   {
+    "atom": "sausages_in_jars_3",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside bratwurst.n.01_i hinged_jar.n.01_j), i=1..4, j=1..2; maximum distinct-object matching, capacity 2 per jar。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,7,43, inputs/bddl/can_meat.bddl:44-50, inputs/bddl/can_meat.literals.json:7-15,17-414"
+   },
+   {
+    "atom": "sausages_in_jars_4",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside bratwurst.n.01_i hinged_jar.n.01_j), i=1..4, j=1..2; maximum distinct-object matching, capacity 2 per jar。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,7,43, inputs/bddl/can_meat.bddl:44-50, inputs/bddl/can_meat.literals.json:7-15,17-414"
+   },
+   {
+    "atom": "jars_closed_1",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.hinged_jar.n.01_1.open, proc.hinged_jar.n.01_2.open; negate separately, then atleast(k)。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:8,44, inputs/bddl/can_meat.bddl:38-43, inputs/bddl/can_meat.literals.json:5-6,415"
+   },
+   {
+    "atom": "jars_closed_2",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.hinged_jar.n.01_1.open, proc.hinged_jar.n.01_2.open; negate separately, then atleast(k)。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:8,44, inputs/bddl/can_meat.bddl:38-43, inputs/bddl/can_meat.literals.json:5-6,415"
+   },
+   {
+    "atom": "jars_in_cabinet_1",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside hinged_jar.n.01_1 cabinet.n.01_1), flags.lit:(inside hinged_jar.n.01_2 cabinet.n.01_1); atleast(k)。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,9,43, inputs/bddl/can_meat.bddl:15-16,34-37, inputs/bddl/can_meat.literals.json:3-4,415"
+   },
+   {
+    "atom": "jars_in_cabinet_2",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.lit:(inside hinged_jar.n.01_1 cabinet.n.01_1), flags.lit:(inside hinged_jar.n.01_2 cabinet.n.01_1); atleast(k)。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:4,9,43, inputs/bddl/can_meat.bddl:15-16,34-37, inputs/bddl/can_meat.literals.json:3-4,415"
+   },
+   {
+    "atom": "cabinet_closed",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：proc.cabinet.n.01_1.open。需记录对应原生inside/Open目标谓词；当前没有状态日志，不能绑定。依据：inputs/task/privileged/instruction.md:10,44, inputs/bddl/can_meat.bddl:52-54, inputs/bddl/can_meat.literals.json:11,415"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.success_rule。需记录inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434的原生每帧success_rule（BDDL目标、全部目标释放且速度<=0.05米/秒，连续30步）；无日志。"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.fallen from FallWatch.fallen。需记录inputs/grader/efe_behavior-files/rcb_behavior.py:124-144的FallWatch.fallen；无日志。"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "需要新增或提供的逐帧字段：flags.breakdown from Session.breakdown。需记录inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471的breakdown状态；无日志。"
+   }
+  ]
+ },
+ "native_metrics": [],
+ "open_questions_zh": [
+  "未提供成功轨迹：inputs/oracle_none.txt说明14条目录运行中无成功；也无参考解脚本。本DAG从文本、初始谓词、冻结实例及评分代码推导，未使用外部演示（N2）。",
+  "inputs/states/index.json中的logs为空；全部when、never及success均为null（P8），atoms标明需新增日志数据，视频判据未通过成功录像核验。输入中的初始谓词位串1111000010000只证明开局两罐在柜内、两盖及柜门关闭，不是逐帧日志。",
+  "任务设计问题：文本要求每罐恰好两根，但inputs/bddl/can_meat.literals.json:17-414的36个成功选项只要求各罐任意两根的inside正谓词，既无多余香肠的否定条件，也没有跨罐排他匹配；例如首选项允许同两根香肠同时满足两个罐的inside。通常分离的实体罐使两罐各两根等价于四根不同香肠，但容积重叠等异常是否可达未获验证。文本的四个不同香肠计数步骤仍保留，最终评分语义以原生success_rule为准，不将评分漏洞改写成步骤（S2、S9、N1）。",
+  "按N4，四根香肠及两只罐均用数量步骤；香肠采用每罐容量二的最大不同对象分配计数，避免三根同罐被误记为完成第三个目标槽。开盖计数使用每只罐曾打开的历史，允许先开一罐、装填合盖后再开另一罐；不要求两盖同时打开。",
+  "两罐原位装填是否在具体碰撞几何下可实现，输入没有完整场景网格或成功录像可验证；保留柜内初始关系步骤并允许取罐装填后恢复，不把取出罐作为所有策略必经步骤。机器人和任务目标均由BDDL置于厨房，所列房间门没有一扇连接厨房，未添加无证据的跨房间开门步骤。",
+  "两模式共用rcb_behavior.py的世界状态验收；privileged/grade.py:154-174额外要求两次新进程回放均成功、末态哈希一致及冻结实例一致，standard/grade.py:29-35使用服务现场结果和终结完整性。这些交付与基础设施差异不建语义节点，且本次无日志可表达最终success。",
+  "释放和静置是全体目标共同的最终验收，置于success的自然语言说明而不逐节点强加等待；节点hold_s均为0，关系与机构状态允许持物时成立，统一freeze_held=false以免隐藏持罐、持盖或持门时的真实变化。速度阈值代码使用>0.05判移动，因此等于0.05米/秒仍算静止。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本步骤、计数和初始五个成立状态有直接证据，阈值和终止条件来自共用评分代码；但没有状态日志或成功录像，具体可达性及forn展开与恰好两根之间的边界无法验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志与成功轨迹，全部when/success为null且已在open_questions_zh说明；步骤集（开柜、开两罐、四根香肠计数入罐、关两罐、两罐在柜内、关柜）与指令及BDDL目标一致，计数步骤、恢复类步骤、边与约束未见错误。任务设计问题（每罐恰好两根在BDDL中未被排他约束）已列出。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['cabinet_opened', 'jars_opened_1', 'jars_opened_2', 'sausages_in_jars_1', 'sausages_in_jars_2', 'sausages_in_jars_3', 'sausages_in_jars_4', 'jars_closed_1', 'jars_closed_2', 'jars_in_cabinet_1', 'jars_in_cabinet_2', 'cabinet_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T01:46:05Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__can_meat/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__can_meat/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c767c6538aa6fcad42c464bcef5df5b5f63471ada37a401ccfe1bad033b930ee",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--aoucflm.json

@@ -0,0 +1,504 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--aoucflm",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "02647117e621e8c1f883079dd33958f119e8b3bbb8f950e079e8b465e0f49661",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2783,
+   "sim_steps": 2783,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1484.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 38,
+   "agent_resets": 1,
+   "agent_sim_steps": 15896,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--aoucflm/replay.mp4",
+  "duration_s": 92.767,
+  "fps": 30.0,
+  "frames": 2783,
+  "sha256": "02ca0a62a1fefda9505dbfa880c4482ae4ab6e631e3100cd6abddbffd9ff0ac4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.5 s上柜门仍对合；视频8.5–15.5 s可见门板向外转出、下层罐所在的柜内空间露出。以视频8.5 s首次清晰确认开门，实际越过开门阈值发生在视野偏离柜口的视频3.5–8.5 s之间。"
+     },
+     {
+      "t": 15,
+      "log_step": 515,
+      "text_zh": "观察：视频15 s柜口下层可见罐，机器人已获得柜内通道；log step 515所读录制日志也报告左、右门打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频3.5–14.5 s机器人先后用左、右夹爪在门板附近做扫动，随后门板转开；结合log step 510的开门扫动航点，记为夹爪拨开门板，未见夹爪对向夹住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–3 s底盘驶近并对准上柜，支承后续开门操作。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频15–15.5 s柜内罐仍在层板上；全片没有机器人夹爪翻起罐盖的动作或可见盖片翻离罐口的状态。"
+     },
+     {
+      "t": 78,
+      "log_step": 514,
+      "text_zh": "推断：视频36–46 s及68–78 s机器人只在柜前伸爪、张爪，没有操作盖片；结合开局两盖关闭及同一2783步录制末尾的Jar 1 Open=False、Jar 2 Open=False（log step 514），累计打开至少1只罐未达成。柜内细节部分受门板遮挡。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频15–15.5 s柜内罐仍在层板上；全片没有机器人夹爪翻起罐盖的动作或可见盖片翻离罐口的状态。"
+     },
+     {
+      "t": 78,
+      "log_step": 514,
+      "text_zh": "推断：视频36–46 s及68–78 s机器人只在柜前伸爪、张爪，没有操作盖片；结合开局两盖关闭及同一2783步录制末尾的Jar 1 Open=False、Jar 2 Open=False（log step 514），累计打开至少2只罐未达成。柜内细节部分受门板遮挡。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频21–24.5 s第一轮左爪取物后，原处的香肠未离开砧板，左腕画面中的夹爪为空；视频27 s仍可见砧板上四根香肠。"
+     },
+     {
+      "t": 38,
+      "log_step": 515,
+      "text_zh": "观察：视频36.5–40 s机器人左臂在柜前伸出并张爪，但没有携带香肠。log step 515读取的task-943录制日志对应2783步交付，报告bw1=False、bw2=False，与空爪画面一致。"
+     },
+     {
+      "t": 71.25,
+      "log_step": null,
+      "text_zh": "观察：视频55–59 s第二轮左爪确实拿起一根，视频59.5–66 s原砧板少一根且该香肠随左爪移动；但视频71.0–71.375 s它在柜外、机器人机身上方脱离张开的左爪，没有进入罐。"
+     },
+     {
+      "t": 92.7,
+      "log_step": null,
+      "text_zh": "推断：第一轮两根和第二轮右爪目标留在砧板，唯一带走的一根又在柜外释放；没有任何一根建立入罐关系，至视频92.7 s仍为零根，而非仅根据q_score=0判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频21–24.5 s机器人左夹爪做下降、合拢、抬起动作，但砧板香肠仍在原处；腕部视野没有覆盖指端与该香肠的接触区域，无法区分轻触和完全未触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频18–21 s底盘驶向砧板，视频31–36 s又驶回柜前，支承第一次取物与送罐尝试。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频27–30.5 s第一轮右爪下降、合拢、抬起后，目标香肠仍在砧板上，右爪为空；视频42–45.5 s机器人又在柜前用空右爪执行释放动作。"
+     },
+     {
+      "t": 71.375,
+      "log_step": null,
+      "text_zh": "推断：视频71.0–71.375 s唯一被搬走的香肠在柜外释放；全片合格入罐数量未达到两根，末态同样未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频27–30.5 s机器人右夹爪合拢后仍为空，砧板上的香肠未随手抬走；指端是否轻触香肠无法看清。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频26–27.5 s底盘调整右臂与砧板的相对位置，视频31–36 s驶回上柜完成第二个装填目标的送罐尝试。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.5,
+      "log_step": null,
+      "text_zh": "观察：视频55–58.5 s左爪夹住第二轮的一根香肠，视频59.5–66 s该根随左爪离开砧板并被搬向上柜；这是实际拿起，尚未构成入罐。"
+     },
+     {
+      "t": 71.375,
+      "log_step": 514,
+      "text_zh": "观察：视频71.0–71.375 s左爪张开，香肠在柜外的机器人机身上方下落；夹爪所在位置没有罐口，未见香肠进入柜内或罐内。log step 514同一2783步录制输出bw4 Inside Jar 2=False，报告其末位置高度约0.024米。"
+     },
+     {
+      "t": 92.7,
+      "log_step": null,
+      "text_zh": "推断：视频92.7 s前无后续拾回或重新装填动作，合格入罐数量未达到三根。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频55–71 s左夹爪两指夹住第二轮取的香肠，并携带至柜前后张爪释放；按四个对象装填尝试的先后，此为第三个对象尝试，不表示前三个计数目标曾达到。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频50–54 s底盘驶向砧板，视频59–60 s带着左爪中的香肠调整位置，视频64–68 s载物返回柜前。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64,
+      "log_step": null,
+      "text_zh": "观察：视频60.5–64 s右爪在砧板另一根香肠前合拢并抬起，香肠仍留在砧板，右爪为空；视频75–78 s机器人在柜前执行空右爪送罐和张爪。"
+     },
+     {
+      "t": 92.7,
+      "log_step": null,
+      "text_zh": "推断：第一轮两根和第二轮右爪目标未被带走，第二轮左爪携带的一根也在视频71.0–71.375 s柜外释放，没有四根分入两罐的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频60.5–64 s右腕画面可见右爪在另一根香肠前闭合，但视频64 s香肠仍在砧板上；无法确认是否发生短暂轻触，未见形成抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频59–60.5 s底盘调整右臂取物位置，视频64–68 s驶回柜前，支承第四个对象的装填尝试。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG给定开局两罐关闭；视频15–15.5 s可见柜内罐仍在层板处，全片未见翻盖或取罐动作，因此至少1只罐关闭的初始关系保持。"
+     },
+     {
+      "t": 92.7,
+      "log_step": 514,
+      "text_zh": "推断：视频92.7 s柜门已关闭且无后续操作；同一2783步录制的末尾检查报告两只罐Open均为False（log step 514）。该输出只作视频上下文支持，不用其他测试局替代本次节点。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG给定开局两罐关闭；视频15–15.5 s可见柜内罐仍在层板处，全片未见翻盖或取罐动作，因此至少2只罐关闭的初始关系保持。"
+     },
+     {
+      "t": 92.7,
+      "log_step": 514,
+      "text_zh": "推断：视频92.7 s柜门已关闭且无后续操作；同一2783步录制的末尾检查报告两只罐Open均为False（log step 514）。该输出只作视频上下文支持，不用其他测试局替代本次节点。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": 4,
+      "text_zh": "推断：任务DAG与log step 4初始谓词给定两罐均在原上柜；视频15–15.5 s柜内层板可见罐，之后没有机器人取出、夹持或搬走罐的动作，因此至少1只罐留在原柜的关系从开局保持。"
+     },
+     {
+      "t": 92.7,
+      "log_step": null,
+      "text_zh": "观察：视频92.7 s原上柜关闭，机器人停止操作；全片未见罐移出。柜门遮挡后无法逐帧直接检查罐的包围盒中心。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": 4,
+      "text_zh": "推断：任务DAG与log step 4初始谓词给定两罐均在原上柜；视频15–15.5 s柜内层板可见罐，之后没有机器人取出、夹持或搬走罐的动作，因此至少2只罐留在原柜的关系从开局保持。"
+     },
+     {
+      "t": 92.7,
+      "log_step": null,
+      "text_zh": "观察：视频92.7 s原上柜关闭，机器人停止操作；全片未见罐移出。柜门遮挡后无法逐帧直接检查罐的包围盒中心。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      3.5
+     ],
+     [
+      89,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频0–2.5 s上柜门板对合；视频8.5–15.5 s门板明显转出。推断：第一次失去闭合粗定位在视频3.5 s开门动作开始附近，实际越过5%阈值的瞬间被转开的头部及腕部视野遮挡。"
+     },
+     {
+      "t": 36,
+      "log_step": null,
+      "text_zh": "观察：视频36–46 s门板仍有前后错位，视频68–78 s可见柜门边缘与柜框间的黑色间隙；这些正面投影不能精确量出关节角，未据此提前判为恢复闭合。"
+     },
+     {
+      "t": 89,
+      "log_step": 514,
+      "text_zh": "观察：视频83–90.5 s机器人先后在两扇门板附近扫动，视频89–92.7 s可见门板回到对合位置。推断：恢复闭合取视频89 s，误差约1秒；同一2783步录制的末尾输出两门关节均为0、Cabinet Open=False（log step 514），与末帧一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频83–90.5 s机器人先后用左、右夹爪贴近门板扫动，门板回到柜框；未见对向夹住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频79.5–82.5 s底盘退开并重新对准上柜，支承最后的合门动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "sausages_in_jars_1",
+   "t": 24.5,
+   "log_step": 515,
+   "where": "操作中",
+   "evidence_zh": "观察：视频21–24.5 s机器人左爪对第一根香肠下降、合拢后空手抬起，香肠仍在砧板；视频36.5–40 s机器人继续做空爪送罐、释放动作。log step 515的task-943录制输出bw1=False、bw2=False；log step 514保存的2783步与评分n_actions=2783一致。推断：首次装填尝试在抓取环节失败并未修复；后来视频71.0–71.375 s唯一搬起的另一根也在柜外释放，第一根入罐计数始终未达到，故断点归入装填节点，而非未启动的开罐节点。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 24.5,
+    "log_step": 515,
+    "evidence_zh": "观察：视频21–24.5 s左爪合拢并抬起，视频27 s原砧板上仍有四根香肠；��频27–30.5 s右爪也未带走香肠，两爪随后空手到柜前。log step 515同一录制打印两次object_in_hand结果为None。推断：首次装填所需的有效夹持未建立；不能把看不清的轻触当作从已抓住到脱落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 515的同一task-943录制输出先报告Picks: bw1=False, bw2=False，随后仍进入DELIVER阶段；视频21–24.5 s左爪抬起后香肠留在砧板，视频27 s仍有四根香肠，视频36.5–45 s机器人用空爪执行送罐和释放。log step 495所展示流程在取物后直接调用drop_into_jar，log step 514记录保存2783步，与本次评分n_actions=2783一致。另在log step 512，agent自述的脚本流程从开柜直接转到取香肠和送罐，未列开罐阶段；视频15–15.5 s可见柜内罐仍合盖，后续柜前操作未见翻盖，log step 514末检查两罐Open均为False。推断：规划既没有在抓取失败后阻止送罐并重取，也遗漏了装填需要的开盖阶段，使装填失败一直未获修复；这支持推理/规划，但空手抬起本身不足以进一步确定抓取设计、轨迹跟踪或其他控制原因。"
+   }
+  ],
+  "gap_zh": "未提供状态日志和成功参考视频。第一轮指端与香肠接触区域在腕部视野外，不能判定有无轻触，也不足以区分抓取设计、轨迹跟踪等原因，故删除原控制根因；柜内罐盖和第二只罐多次被门板遮挡，依据初始关系、无取罐翻盖动作及本次录制末检查作上下文推断。柜门首次越过阈值位于视频3.5–8.5 s遮挡段，打开节点取首次清晰确认的锚点；恢复闭合取视频89 s，约有1秒误差，中途小开角无法精确测定。log step 532仅自述又启动修改脚本，没有对应录制完成或覆盖交付文件的证据；不把该改版自述及其他测试局作为评分轨迹进度。"
+ },
+ "summary_zh": "评分轨迹打开过上柜，但两只罐未见开盖，四根香肠均未入罐；两罐留在原柜且保持合盖，柜门最终关闭，节点终态为6/12（含保留的初始关系及开门历史事件）。断点保留为首次装填的取物失败：机器人空手抬起后仍送罐，脚本未按抓取失败反馈重取，且流程遗漏开盖；第二轮虽拿起一根，也在柜外释放。置信度降为6：无状态日志，柜内细节、第一轮指端接触及柜门阈值时刻存在遮挡，规划根因由日志和画面合并推断，抓取失败的具体控制原因未能确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时间与大部分观察基本可信，但断点与根因存疑：DAG中装填节点after开罐节点，机器人开柜后从未尝试开罐就直接去夹香肠，断点应落在jars_opened_1（首个未达成且未被尝试的前置步骤），而不是装填节点的抓取失败。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间与断点（装填首次取物失败后未修复，S14）与帧一致，第1轮争议点已有依据回应；未发现需改动的新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:05:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f173f1bd5a2a6f8479b1a793544d6448fff97ec8f242d20646e3770f2ba930c0",
+   "video_sha256": "02ca0a62a1fefda9505dbfa880c4482ae4ab6e631e3100cd6abddbffd9ff0ac4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--4k9yxfs.json

@@ -0,0 +1,399 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-standard--4k9yxfs",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "02647117e621e8c1f883079dd33958f119e8b3bbb8f950e079e8b465e0f49661",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 28614,
+   "sim_steps": 28614,
+   "physics_steps": 114456,
+   "steps": 28229,
+   "elapsed_s": 12035.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-standard--4k9yxfs/replay.mp4",
+  "duration_s": 953.8,
+  "fps": 30.0,
+  "frames": 28614,
+  "sha256": "0b8753f8b5bf40c02724a182103f351b7ff6d54bb6b2a492a42b7accee7d6873"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频 230–282 s 机器人在水槽台面下方伸动左夹爪，下柜已有门板向外敞开；不是 DAG 指定的上柜开门画面。"
+     },
+     {
+      "t": 535,
+      "log_step": null,
+      "text_zh": "观察：视频 495–585 s 可见灶台上方柜门仍齐平闭合，机器人没有向该上柜伸爪，也未露出或取出铰链罐。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 952.7–953.7 s 末段上柜门板仍闭合；整段抽帧及开门尝试加密检查未见装有两罐的目标柜被打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人为寻找罐及开柜反复在岛台、北侧水槽和西侧灶台之间移动底盘（如视频 195–215 s、485–505 s）。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 250–282 s、600–634 s 及 705–935 s 左夹爪在下柜前接近、闭合、退回；爪尖与门面的接触区域常在腕相机之外，不能确认夹住把手，亦未见其接触目标上柜。此项标记开柜尝试的接触缺口，不据闭爪指令记抓握。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 535,
+      "log_step": null,
+      "text_zh": "观察：视频 495–585 s 上柜门保持闭合，未见机器人接触罐盖或把罐取出；全程检查未见第1只罐的盖片翻离罐口。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 952.7–953.7 s 机器人已收臂，上柜仍关闭；结合目标柜始终未被打开、没有取罐操作，未达到累计开罐事件。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 535,
+      "log_step": null,
+      "text_zh": "观察：视频 495–585 s 上柜门保持闭合，未见机器人接触罐盖或把罐取出；全程检查未见第2只罐的盖片翻离罐口。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 952.7–953.7 s 机器人已收臂，上柜仍关闭；结合目标柜始终未被打开、没有取罐操作，未达到累计开罐事件。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 岛台砧板上可见香肠；视频 175–195 s 及 375 s 的岛台视角仍见香肠留在砧板，夹爪没有夹持香肠。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：完整视频的粗查及柜前操作加密检查均没有从砧板取走香肠、送入罐内的过程，且没有打开或取出罐；由初始四根香肠均在砧板，判断合格入罐数一直为零，第1根入罐状态未成立。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 岛台砧板上可见香肠；视频 175–195 s 及 375 s 的岛台视角仍见香肠留在砧板，夹爪没有夹持香肠。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：完整视频的粗查及柜前操作加密检查均没有从砧板取走香肠、送入罐内的过程，且没有打开或取出罐；由初始四根香肠均在砧板，判断合格入罐数一直为零，第2根入罐状态未成立。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 岛台砧板上可见香肠；视频 175–195 s 及 375 s 的岛台视角仍见香肠留在砧板，夹爪没有夹持香肠。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：完整视频的粗查及柜前操作加密检查均没有从砧板取走香肠、送入罐内的过程，且没有打开或取出罐；由初始四根香肠均在砧板，判断合格入罐数一直为零，第3根入罐状态未成立。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 岛台砧板上可见香肠；视频 175–195 s 及 375 s 的岛台视角仍见香肠留在砧板，夹爪没有夹持香肠。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：完整视频的粗查及柜前操作加密检查均没有从砧板取走香肠、送入罐内的过程，且没有打开或取出罐；由初始四根香肠均在砧板，判断合格入罐数一直为零，第4根入罐状态未成立。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的已核实初始条件为两只罐均关闭，故本闭合计数从视频 0 s 成立；开局相机看不到柜内罐盖，不把这一初始事实写成直接目视。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 机器人未进入目标上柜、未取罐或操作罐盖，视频 952.7–953.7 s 上柜门仍闭合；据已知初态和未发生干预，至少1只罐关闭的状态保留。柜内盖片受遮挡，无逐帧关节状态可复核。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的已核实初始条件为两只罐均关闭，故本闭合计数从视频 0 s 成立；开局相机看不到柜内罐盖，不把这一初始事实写成直接目视。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 机器人未进入目标上柜、未取罐或操作罐盖，视频 952.7–953.7 s 上柜门仍闭合；据已知初态和未发生干预，至少2只罐关闭的状态保留。柜内盖片受遮挡，无逐帧关节状态可复核。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的已核实初始条件为两只罐都在原目标柜内，故本柜内计数从视频 0 s 成立。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 未见机器人从目标上柜取出罐，也无携罐、落罐或重新放罐的过程，末段上柜保持关闭；据初态和无取出动作，至少1只罐在柜内的关系保留。柜内位置未直接显露。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的已核实初始条件为两只罐都在原目标柜内，故本柜内计数从视频 0 s 成立。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 未见机器人从目标上柜取出罐，也无携罐、落罐或重新放罐的过程，末段上柜保持关闭；据初态和无取出动作，至少2只罐在柜内的关系保留。柜内位置未直接显露。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "观察：视频 25 s 厨房上柜门面齐平闭合，尚无开柜操作。"
+     },
+     {
+      "t": 535,
+      "log_step": null,
+      "text_zh": "观察：视频 495–585 s 灶台上方的上柜门仍闭合，左腕视角的活动发生在台面下方；敞开的下柜不按目标上柜计。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：从已知闭合初态、可见的上柜闭门画面及未见针对上柜的操作，目标上柜关闭状态从视频 0 s 保留到结束；视频 952.7–953.7 s 门面仍齐平。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 250,
+   "log_step": 206,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 250–282 s 机器人在水槽下柜前闭爪、退爪，后续视频 395–485 s 探看敞开的下柜，视频 705–935 s 又反复在下柜门面附近伸爪；始终没有访问两只罐。推断：机器人已经尝试闭爪拉门，但装罐目标柜的定位没有解决，DAG 指定的上柜开门未达成，不能将其他下柜的敞开计入该节点；断点锚定首次集中柜前尝试附近，时间约有 1–2 s 误差。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "目标柜搜索定位失败",
+    "t": 250,
+    "log_step": 363,
+    "note_zh": "现有现象没有对应目标物所在柜始终未找到、反复操作其他柜的搜索失败条目；按 D25(d) 使用其他并给出候选名称。",
+    "evidence_zh": "观察：视频 250–282 s 机器人操作台面下方区域，视频 395–485 s 在打开的下柜前探看，视频 495–585 s 扫看上柜却没有开门，视频 705–935 s 回到水槽下柜反复伸爪，始终未出现罐；log step 363 中 agent 将空腔检查后仍未发现罐作为继续拉下柜的理由。推断：可见的问题是没有定位并打开装罐目标柜，而不是已经拿到罐后掉落，亦不把不明接触归为抓取丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 340 中 agent 把下柜暗色像素解释为突出把手并据此指定闭爪、拉门；log step 345 又凭闭爪和关节力矩自述“door is moving”。log step 375 撤回曾抓住把手的说法，log step 394 的记录脚本将先前把手位置注明为后来认出的反射；视频 600–634 s、705–935 s 显示夹爪在有机体倒影的光亮下柜前反复运动，没有携带把手或露出罐。推断：对柜前图像中把手/反射及抓持结果的错误解释持续引导了错误位置的操作，阻碍目标柜定位；不能据 agent 自述进一步断定机械臂存在绝对不可达性。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；罐本体、罐盖及柜内关系未直接显露。两罐关闭与仍在柜内的四个状态，依据 DAG 已核实初态及全程没有访问罐的操作推断保留；不能用评分 q_score=0 否定这些初始状态。DAG 将目标指定为上柜，但录像没有实例名或露出的罐来独立确认柜实例，按该 DAG 判据标注，下柜开门不算目标开柜。爪尖接触被遮挡，不能确认真实抓握；agent 关于“零力矩即运动学极限”的自述没有独立限位证据，未据此增添够不着或控制子类。"
+ },
+ "summary_zh": "按任务 DAG 的目标上柜判据，机器人未打开装罐目标柜、未开罐或搬运香肠，最终保留两罐关闭、两罐在柜内和柜门关闭五个初始节点，进度为 5/12。断点在开柜操作：机器人反复操作水槽下柜，并误读门面反射和抓持结果，始终未访问罐。没有状态日志或成功参考，柜内四个保留状态依初态与未发生操作推断，目标柜实例及实际爪尖接触仍有观测缺口。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 5/250/400/540/700/900 s：上柜门始终闭合、水槽下柜被反复操作、罐未出现，与标注一致；进度 5/12、断点 cabinet_opened 及其他/感知的结论有日志与帧支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:18:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b87dd66abae4102f8c926132dda6754d456d55c074561afa206b82f6e1056dbf",
+   "video_sha256": "0b8753f8b5bf40c02724a182103f351b7ff6d54bb6b2a492a42b7accee7d6873",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/cleaning_up_plates_and_food/task_dag.json

@@ -0,0 +1,524 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "suite": "behavior-1k",
+ "base": "behavior-cleaning-up-plates-and-food-i00",
+ "title_zh": "收拾餐盘和食物",
+ "summary_zh": "两个披萨各在不同盘上并同处厨房冰箱、两个碗同处厨房水槽且厨房冰箱关闭，所有目标物体离手、线速度不超过0.05米/秒，全部条件连续满足30个控制步。",
+ "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人：左右臂各配二指夹爪，具有可动躯干和全向轮式底盘；头部与双腕相机提供视图，夹爪使用辅助抓取。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-cleaning-up-plates-and-food-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "pizzas_on_plates_1",
+    "zh": "第1个披萨留盘",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部相机能确认至少1个不同披萨分别接触并由不同盘子从下方承托，按可组成的互不重复披萨—盘子配对数计数；盘子随夹爪搬动时也可成立，开局两组关系均成立。披萨滑离盘面或悬空不接触盘子，致有效配对少于1组时本步失去；最终仍须满足全部目标同时离手、静止并连续保持30个控制步的联合验收。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住承载披萨的盘子，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及承载披萨的盘子时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,48",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:20-21,33-37",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:3-11,23-33"
+    ],
+    "conf": 6,
+    "note_zh": "这是可从开局保持的关系状态，按S4(a)独立计数，持盘期间不冻结以显示披萨滑落。按评分器的任意一一配对验收；原盘身份及全程不离盘的文本差异记入待议问题。"
+   },
+   {
+    "id": "pizzas_on_plates_2",
+    "zh": "第2个披萨留盘",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pizzas_on_plates_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从头部或腕部相机能确认至少2个不同披萨分别接触并由不同盘子从下方承托，按可组成的互不重复披萨—盘子配对数计数；盘子随夹爪搬动时也可成立，开局两组关系均成立。披萨滑离盘面或悬空不接触盘子，致有效配对少于2组时本步失去；最终仍须满足全部目标同时离手、静止并连续保持30个控制步的联合验收。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住承载披萨的盘子，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及承载披萨的盘子时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,48",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:20-21,33-37",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:3-11,23-33"
+    ],
+    "conf": 6,
+    "note_zh": "这是可从开局保持的关系状态，按S4(a)独立计数，持盘期间不冻结以显示披萨滑落。按评分器的任意一一配对验收；原盘身份及全程不离盘的文本差异记入待议问题。"
+   },
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部或腕部视角可见厨房冰箱至少一扇门离开关闭位置，露出内腔；按原生open谓词，至少一个可开关关节超过从关闭到全开的5%行程即成立，门仍在关闭容差内不算打开。该开门事件一经发生便保留，重新关闭不撤销。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住冰箱把手向外拉",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "左或右夹爪手指勾住冰箱把手向外拉",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:49",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:9,33",
+     "inputs/bddl/cleaning_up_plates_and_food.scene_objects.json:33-38",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:38-44"
+    ],
+    "conf": 7,
+    "note_zh": "唯一厨房冰箱初态关闭，装入披萨前必须开门；不规定左右手或开哪一扇门。开门只作必要前提，不另设抓握或搬运步骤。"
+   },
+   {
+    "id": "pizzas_in_fridge_1",
+    "zh": "第1个披萨入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从冰箱门口的头部或腕部视角可确认至少1个不同披萨仍各由不同盘子承托，并位于同一台厨房冰箱的内腔；inside按披萨轴对齐包围盒中心同时落在冰箱包围盒与内部容积内判定，不额外要求整只盘子完全没入，合格披萨少于1个即失去本步。持盘时上述关系也可成立；最终成功另须这些关系与其余目标、所有目标物体离手且线速度不超过0.05米/秒联合连续满足30个控制步，此联合验收不作为本步单独计入或失去的条件。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住承载披萨的盘子，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及承载披萨的盘子时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,47-48,109-115",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-44",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:5-6",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个披萨按数量计数，不按实例身份；第2步的同柜及不同盘配对属于验收。盘上关系同时出现在留盘步骤与本步中，是S4(a)允许的保持状态重合；抓取、抬起、搬运和释放不另建节点，联合30步保持窗放在成功判据中。"
+   },
+   {
+    "id": "pizzas_in_fridge_2",
+    "zh": "第2个披萨入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened",
+     "pizzas_in_fridge_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "从冰箱门口的头部或腕部视角可确认至少2个不同披萨仍各由不同盘子承托，并位于同一台厨房冰箱的内腔；inside按披萨轴对齐包围盒中心同时落在冰箱包围盒与内部容积内判定，不额外要求整只盘子完全没入，合格披萨少于2个即失去本步。持盘时上述关系也可成立；最终成功另须这些关系与其余目标、所有目标物体离手且线速度不超过0.05米/秒联合连续满足30个控制步，此联合验收不作为本步单独计入或失去的条件。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住承载披萨的盘子，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及承载披萨的盘子时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,47-48,109-115",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:33-44",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:5-6",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个披萨按数量计数，不按实例身份；第2步的同柜及不同盘配对属于验收。盘上关系同时出现在留盘步骤与本步中，是S4(a)允许的保持状态重合；抓取、抬起、搬运和释放不另建节点，联合30步保持窗放在成功判据中。"
+   },
+   {
+    "id": "bowls_in_sink_1",
+    "zh": "第1个碗入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少1只不同碗进入同一厨房水槽的凹腔，inside要求碗的轴对齐包围盒中心处于水槽包围盒及内部容积内；搁在槽外台面或槽沿而中心未入内不算，满足条件的碗少于1只即失去本步。持碗时上述关系也可成立；最终成功另须这些关系与其余目标、所有目标物体离手且线速度不超过0.05米/秒联合连续满足30个控制步，此联合验收不作为本步单独计入或失去的条件。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住碗沿，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及碗沿时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,47,109-115",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:18-19,45-51",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:7-8",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个碗相同，按槽内合格碗数计数；唯一厨房水槽无需先开任何柜门。与披萨入柜没有顺序依赖。"
+   },
+   {
+    "id": "bowls_in_sink_2",
+    "zh": "第2个碗入槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bowls_in_sink_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见至少2只不同碗进入同一厨房水槽的凹腔，inside要求碗的轴对齐包围盒中心处于水槽包围盒及内部容积内；搁在槽外台面或槽沿而中心未入内不算，满足条件的碗少于2只即失去本步。持碗时上述关系也可成立；最终成功另须这些关系与其余目标、所有目标物体离手且线速度不超过0.05米/秒联合连续满足30个控制步，此联合验收不作为本步单独计入或失去的条件。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪夹住碗沿，保持平稳",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在承载机械臂及碗沿时移动到目标位置",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-10,47,109-115",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:18-19,45-51",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:7-8",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:103-105,1414-1434"
+    ],
+    "conf": 6,
+    "note_zh": "两个碗相同，按槽内合格碗数计数；唯一厨房水槽无需先开任何柜门。与披萨入柜没有顺序依赖。"
+   },
+   {
+    "id": "fridge_closed",
+    "zh": "关上冰箱",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pizzas_in_fridge_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部或腕部视角可见厨房唯一冰箱的所有门回到关闭位置，门板与柜体闭合；按not open，所有可开关关节均在关闭端5%行程容差内，有任一门超过此容差即失去本步。开局即成立，夹爪仍握把手时也能成立；最终还须放开冰箱及其余目标物体并使其线速度不超过0.05米/秒，与全部目标联合连续保持30个控制步。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左或右夹爪或掌部推动冰箱门板合拢",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左或右二指夹爪握住冰箱把手将门送回关闭位置",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10,49",
+     "inputs/bddl/cleaning_up_plates_and_food.bddl:52-57",
+     "inputs/bddl/cleaning_up_plates_and_food.literals.json:9,33",
+     "inputs/bddl/cleaning_up_plates_and_food.scene_objects.json:33-38",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+    ],
+    "conf": 7,
+    "note_zh": "恢复初始关闭状态，使用state而非final，开局即计入；after只说明最终关门在装入之后，不门控实时状态。开门时本步下降由必要开门事件补偿，握把手不冻结关门状态。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座竖直向上轴的世界竖直分量小于0.75（倾斜超过约41.4度），或基座低于地板超过0.03米，任一条件连续满足300个30赫兹控制步即触发跌倒失败；短时倾斜后恢复不算。代码先检查崩溃和成功，再更新跌倒判定。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-100,124-144,1394-1396,1483-1489",
+     "inputs/task/standard/instruction.md:21-24"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或���节位置出现非有限数，机器人或目标物体任一位置坐标绝对值大于10000米，或机器人基座线速度大于100米/秒时判定崩溃并失败；机器人每控制步检查，目标物体位置每30步检查一次。画面突然飞散只能提示异常，确切判定需原生状态记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1437-1471",
+     "inputs/task/standard/instruction.md:19-20"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "pizzas_on_plates_1",
+    "level": "new_code",
+    "source": "log all four native ontop(pizza.n.01_i, plate.n.04_j) predicates; compute maximum distinct-pair matching count"
+   },
+   {
+    "atom": "pizzas_on_plates_2",
+    "level": "new_code",
+    "source": "log all four native ontop(pizza.n.01_i, plate.n.04_j) predicates; compute maximum distinct-pair matching count"
+   },
+   {
+    "atom": "fridge_opened",
+    "level": "new_code",
+    "source": "log native Open state of electric_refrigerator.n.01_1, for example proc.electric_refrigerator.n.01_1.open"
+   },
+   {
+    "atom": "pizzas_in_fridge_1",
+    "level": "new_code",
+    "source": "log native inside(pizza.n.01_i, electric_refrigerator.n.01_1) and all ontop(pizza.n.01_i, plate.n.04_j) predicates; count distinct pizza/plate pairs with pizzas in the same fridge, including while held"
+   },
+   {
+    "atom": "pizzas_in_fridge_2",
+    "level": "new_code",
+    "source": "log native inside(pizza.n.01_i, electric_refrigerator.n.01_1) and all ontop(pizza.n.01_i, plate.n.04_j) predicates; count distinct pizza/plate pairs with pizzas in the same fridge, including while held"
+   },
+   {
+    "atom": "bowls_in_sink_1",
+    "level": "new_code",
+    "source": "log native inside(bowl.n.01_i, sink.n.01_1) predicates; count distinct bowls inside the same sink, including while held"
+   },
+   {
+    "atom": "bowls_in_sink_2",
+    "level": "new_code",
+    "source": "log native inside(bowl.n.01_i, sink.n.01_1) predicates; count distinct bowls inside the same sink, including while held"
+   },
+   {
+    "atom": "fridge_closed",
+    "level": "new_code",
+    "source": "log native Open state of electric_refrigerator.n.01_1, for example proc.electric_refrigerator.n.01_1.open"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434; log per-control-step Session.succeeded as flags.success_rule, including BDDL goal, release/rest and native 30-step counter"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489; log FallWatch.fallen and run counter with base_z, floor_z, up_z"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471; log per-step Session.breakdown and triggering robot/goal-object values"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功轨迹：inputs/oracle_none.txt说明14条目录运行均失败，也没有参考解；依据文本、BDDL、初始目标真值和冻结实例、共享评分器规划，未用外部示例（暂行：DECISIONS.md N2）。",
+  "无状态日志：inputs/states/index.json的logs为空，所有节点when及约束never、success均为null；atoms中的new_code表示需要补充记录的原生状态或计数，不声称现有日志含有这些字段（暂行：DECISIONS.md P8）。",
+  "文本步骤未受评（部分验收）：文本要求每个披萨仍在自己的盘上；BDDL forpairs和literals.json的两种options允许交换两只盘子，评分器也只验收最终配对，不检查中途是否离盘。按S4(a)保留两个留盘状态步骤，按N4计不同披萨与不同盘子的匹配数，不增设身份追踪步骤或历史否决约束（DECISIONS.md N1、D1）。",
+  "评分器的inside只要求披萨包围盒中心进入冰箱内部，未单独要求盘子inside；入柜步骤保留披萨在盘上的关系，并按此原生几何标准验收，不臆加整盘完全进入的门槛（inputs/task/privileged/instruction.md:47-48；BDDL:33-44）。",
+  "两模式物理成功条件相同，均调用rcb_behavior.Session；privileged另要求两次新进程回放成功、末态哈希一致和冻结实例匹配，standard读取服务的实时成功且可在结束后原地静置最多5秒。这些交付与复现条件不建语义步骤，当前无日志可核对差异（inputs/grader/efe_behavior-files/privileged/grade.py:168-174；inputs/grader/efe_behavior-files/standard/grade.py:29-36）。",
+  "缺少参考视频，criterion_zh使用头部和腕部视角可核实的盘面接触、物体进入内腔与门板闭合线索，不假定颜色或特定镜头；5%关节容差、0.05米/秒及连续30步需原生状态才可精确确认（暂行：DECISIONS.md N8���。",
+  "路线依据BDDL:22-28，机器人在厨房地板、早餐桌和目标容器均在厨房；场景的厨房房门只连接花园，没有证据要求绕行花园，故不强加房门步骤。冻结实例未提供机器人具体起始位姿，尚无日志或视频核实其精确站位。",
+  "q_score是原生目标部分满足比例，1仅表明裸BDDL目标达到。最终success要求两个披萨各在不同盘上且同处冰箱、两个碗同处水槽、全部厨房冰箱关闭，并且所有目标物体（包括盘子、冰箱和水槽）离手、线速度不超过0.05米/秒，全部条件联合连续成立30个控制步；依据inputs/grader/efe_behavior-files/rcb_behavior.py:100-104,1406-1434。现无状态日志，无法绑定原生Session.succeeded及其连续计数，故success保持null；联合条件只在summary_zh及各目标criterion_zh中说明，不作为各放置节点的局部计入条件，不另设松手静置节点（docs/01_task_dag.md Step 3.4、Step 6；DECISIONS.md P8）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "八个步骤、计数与必要开门顺序可由文本、BDDL及初始真值支持，验收数值来自共享评分器；但无成功示例、无状态日志且无场景视频，全部条件绑定及视觉可辨性尚不能实测，并有原盘身份与最终配对的文本差异。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点集合与评分器基本一致（留盘×2、开门、入柜×2、入槽×2、关门），无日志可核。两处需改：入柜/入槽节点持物时应不冻结；离手静止条件不应写进各放置节点。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点集合（留盘×2、开冰箱、入柜×2、入槽×2、关冰箱）与文本及评分器一致；freeze_held已为false，离手静止30步联合窗不在各放置节点内，约束为跌倒与崩溃；无状态日志，success为null合规。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['pizzas_on_plates_1', 'pizzas_on_plates_2', 'fridge_opened', 'pizzas_in_fridge_1', 'pizzas_in_fridge_2', 'bowls_in_sink_1', 'bowls_in_sink_2', 'fridge_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:40:59Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cleaning_up_plates_and_food/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "5a2fda334387d4b113cb78fbcb166410bca00901e9740a37d2928860d9ea8804",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye.json

@@ -0,0 +1,427 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "c25f7e4e79a8373412bfa79daf25777efbcd08e9b6572b88739b25b406dd6dbf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4212,
+   "sim_steps": 4212,
+   "fallen": 0,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 1428.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 96,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.544,
+   "peak_memory_gb": 9.076,
+   "peak_processes": 28,
+   "peak_disk_gb": 1.551,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/replay.mp4",
+  "duration_s": 140.4,
+  "fps": 30.0,
+  "frames": 4212,
+  "sha256": "68b4206f6eb9748b9bcb79639cee4593b01fce19022e7c974a11d5bba602f01d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 4,
+  "final": 3,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      120.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两份披萨分别放在两只白盘上。"
+     },
+     {
+      "t": 94.7,
+      "log_step": null,
+      "text_zh": "观察：视频 94.7 s 一份披萨已落到餐桌旁地面，另一份仍在桌上白盘中。"
+     },
+     {
+      "t": 120.5,
+      "log_step": 2860,
+      "text_zh": "推断：视频 119.9 s 尚见最后一份披萨与白盘一起位于桌边，视频 120.6 s 后机器人撤离；结合视频 122.7 s 空爪及桌边分离的白盘、log step 2860、2862的披萨离盘结果，将最后一组关系失去锚定为视频约 120.5 s。此处部分被桌边遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪先夹持一只盘子搬动，另一次伸入披萨中央合爪；log step 2860记录后一次实际附着的是披萨。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      88.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两组披萨—白盘配对均成立。"
+     },
+     {
+      "t": 87.6,
+      "log_step": 2860,
+      "text_zh": "推断：视频 87.6 s 左夹爪搬起的盘子明显倾斜；视频 94.7 s 披萨出现在桌旁地面，另一份仍留桌上。首份披萨在离桌搬运时脱离盘面，失去第二组配对约在视频 88.0 s；确切分离被转身后的视角遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪先夹持一只盘子搬动，另一次伸入披萨中央合爪；log step 2860记录后一次实际附着的是披萨。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      72.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 72.7,
+      "log_step": 2860,
+      "text_zh": "观察：视频 72.2–74.2 s 机器人左手拉动冰箱门，门板外摆并露出照明内腔和层架；视频 76.2 s 门仍敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 70.7–74.2 s 左二指夹爪围住冰箱竖把手并随门外拉；随后张爪退出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：开门时底盘向后调整，机械臂保持对门把手的牵引。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.7,
+      "log_step": null,
+      "text_zh": "观察：视频 94.7 s 首次搬运的披萨在桌��地面，机器人搬走的是空盘；视频 108.2 s 地面可见白盘。"
+     },
+     {
+      "t": 127.7,
+      "log_step": 2860,
+      "text_zh": "推断：视频 112.2–120.4 s 第二次操作时左爪伸入桌上披萨中央，随后撤离，视频 127.7 s 左爪为空，冰箱已关闭；未见任何仍由盘子承托的披萨进入冰箱。log step 2860的4212动作交付记录及log step 2862的末态查询均报告两披萨不在冰箱，动作顺序与视频相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪先夹持一只盘子搬动，另一次伸入披萨中央合爪；log step 2860记录后一次实际附着的是披萨。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 140.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–140.3 s 的两轮取食物与返回冰箱过程中，未出现两份披萨各在盘上进入内腔的状态；首份落在桌旁，第二次操作后也未见带披萨的盘子进入冰箱。"
+     },
+     {
+      "t": 140.3,
+      "log_step": 2860,
+      "text_zh": "观察：log step 2860记录交付轨迹4212个动作、两个披萨inside均为False；该长度与视频140.4 s、30 fps一致。这里只用于核对交付记录，不将agent工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪先夹持一只盘子搬动，另一次伸入披萨中央合爪；log step 2860记录后一次实际附着的是披萨。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–11.5 s 左爪夹持第一只碗离开桌面；视频 25.1–26.6 s 碗释放、翻动后可见于水槽凹腔中，视频 28.7 s 机器人退开时碗仍在槽口内。按数量计为第一个碗，约在视频 25.6 s 达到。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 2862,
+      "text_zh": "推断：视频 57.1–58.6 s 第二只碗落入同一水槽，与原碗叠碰，随后至少一只碗仍在凹腔；log step 2860、2862的末态查询报告第二只碗inside=True、第一只False。计数节点不追踪原碗身份，故至少一个入槽关系保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪依次夹住两只碗的边沿，将碗从桌面提起，运到水槽后张爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 57.1–58.6 s 第二次放碗时，两只碗在槽内上方重叠、相碰并翻动；机器人随即退走，没有再次调整碗的位置。未能确认两碗中心同时处于水槽内部。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 2862,
+      "text_zh": "推断：结合视频 58.6 s 的槽沿附近叠碗位置与log step 2860、2862报告的一碗inside=False、一碗True，第二个有效入槽计数未建立；不把碗在槽口上方的投影重叠算作inside。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪依次夹住两只碗的边沿，将碗从桌面提起，运到水槽后张爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在餐桌与厨房目标容器之间行驶，承载机械臂和所搬物体。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      72.5
+     ],
+     [
+      104.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱双门闭合；视频 72.7 s 门板外摆，此状态失去。"
+     },
+     {
+      "t": 104.7,
+      "log_step": null,
+      "text_zh": "观察：视频 104.7–106.2 s 冰箱两扇门已回到并排闭合位置；之前转身遮挡，恢复时间以首次��新确认闭合的画面约视频 104.5 s 记。"
+     },
+     {
+      "t": 140.3,
+      "log_step": 2860,
+      "text_zh": "观察：视频 135.2–139.3 s 左夹爪伸向冰箱门板并向内送；视频 139.5、139.9、140.3 s 门板与柜体保持闭合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 135.2–139.3 s 左夹爪接触冰箱门板并向关闭方向推送，未见夹住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：关门操作时底盘靠近冰箱并调整站位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowls_in_sink_2",
+   "t": 57.4,
+   "log_step": 2860,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 25.6–28.7 s 第一只碗已置于水槽；视频 57.1–58.6 s 机器人释放第二只碗时与原碗叠碰、翻动，未建立可确认的双碗入槽状态，之后未修复。log step 2860的4212动作交付记录及log step 2862末态查询均只有一碗inside=True，故断点选第二个碗入槽计数，而非之后的披萨失败。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": false,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 57.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.1–57.4 s 左腕画面可见放下的碗与水槽内原碗轮廓相交、叠碰，视频 58.1–58.6 s 碗翻转并靠近槽边；机器人随后空爪退出，没有把两只碗重新分开放稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 57.1–58.6 s 第二只碗沿已有碗所在区域下放，释放后两碗叠碰；log step 2825的交付脚本给两次下放同一x坐标8.10，y仅从0.30改到0.40，且释放后直接撤臂。结合log step 2862的最终一碗未入槽，所用双碗承载布局未避免相互干涉；没有验证过能同时容纳两碗的替代落点。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。水槽内碗的高度、包围盒中心是否短暂越过inside边界不能从腕部画面精确量出；第一只碗初次落稳及第二次叠碰后的一碗失效采用画面与交付记录联合推断，不能排除第一只碗初次落点已接近验收边界。两份披萨离盘及冰箱首次重新闭合的瞬间部分被转身遮挡，时间为近似锚点。log step 2860的会话q_score为1/7，评分回放字段为2/7，因此以本次评分视频和评分字段为准，不把后续重置调试当作进度。"
+ },
+ "summary_zh": "评分录像最终保持一个碗入槽、冰箱已开过并最终关闭，共3/8节点；两份披萨初始在盘上，随后均失去留盘关系，也未完成入柜。第二次放碗时两碗叠碰，未修复双碗入槽，断点为bowls_in_sink_2；后续又出现倾盘丢失披萨及直接夹取披萨的操作。无状态日志，水槽inside边界与部分遮挡时刻依画面及4212动作交付记录推断，不能用会话调试结果替代评分录像。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间、末态（一碗入槽、冰箱关闭，对应评分2/7）与断点bowls_in_sink_2和视频及log step 2860/2862一致；碰撞现象与抓取接触设计根因有帧和脚本依据，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:02:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0fcfdd5a5ce9b6e290525781392471f024f4353175fcd502420504f1304709be",
+   "video_sha256": "68b4206f6eb9748b9bcb79639cee4593b01fce19022e7c974a11d5bba602f01d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9.json

@@ -0,0 +1,442 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "c25f7e4e79a8373412bfa79daf25777efbcd08e9b6572b88739b25b406dd6dbf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22584,
+   "sim_steps": 22584,
+   "physics_steps": 90336,
+   "steps": 22581,
+   "elapsed_s": 6730.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2857142857142857,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9/replay.mp4",
+  "duration_s": 752.8,
+  "fps": 30.0,
+  "frames": 22584,
+  "sha256": "7f88d726d2fb8092ccfb4a1c29b3735b6bd88932efc882ba4643fb576b9c2600"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s餐桌上有两组披萨—白盘；机器人后来反复搬运其中一组，另一组始终留在餐桌上。"
+     },
+     {
+      "t": 730,
+      "log_step": null,
+      "text_zh": "观察：视频730.0 s腕部视图仍能看见餐桌上的另一份披萨由白盘承托；视频752.6 s已检查末秒，没有机器人再取这份披萨的动作。至少一组留盘关系持续成立。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      286.5
+     ],
+     [
+      485.5,
+      620
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s两份披萨分别在不同白盘上，开局两组配对成立。"
+     },
+     {
+      "t": 286.5,
+      "log_step": 184,
+      "text_zh": "观察：视频284.0–286.5 s机器人右爪所持餐盘在冰箱门旁被顶转，披萨从盘面向下滑；视频288.0 s披萨已在近乎竖直的盘子下方，视频298.0 s落在冰箱外地板上。留盘计数降为一组。"
+     },
+     {
+      "t": 485.5,
+      "log_step": 279,
+      "text_zh": "观察：视频470.0 s右夹爪已经把披萨从地板夹起；视频483.5–486.5 s机器人把它降到餐桌的空盘上、张爪撤开，随后两份披萨各由一只盘子承托。恢复时间约为视频485.5 s。"
+     },
+     {
+      "t": 620,
+      "log_step": 335,
+      "text_zh": "推断：视频597.0 s第二次搬运的披萨仍在左爪所持盘上，视频630.0 s腕部视图已见披萨竖靠冰箱外底部、与盘分离，视频647.0 s能同时看见柜内空盘及柜外披萨。第二次失去留盘关系约记为视频620.0 s，实际离盘时刻被遮挡，只能限定在视频597.0–630.0 s。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "观察：视频752.6 s末秒披萨仍靠在冰箱外底部，柜内盘子为空，另一组留在餐桌，第二组留盘关系没有恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先以右二指夹爪夹住载披萨盘子的盘沿搬运，随后右爪夹住落地披萨边缘并放回盘上；再次搬盘使用左夹爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在夹爪持盘或持披萨期间转向、往返餐桌与冰箱。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      203,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 203,
+      "log_step": 142,
+      "text_zh": "观察：视频201.0 s机器人右夹爪合拢在冰箱右门把手处；视频203.0–205.0 s拉开门缝并逐渐露出冰箱内腔，视频209.0 s内侧搁架清楚可见。开门事件约在视频203.0 s达到，之后保持记入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/���爪",
+      "how": "抓握",
+      "note_zh": "机器人右二指夹爪夹住右门把手，向外拉并沿门的转动方向送出；后续再次抓把手扩大开口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在开门操作期间调整底盘位置，继续扩大门的开口。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 286.5,
+      "log_step": 184,
+      "text_zh": "观察：视频270.0–284.0 s机器人右爪把载披萨餐盘从餐桌运到冰箱门前；视频286.5–298.0 s餐盘与门发生干涉后披萨滑到柜外地板，没有观察到披萨在盘上且位于内腔的关系。"
+     },
+     {
+      "t": 647,
+      "log_step": 335,
+      "text_zh": "观察：视频630.0–647.0 s第二次搬运结束后，一只空白盘位于冰箱搁架上，披萨单独竖靠冰箱外底部；机器人随后反复向披萨伸爪，未把它移到柜内盘上。"
+     },
+     {
+      "t": 752.6,
+      "log_step": 375,
+      "text_zh": "观察：视频752.6 s末秒仍是柜内空盘、柜外披萨。log step 375中agent自述“还没有完成披萨放置”，与末态画面一致。"
+     },
+     {
+      "t": 620,
+      "log_step": null,
+      "text_zh": "推断：第二次送盘时载荷在视频597.0–630.0 s间多被机器人自身和腕部近景遮住，无法证实是否曾有极短的合格入柜关系，故不记未被证实的到达；末态未达可由披萨在柜外直接判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先以右二指夹爪夹住载披萨盘子的盘沿搬运，随后右爪夹住落地披萨边缘并放回盘上；再次搬盘使用左夹爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在夹爪持盘或持披萨期间转向、往返餐桌与冰箱。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 730,
+      "log_step": null,
+      "text_zh": "观察：视频730.0 s腕部视图显示另一份披萨连白盘仍在餐桌上；视频752.6 s另一份披萨仍在冰箱外底部，柜内白盘为空，未出现两份披萨各在盘上并同处冰箱的画面。机器人未开始搬运餐桌上剩下的这份。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      149,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 123,
+      "log_step": null,
+      "text_zh": "观察：视频123.0 s两只碗已离开餐桌，分别夹在机器人左右爪中，并随底盘移动到水槽。"
+     },
+     {
+      "t": 149,
+      "log_step": 121,
+      "text_zh": "观察：视频148.5–151.0 s右爪将第一只碗降入水槽凹腔，白色碗体出现在槽沿以下；视频154.0 s撤爪后该碗留在槽内。按持物也可计入的判据，到达时间约为视频149.0 s。"
+     },
+     {
+      "t": 176,
+      "log_step": 129,
+      "text_zh": "推断：视频168.0、174.0、176.0 s两只碗均留在同一水槽凹腔，随后机器人离开水槽，完整后续视频中没有取回碗的动作，至少一只入槽关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右二指夹爪分别夹住一只碗的碗沿，同时持碗离开餐桌；到水槽后先用右爪降低、松开第一只，再用左爪放下第二只。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人双爪持碗时，底盘从餐桌转向并驶到厨房水槽前。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      164,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": 126,
+      "text_zh": "观察：视频160.0–164.0 s左爪把第二只碗降向已有一只碗的槽腔，视频164.0–166.5 s第二只碗降入槽沿以下并松爪，视频168.0 s可见两只碗并列留在凹腔。按持物也可计入的判据，到达时间约为视频164.0 s。"
+     },
+     {
+      "t": 176,
+      "log_step": 129,
+      "text_zh": "推断：视频174.0、176.0 s机器人双爪空着离开，腕部仍可见两只碗在同一槽内；后续机器人一直在餐桌、冰箱区域搬盘和捡披萨，没有再操作水槽，故两只入槽关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右二指夹爪分别夹住一只碗的碗沿，同时持碗离开餐桌；到水槽后先用右爪降低、松开第一只，再用左爪放下第二只。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器���双爪持碗时，底盘从餐桌转向并驶到厨房水槽前。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      203
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s厨房冰箱两扇门均与柜体闭合。视频203.0–205.0 s右门被机器人拉开，关闭状态失去；此状态独立于入柜步骤的前置边计入。"
+     },
+     {
+      "t": 298,
+      "log_step": null,
+      "text_zh": "观察：视频286.5–298.0 s右门受载盘干涉向关闭方向回转，但仍有可见开口；视频355.0 s门仍离开柜体，后续机器人再次把门拉大。没有看见中途完全恢复关闭。"
+     },
+     {
+      "t": 752.6,
+      "log_step": 382,
+      "text_zh": "观察：视频740.0–752.6 s机器人右夹爪在门板、门内储物架附近推送，右门仍敞开，最后一秒内腔和搁架持续暴露。关门尝试没有恢复关闭状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人末段以右夹爪推送冰箱右门及门内储物架，门发生转动但未合拢。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人结束披萨恢复尝试后移动底盘到门前，再伸右爪关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 286.5,
+   "log_step": 184,
+   "where": "操作中",
+   "evidence_zh": "观察：视频284.0–288.0 s机器人正用右爪把第一份载披萨餐盘送入冰箱，盘沿与门发生干涉、餐盘转为近乎竖直，披萨滑落柜外。视频485.5 s虽把披萨恢复到餐桌盘上，但这一步入柜始终未被确认完成；第二次送盘后视频647.0 s仍是空盘在柜内、披萨在柜外，视频752.6 s也未修复。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 285,
+    "log_step": 182,
+    "evidence_zh": "观察：视频282.0–286.5 s机器人右爪持盘靠近冰箱时，餐盘与右门内侧边缘相接，门向内回转，餐盘被顶得明显倾斜，不能沿原来的水平姿态送入搁架。log step 182也记录agent自述盘子擦到门内沿。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 286.5,
+    "log_step": 184,
+    "evidence_zh": "观察：视频286.5–288.5 s右爪仍夹着白盘，披萨却从盘面下滑；视频298.0 s披萨已经落到冰箱外的地板。这是搬运时失去披萨的承托，不是到达目标后主动释放导致的不稳；视频647.0 s再次出现空盘在柜内、披萨在柜外。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频270.0 s显示机器人能够夹住盘沿并连披萨抬运，但视频284.0–288.5 s送盘路径未避开冰箱门，接触后也未维持盘面水平而使披萨滑出。log step 182的脚本在agent已注意到盘沿擦门后仍将右爪直接向内推进；log step 184的服务本体读数显示实际右末端高度约1.294米，而所请求高度为1.10米，且伴有关节限位裁剪。结合实际门盘干涉，把根因留在控制层；现有证据不足以把接触设计、碰撞下的跟踪或逆解问题单独定为某一子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有成功参考视频；原生inside、ontop和门关节5%阈值没有逐步读数，节点时间按可见几何近似。第二次送盘在视频597.0–630.0 s间被机器人自身及腕部近景遮挡，第二次离盘时间以视频620.0 s作粗略估计，无法确认是否短暂形成入柜关系；但视频647.0 s及752.6 s的柜外披萨明确否定最终入柜和两组留盘。两只碗最后在视频176.0 s清楚可见，之后保持由无再操作的连续轨迹推断。缺少接触力和完整控制跟踪记录，控制根因不细分；未用agent工作秒数换算视频秒数。"
+ },
+ "summary_zh": "观察：机器人完成两只碗入槽并打开冰箱；一份披萨始终留在餐桌盘上，另一份搬运时先被门挡住并滑落，捡回餐盘后再次脱离，末秒仍靠在冰箱外，冰箱也未关上，最终4/8个节点成立。推断：断在第1个披萨入柜，主要是送盘时的碰撞与载荷稳定控制失败；无状态日志，第二次离盘瞬间和可能的短暂入柜被遮挡，相关时间仅为近似。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点区间、峰值/末态计数（3/5/4）、断点（pizzas_in_fridge_1，视频约286.5 s）与现象均与视频帧一致；控制根因停在“控制”大类并说明了不细分的理由，可接受。未发现需要改动内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:02:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e59d9c2da7f9b34e0d983d8d3eeaad31d9e19114eb712fed11f9a0ae479b9819",
+   "video_sha256": "7f88d726d2fb8092ccfb4a1c29b3735b6bd88932efc882ba4643fb576b9c2600",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/collecting_childrens_toys/task_dag.json

@@ -0,0 +1,520 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "suite": "behavior-1k",
+ "base": "behavior-collecting-childrens-toys-i00",
+ "title_zh": "收好儿童玩具",
+ "summary_zh": "两颗骰子、两只泰迪熊、两套桌游和一套火车玩具均在儿童房同一个书柜内，全部目标对象脱手且静止，并与目标关系一起连续保持30个控制步。",
+ "embodiment_zh": "两个模式均为R1Pro轮式移动双臂机器人；左、右臂各七自由度、各配二指夹爪，具有可调躯干及轮式底盘，采用辅助抓取；头部与左右腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-collecting-childrens-toys-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "dice_in_bookcase_1",
+    "zh": "第1颗骰子入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少1件骰子，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的骰子少于1件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件骰子，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的骰子，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:37-40",
+     "bddl/collecting_childrens_toys.literals.json:3-4,10-11",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "dice_in_bookcase_2",
+    "zh": "第2颗骰子入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "dice_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少2件骰子，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的骰子少于2件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件骰子，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的骰子，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:37-40",
+     "bddl/collecting_childrens_toys.literals.json:3-4,10-11",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静���仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "bears_in_bookcase_1",
+    "zh": "第1只熊入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少1件泰迪熊，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的泰迪熊少于1件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件泰迪熊，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的泰迪熊，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:41-44",
+     "bddl/collecting_childrens_toys.literals.json:5-6,12-13",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "bears_in_bookcase_2",
+    "zh": "第2只熊入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bears_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少2件泰迪熊，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的泰迪熊少于2件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件泰迪熊，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的泰迪熊，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:41-44",
+     "bddl/collecting_childrens_toys.literals.json:5-6,12-13",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "board_games_in_bookcase_1",
+    "zh": "第1套桌游入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少1件桌游，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的桌游少于1件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件桌游，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的桌游，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:45-48",
+     "bddl/collecting_childrens_toys.literals.json:7-8,14-15",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "board_games_in_bookcase_2",
+    "zh": "第2套桌游入柜",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "board_games_in_bookcase_1"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有至少2件桌游，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的桌游少于2件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件桌游，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的桌游，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:45-48",
+     "bddl/collecting_childrens_toys.literals.json:7-8,14-15",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "同类物品按数量计，不指定哪一个实例先完成；两个同类玩具必须在同一候选书柜内，类别间的同柜要求属于整体成功验收。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   },
+   {
+    "id": "train_set_in_bookcase",
+    "zh": "火车套装入柜",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "头部或腕部相机可见，儿童房任一候选书柜的内部隔层中已有火车套装，其包围盒中心位于该柜包围盒及内部容积内，已脱离夹爪并静置（线速度不超过0.05米/秒），仅在柜前、柜顶或仍被夹持均未完成。同一柜内符合条件的火车套装少于1件即失去；最终还须七件玩具同处一个书柜，七件玩具及两个候选书柜均脱手、静止，与全部目标关系一起连续保持30个控制步（30赫兹，任务称1秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右臂的二指夹爪直接夹住一件火车套装，将其放入书柜内部隔层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "轮式底盘承载机器人及夹爪中的火车套装，在原放置处和书柜之间移动。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/standard/instruction.md:5",
+     "task/privileged/instruction.md:39-40",
+     "grader/efe_behavior-files/rcb_behavior.py:103-105",
+     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
+     "bddl/collecting_childrens_toys.bddl:49-52",
+     "bddl/collecting_childrens_toys.literals.json:9,16",
+     "bddl/collecting_childrens_toys.literals.json:38",
+     "task/privileged/environment/instance.json:12-180"
+    ],
+    "conf": 6,
+    "note_zh": "火车套装作为一个BDDL对象计一步，不按套装的外观部件拆分。联合30步窗口放在整体成功验收，不对每个放入步骤重复设置等待；本节点hold_s为0，松手和自身静止仍是放入的验收。任务未限制手别；抓取、抬起、搬运及松手动作不另建节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "机器人基座高度低于场景地板0.03米，或基座向上轴的竖直分量小于0.75（倾斜超过约41.4度），任一条件连续成立300个控制步（30赫兹，10秒）即触发失败并结束。短暂倾斜后恢复不触发；同一控制步先检查仿真崩溃，再检查成功，最后检查跌倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "grader/efe_behavior-files/rcb_behavior.py:1393-1399",
+     "grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，机器人任一位置分量绝对值超过10000米，或基座线速度超过100米/秒，即终止失败；每30个控制步还检查目标对象位置是否非有限或任一分量绝对值超过10000米。此判据来自仿真状态，视频中的突然消失或飞散只能提供线索。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "flags.lit:(inside die.n.01_2 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside die.n.01_2 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside die.n.01_1 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside die.n.01_1 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside teddy.n.01_1 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside teddy.n.01_1 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside teddy.n.01_2 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside teddy.n.01_2 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside board_game.n.01_2 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside board_game.n.01_2 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside board_game.n.01_1 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside board_game.n.01_1 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside train_set.n.01_1 bookcase.n.01_2)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside train_set.n.01_1 bookcase.n.01_2)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside die.n.01_2 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside die.n.01_2 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside die.n.01_1 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside die.n.01_1 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside teddy.n.01_1 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside teddy.n.01_1 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside teddy.n.01_2 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside teddy.n.01_2 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside board_game.n.01_2 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside board_game.n.01_2 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside board_game.n.01_1 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside board_game.n.01_1 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "flags.lit:(inside train_set.n.01_1 bookcase.n.01_1)",
+    "level": "new_code",
+    "source": "待补日志字段 flags.lit:(inside train_set.n.01_1 bookcase.n.01_1)；原生BDDL inside谓词，bddl/collecting_childrens_toys.literals.json:2-16"
+   },
+   {
+    "atom": "goal_objects_released",
+    "level": "new_code",
+    "source": "待补日志字段 dyn.goal_objects_released：逐帧记录机器人_ag_obj_in_hand与七件玩具及两个书柜的交集是否为空；grader/efe_behavior-files/rcb_behavior.py:1310-1314,1420-1425"
+   },
+   {
+    "atom": "goal_objects_at_rest",
+    "level": "new_code",
+    "source": "待补日志字段 dyn.goal_objects_at_rest及各目标物体线速度：七件玩具与两个书柜均不超过0.05米/秒；grader/efe_behavior-files/rcb_behavior.py:104,1422-1427"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "待补日志字段 flags.success_rule：原生Session.succeeded，完整目标加全部目标对象脱手、静止连续30控制步；grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1404,1432-1434"
+   },
+   {
+    "atom": "fallen",
+    "level": "new_code",
+    "source": "待补日志字段 flags.fallen：Session.status()[fallen]，原生FallWatch连续300控制步判定；grader/efe_behavior-files/rcb_behavior.py:124-144,1546"
+   },
+   {
+    "atom": "sim_breakdown",
+    "level": "new_code",
+    "source": "待补日志字段 flags.breakdown：Session.status()[breakdown]，非有限或失控状态；grader/efe_behavior-files/rcb_behavior.py:1437-1471,1546"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功示例：inputs/oracle_none.txt记载14条目录运行全部失败，且没有solution文件；依DECISIONS.md N2，从文本、BDDL初态、冻结实例与评分器规划，未能用成功视频核实实际外观和可见性。",
+  "没有状态日志：inputs/states/index.json的logs为空；依DECISIONS.md P8，七个节点when、两个约束never及success均为null。atoms中的new_code列出需补记的原生谓词与物理验收字段，未假定现有日志包含这些字段。",
+  "同柜联合验收：两个候选书柜任选其一，但不能各类玩具分别选柜后即视为整体成功；每类按同一柜内至少第k件计数，跨类别的共同柜选择和全部目标对象连续30步脱手静止由整体成功验收承担（bddl/collecting_childrens_toys.literals.json:18-36）。目标量词也命名了书柜，所以静置和脱手检查包含两个候选书柜，而非仅七件玩具。",
+  "初态与必经门核对：BDDL初态把机器人、玩具和目标书柜放在同一儿童房，所有inside初始值为假；scene_objects未将书柜列作可开合对象，未发现所有成功路线必须开启的房门或柜门，故不加开门步骤。缺少完整场景图和成功视频，书柜实际内腔外观仍待核实。",
+  "模式差异：共同物理成功规则均由rcb_behavior.Session执行；privileged评分另要求两次新进程重放全部成功、末态哈希一致且冻结实例匹配（grader/efe_behavior-files/privileged/grade.py:168-174），standard按单次现场服务已终结结果评分（grader/efe_behavior-files/standard/grade.py:29-35）。重放有效性和交付检查不建语义步骤，不写成世界状态条件。",
+  "原生q_score由评测器聚合后读出，给定文件未含其计算公式；记录为无量纲诊断量，threshold为null，不以q_score替代完整成功规则（grader/efe_behavior-files/rcb_behavior.py:1548-1553）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "七个放入步骤直接来自文本，同类计数及同柜目标可由BDDL确认，释放、静置阈值与失败规则有代码依据；无成功视频和状态日志，无法核实视觉细节或动态绑定，故整体置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点（骰子×2、泰迪熊×2、桌游×2、火车玩具）与任务文本及BDDL的forall目标一致，按N4使用计数步；无状态日志故when/never为null符合P8；约束为评分器的跌倒与崩溃失败条件；未发现多余/缺失节点、习惯边或标签问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['dice_in_bookcase_1', 'dice_in_bookcase_2', 'bears_in_bookcase_1', 'bears_in_bookcase_2', 'board_games_in_bookcase_1', 'board_games_in_bookcase_2', 'train_set_in_bookcase']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T01:53:51Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__collecting_childrens_toys/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__collecting_childrens_toys/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "4e00aa4fd358a6bd38e42f6be51e0e03479fd64a2df8e256dbe6c98f368f6648",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--5qt7tdv.json

@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--5qt7tdv",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "efe75ec6e4443a684d27ef592f55df64f3ade8520894a69fd15fc2ee46799341",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 10405,
+   "sim_steps": 10405,
+   "fallen": 0,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 2588.8,
+   "replay_timeout_s": 6402.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 50,
+   "agent_sim_steps": 19015,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.964,
+   "peak_memory_gb": 12.491,
+   "peak_processes": 47,
+   "peak_disk_gb": 4.026,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-privileged--5qt7tdv/replay.mp4",
+  "duration_s": 346.833,
+  "fps": 30.0,
+  "frames": 10405,
+  "sha256": "8e4db0fd943464d88669c64c8185c23e28986448ad8e71f6fae28404677e60bf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8 s，白色骰子从床上移到机器人左夹爪中，随左手和底盘离开床边。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 263,
+      "text_zh": "推断：视频 43.7–44.0 s，机器人左夹爪张开、白色骰子离手下落；视频 199.0 s 可见白色与黑色骰子一起停在书柜底层内。结合前后画面，将第1颗骰子脱手静置的起点近似标为视频 44.5 s，误差约1秒；下落末段被柜板挡住。"
+     },
+     {
+      "t": 199,
+      "log_step": null,
+      "text_zh": "观察：视频 199.0–207.5 s，书柜底层内可见白色骰子和旁边的黑色骰子，位置保持不变。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住白色骰子并搬运，到柜前张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘载着白色骰子从床边驶到书柜前。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      130.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "观察：视频 80–88 s，机器人左夹爪拾起床上的黑色骰子，骰子随夹爪离开床面。"
+     },
+     {
+      "t": 130,
+      "log_step": 265,
+      "text_zh": "推断：视频 128.0–129.0 s，黑色骰子脱离机器人张开的左夹爪并向下落；视频 199.0 s 可见白色和黑色骰子均停在同一书柜底层内。把第2颗脱手静置的起点近似标为视频 130.0 s，误差约1秒；未由日志的agent时间换算视频时间。"
+     },
+     {
+      "t": 199,
+      "log_step": null,
+      "text_zh": "观察：视频 199.0–207.5 s，两颗骰子均在底层隔板内侧，未见随后再被取出；评分器原生 q_score 为0.285714，但此数值未单独用来决定节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住黑色骰子，搬到书柜前释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘承载黑色骰子，从床边移动到书柜前。"
+     }
+    ]
+   },
+   "bears_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 256,
+      "log_step": null,
+      "text_zh": "观察：视频 240–256 s，第一只粉色熊出现在机器人左夹爪内并随手离开地面；视频 256–278 s 机器人持熊移到书柜前。"
+     },
+     {
+      "t": 301,
+      "log_step": 271,
+      "text_zh": "观察：视频 278–299 s，熊一直在左夹爪旁随手移动，没有脱手留在隔层内；视频 300–301 s 左夹爪张开后熊向柜外下落，视频 304–309 s 可见它在柜前地上。"
+     },
+     {
+      "t": 309,
+      "log_step": null,
+      "text_zh": "推断：该熊松手后没有在柜内静置的可见区间，因此第1只熊入柜未达成；后续视频 319–346.75 s 机器人改为抓取另一只熊，也未把熊放进柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第一只粉色熊，将它搬到书柜前并张爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘持熊从地面拾取处移动到书柜前。"
+     }
+    ]
+   },
+   "bears_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 328,
+      "log_step": 273,
+      "text_zh": "观察：视频 322–339 s，机器人左夹爪多次靠近另一只地上的粉色熊，指端接触后熊在地面上挪动或转动，但没有随夹爪抬离地面。"
+     },
+     {
+      "t": 346.75,
+      "log_step": null,
+      "text_zh": "观察：视频 345–346.75 s，左夹爪在熊旁张合，熊仍在地面；此前搬运的熊也落在柜前，未出现两只熊同柜脱手静置的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人左夹爪指端在地面拾取尝试中拨动第二只熊，熊仍贴着地面，没有形成可见的抓握搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘从书柜前驶向另一只熊，并在多次拾取尝试间调整接近位置。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 145.5,
+      "log_step": 267,
+      "text_zh": "观察：视频 143–147 s，机器人左夹爪从上方向床上桌游盒下降、合拢后抬起，盒子仍贴着床面；视频 155–169 s 反复下降重试，盒子只在床上略有移位或转动，没有随手离开床面。"
+     },
+     {
+      "t": 311,
+      "log_step": null,
+      "text_zh": "观察：视频 311–316 s，床上桌游仍留在床面，另一套桌游仍在书桌上；后续视频 319–346.75 s 机器人处理地上的熊，没有搬运桌游到柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 144–147 s 及后续重试中，机器人左夹爪指端从上方压到床上桌游盒表面，未形成可见的对向夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人左夹爪尝试夹取时拨动桌游盒，盒子在床面略有平移、转动，未被拿起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘从书柜前驶到床边，并在桌游夹取重试间调整位置。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 172,
+      "log_step": null,
+      "text_zh": "观察：视频 170–175 s，机器人转向书桌上的火车，另一套桌游仍在桌面；未见对这套桌游的独立拾取或入柜操作。"
+     },
+     {
+      "t": 311,
+      "log_step": null,
+      "text_zh": "观察：视频 311–316 s，床面和桌面各仍有一套桌游，柜内没有两套桌游；视频余下部分机器人只继续处理熊。"
+     }
+    ]
+   },
+   "train_set_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 172–184 s，机器人左夹爪从书桌拾起彩色火车套装，套装离开桌面并随夹爪和底盘移向书柜。"
+     },
+     {
+      "t": 209.5,
+      "log_step": 269,
+      "text_zh": "观察：视频 204–208.5 s 火车仍随机器人左手停在书柜前方；视频 209–211 s 松手后火车向下掉至柜前地面，未停在柜内隔板上。"
+     },
+     {
+      "t": 306,
+      "log_step": null,
+      "text_zh": "观察：视频 306 s，彩色火车仍在书柜前地面，未见后续成功重新放入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹持火车套装，从书桌搬到柜前后张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘承载火车套装由书桌移动到书柜前，之后退回书桌附近重试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "board_games_in_bookcase_1",
+   "t": 147.0,
+   "log_step": 267,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 143–147 s，机器人左夹爪试图夹起床上的桌游，但抬手后桌游仍在床上；视频 155–169 s 重试仍未拾起，随后机器人转去搬火车，直到视频结束也未修复此步。log step 267 是最终生成运行的监视输出，记录桌游抓取失败；它没有被当作视频时间来源。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": true,
+   "bears_in_bookcase_1": false,
+   "bears_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_set_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 147.0,
+    "log_step": 267,
+    "evidence_zh": "观察：视频 144–147 s 及视频 155–169 s，机器人左夹爪虽压碰到桌游盒表面，但未建立搬运所需的夹持接触；夹爪收拢、抬起后，盒子仍留在床面，机器人始终没有持盒去书柜。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 147.0,
+    "log_step": 276,
+    "source_zh": "视频 / agent 自述",
+    "evidence_zh": "推断：视频 144–147 s、155–169 s，机器人反复从上方向薄桌游盒合爪，指端在盒面上压拨，未包住盒子的两侧，说明实际接触几何未形成所需夹持。agent 在 log step 276 自述平行夹爪的指垫落在扁平物体的轮廓内、把物体推走而非夹住，与该段画面相符；未核实它关于具体可达高度的说法，也没有已验证的替代抓法。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；骰子下落末段被柜板遮挡，依据视频 43.7–44.0 s、128.0–129.0 s 的松手画面与视频 199.0–207.5 s 柜底两颗骰子的静止落点，近似推断首次达成时间，不能精确验证0.05米/秒阈值。接触力、机械限位和替代抓法可行性无独立记录，根因仅归于有画面支持的夹持接触设计。log step 260–275 的最终新进程生成运行保存了10405步，和本视频、评分器动作数及结局相符；较早测试中的抓取或入柜结果未计入本次进度。"
+ },
+ "summary_zh": "本次评分轨迹把两颗骰子送入同一书柜底层，最终完成2/7；两套桌游未入柜，火车和第一只熊搬到柜前后落在柜外，第二只熊未被拾起。最早未修复的失败是视频约147 s 的第1套桌游入柜：左夹爪反复压拨盒面，未建立可搬运的夹持，接触几何设计不适配。无状态日志，骰子静置起点由松手及后续可见落点近似推断，具体接触力和替代抓法仍未知。",
+ "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 140–306 s 的帧，与标注一致：两颗骰子已入柜（2/7），桌游抓取在床上未成功，火车和熊在柜前落地；断点取第一个未修复的失败步（第1套桌游），现象和根因均有画面支持。帧多为腕部或头部近景，细节（指垫与盒面的接触）难以逐帧核实，因此置信度中等。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--5qt7tdv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--5qt7tdv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3daa2b3da6a7333573f801c19487e46f5b374db9c630a3f88c12046e80b9ff11",
+   "video_sha256": "8e4db0fd943464d88669c64c8185c23e28986448ad8e71f6fae28404677e60bf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--gqjw8y4.json

@@ -0,0 +1,386 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--gqjw8y4",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "efe75ec6e4443a684d27ef592f55df64f3ade8520894a69fd15fc2ee46799341",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 5371,
+   "sim_steps": 5371,
+   "fallen": 0,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 2212.9,
+   "replay_timeout_s": 3885.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 31,
+   "agent_resets": 0,
+   "agent_sim_steps": 24532,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-privileged--gqjw8y4/replay.mp4",
+  "duration_s": 179.033,
+  "fps": 30.0,
+  "frames": 5371,
+  "sha256": "2f65eeb7c4ab62cc3a5fe6954d27fec4db5bc5bc52c3614686cc8b3f18208fed"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–40.0 s，机器人左夹爪夹住白色骰子并随底盘驶向书柜，骰子已离开床面；视频 44.0–45.0 s，腕部视图可见夹爪退出后白色骰子留在柜内隔板上。"
+     },
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "推断：白色骰子约在视频 44.5 s 脱手停稳，第1颗骰子入柜；以实际完成顺序计数，不把最先尝试但失败的黑色骰子算作第1颗完成。时间为目测，约有0.5秒误差。"
+     },
+     {
+      "t": 178.9,
+      "log_step": null,
+      "text_zh": "观察：视频 93.5–95.5 s 的腕部视图和视频 178.0–178.9 s 的末段画面仍可见该白色骰子位于书柜隔层内，未见随后被搬出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹持白色骰子，从床面抬起并送入书柜后张爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 34–40 s，轮式底盘承载机器人及左爪中的白色骰子由床边驶向书柜。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": 319,
+      "text_zh": "观察：视频 6.5–8.5 s，机器人左爪向黑色骰子闭合；视频 9.0–10.5 s 左爪回撤，黑色骰子仍在绿色床面上，未随夹爪离开。log step 319 的录制运行输出也记录 die.n.01_2 in hand: None。"
+     },
+     {
+      "t": 178.9,
+      "log_step": null,
+      "text_zh": "观察：视频 69.0–71.0 s 及视频 178.0–178.9 s，黑色骰子仍在床上；后续只见白色骰子入柜，没有第二颗骰子入柜。该未完成的黑色骰子归于第2颗计数节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "左夹爪对床上黑色骰子的闭合及回撤可见，但闭合时指尖接触区被爪体遮挡，无法确认实际碰触方式；没有可确认的夹持搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘先驶到床边尝试黑色骰子，随后空手驶到书柜并执行放置动作。"
+     }
+    ]
+   },
+   "bears_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 133.0,
+      "log_step": null,
+      "text_zh": "观察：视频 129.0–137.5 s，机器人在桌边地面泰迪熊附近移动左臂；腕部视图在视频 133.0–133.5 s 仍可见熊躺在地上，视频 137.5 s 回撤时熊仍留在桌旁，左爪没有带走熊。"
+     },
+     {
+      "t": 153.5,
+      "log_step": 321,
+      "text_zh": "观察：视频 145.0–150.5 s，机器人在柜前执行空爪放置；视频 153.5–158.5 s 可再次看到两只粉色熊分别留在地面。log step 321 的同一次5371步录制输出报告两只熊的 in hand 均为 None。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人左爪尝试接近桌旁地面泰迪熊，爪与熊的接触区域未在闭合时清楚呈现，不能确认实际接触方式；未见熊随手抬起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘驶至桌旁熊的取物位置，尝试后空手驶向书柜。"
+     }
+    ]
+   },
+   "bears_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 157.0,
+      "log_step": null,
+      "text_zh": "观察：视频 153.5–158.5 s，两只泰迪熊均仍躺在地面；视频 159.0–166.5 s，机器人继续调整躯干和左臂，腕部视图未见爪中有熊，视频 162.5 s 仍见地上的熊。"
+     },
+     {
+      "t": 178.9,
+      "log_step": 321,
+      "text_zh": "观察：视频 171.0–178.9 s，机器人左爪空着伸入书柜后退出，隔层内没有出现泰迪熊；整段两次尝试均未形成熊入柜。log step 321 记录最后一次熊的握持查询为空，随后结束并保存5371步轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "第二次地面泰迪熊取物尝试由左爪执行，但近距动作中目标与指尖未同时清楚可见，实际接触方式未知；没有可确认的抓握或搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在第二次熊的取物尝试及返回书柜的过程中移动。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      69.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–54.0 s，机器人左夹爪夹住床上的桌游盒并将其抬离床面；视频 54.0–66.5 s，盒子持续随左爪移动至书柜。"
+     },
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 67.5–68.5 s 左爪在隔层内张开；视频 68.75–70.0 s，爪退出后紫色桌游盒留在柜内，后续视频 96.0–99.0 s 和视频 178.0–178.9 s 仍见同一盒子。推定约视频 69.0 s 已脱手停稳，目测时间约有0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹持床上的桌游盒边角，抬起、搬运并在柜内张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载左爪中的桌游盒由床边驶向书柜。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110.0,
+      "log_step": null,
+      "text_zh": "观察：视频 106.0–110.0 s，机器人左爪下降靠近桌上的另一套桌游盒并闭合；视频 111.0–113.5 s 爪回撤时，头部视图一直可见桌游盒留在白色桌面，没有被带走。"
+     },
+     {
+      "t": 137.5,
+      "log_step": 321,
+      "text_zh": "观察：视频 134.0 s 及视频 137.5 s 仍可见该桌游盒在桌面；机器人随后执行的柜前放置没有携带第二个盒子。log step 321 的对应录制输出记录 board_game.n.01_1 in hand: None。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人左爪朝桌面桌游盒闭合，但盒边与指尖的实际接触方式受爪体遮挡，不能确认夹紧或推压；盒子未离开桌面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘驶到桌边尝试抓取第二套桌游，随后空手返回书柜。"
+     }
+    ]
+   },
+   "train_set_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "观察：视频 79.0–82.0 s，机器人左爪夹住彩色长条火车套装，目标离开桌面，随后持续随左爪移动至书柜。"
+     },
+     {
+      "t": 96.5,
+      "log_step": null,
+      "text_zh": "观察：视频 94.5–95.75 s，左爪张开后火车套装向柜前下落；视频 96.25–99.0 s，套装竖斜在书柜前沿外侧，下端在柜前地面，未平稳留在内部隔层。"
+     },
+     {
+      "t": 178.9,
+      "log_step": null,
+      "text_zh": "观察：视频 150.5–153.5 s 火车套装已横躺柜前地面；视频 178.0–178.9 s 的腕部视图仍可见柜外的彩色套装。未见一次满足脱手静置于柜内的放入状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住火车套装并从桌上抬起、搬运，随后在书柜前张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载左爪所持火车套装，由桌边驶至书柜。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.2857142857142857
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dice_in_bookcase_2",
+   "t": 8.5,
+   "log_step": 319,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.5–10.5 s，机器人左爪对黑色骰子闭合后空手撤离，骰子仍留床上；视频 12.0–20.0 s 机器人空手到柜前继续执行放置，之后未再抓取黑色骰子。log step 319 的相同录制输出为 die.n.01_2 in hand: None。按同类完成计数，后来入柜的白色骰子属于第1颗，黑色骰子的未修复失败落在 dice_in_bookcase_2。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": false,
+   "bears_in_bookcase_1": false,
+   "bears_in_bookcase_2": false,
+   "board_games_in_bookcase_1": true,
+   "board_games_in_bookcase_2": false,
+   "train_set_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.5,
+    "log_step": 319,
+    "evidence_zh": "观察：视频 8.25–10.5 s，机器人左爪向上回撤，黑色骰子从爪尖附近重新显露并留在床面，未建立能把它抬离原位的抓取；后续空爪驶向柜子。log step 319 的录制输出同时记录该骰子的握持查询为 None。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 312 中对应评分视频顺序的生成脚本，在闭爪后只打印 object_in_hand 查询，紧接着无条件抬臂、撤离并调用放柜流程；log step 319 返回 None，视频 9.0–20.0 s 也显示机器人丢下仍在床面的黑色骰子，继续空手执行搬运和放置。控制流程未据抓取失败反馈确认与重试，使这次失败一直未修复；此判断不指定首次抓取失效的几何或力学原因。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志和成功参照视频；失败抓取闭合处有遮挡，不能确定黑色骰子、桌上第二套桌游及两只熊是否发生瞬时指尖碰触，故这些接触方式记未知。放入时刻及静止按画面判断，无法数值核验0.05米/秒阈值。评分视频的物件顺序、5371步长度及末态得分与 log step 321 的已保存录制一致；log step 386 所述先搬熊的新脚本没有完成结果，不能据其宣称补计进展。"
+ },
+ "summary_zh": "评分视频中，一颗白色骰子约在视频 44.5 s、一套床上桌游约在视频 69.0 s 脱手留在同一书柜，最终完成2/7；黑色骰子及另一套桌游仍在原处，两只熊仍在地面，火车套装落在柜前。最早未修复的失败是黑色骰子未抓起，按完成数量归于第2颗骰子入柜；脚本在握持查询为空后仍继续空手搬运，未利用反馈纠正。没有状态日志，失败抓取的细小接触及精确静止阈值无法核验，末尾新脚本的计划不作为评分轨迹进展。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查的节点时间、接触标注、断点（黑色骰子未抓起，归 dice_2）和 log step 312/319/321 均与视频和日志一致；推断已标注为推断，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:25:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--gqjw8y4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--gqjw8y4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "885c5e0a31112f0d425049f43934ffd235d66b540d46e2030743eda8880f88f6",
+   "video_sha256": "2f65eeb7c4ab62cc3a5fe6954d27fec4db5bc5bc52c3614686cc8b3f18208fed",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/cook_a_brisket/task_dag.json

@@ -0,0 +1,393 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "suite": "behavior-1k",
+ "base": "behavior-cook-a-brisket-i00",
+ "title_zh": "烹熟牛胸肉",
+ "summary_zh": "牛胸肉已熟并放在砧板上，煎锅在台面上，所有目标物体离手且静止，三个目标共同持续满足规定窗口。",
+ "embodiment_zh": "两种模式均为 R1Pro 移动双臂机器人：左右臂各配二指夹爪，采用辅助抓取，轮式全向底盘及可动躯干；头部与左右腕相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-cook-a-brisket-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "fridge_opened",
+    "zh": "打开冰箱",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "头部相机可见银色双门冰箱的一扇门向外转开，露出白色内胆及放肉的高层搁板，开口足以让肉离开冰箱；只有碰到把手、门板仍封住取肉通道时未完成，完成后再关门不撤销本事件。",
+    "step": {
+     "cat": "机构",
+     "item": "打开"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只二指夹爪握住冰箱门把手，沿铰链弧线向外拉。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "另一可行方案为一只夹爪的手指勾住冰箱把手向外拉。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4 任务描述；两种模式相同",
+     "inputs/bddl/cook_a_brisket.bddl:17 肉初始在冰箱内",
+     "inputs/oracle/run.json:1 steps[id=40]：两个冰箱门关节初值均约为零；steps[id=42]：机器人从厨房起步",
+     "inputs/oracle/replay.mp4 @ 0.0, 4.0, 12.0, 20.0 s"
+    ],
+    "conf": 8,
+    "note_zh": "初态门关闭；最终肉须离开冰箱到砧板上，因此开门是前置。机器人与所有必需目标均在厨房，无需额外房间门节点；不要求固定哪扇门、哪只手或固定开门角度。"
+   },
+   {
+    "id": "heat_source_enabled",
+    "zh": "启用热源",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": false,
+    "criterion_zh": "至少一个能将肉加热至烹熟的设备处于开启并可供加热的状态；录像中的灶头控制标记由红变绿，手离开后仍为绿色，仅接近或碰触红色标记不算开启，也可使用烤箱、微波炉或场景中其他有效热源。",
+    "step": {
+     "cat": "机构",
+     "item": "启停设备"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "一只夹爪的指尖按触灶头或烤箱的开关位置。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只夹爪抓住可旋转的热源旋钮并转至开启位置。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": "待核实：输入只直接记录灶头与烤箱初始关闭，其他可用热源的开关初态未完整保留；暂按烹饪需启用至少一个热源建前置。",
+    "sources": [
+     "inputs/task/privileged/instruction.md:25 加热依赖开启的热源",
+     "inputs/bddl/cook_a_brisket.scene_objects.json:19-74 可用设备包括灶头、烤箱、微波炉、室外烤炉及壁炉",
+     "inputs/oracle/run.json:1 steps[id=40]：烤箱 ToggledOn=False；steps[id=52]：灶头 ToggledOn=False；steps[id=228]：BURNER_ON=True",
+     "inputs/oracle/replay.mp4 @ 210.0, 230.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "所有热源合为一个存在性前置，不能只认烤箱；与开冰箱没有先后边，成功后无需仍开着。仅某条路线使用的烤箱或微波炉开门不列为必需节点。"
+   },
+   {
+    "id": "brisket_cooked",
+    "zh": "牛胸肉做熟",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "heat_source_enabled",
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "肉由初始浅粉色生肉变为受热后的褐色熟肉纹理；录像后段还出现黑红焦化外观，不能据此把已成立的 cooked 判为失去，判据是原生 cooked 为真（说明给出的默认烹熟温度为历史最高温至少 70 °C），肉仍在夹爪中也可达到，离开热源或冷却不撤销烹熟状态。全局终验还要求三个目标同时成立，肉、砧板、煎锅和台面均未被夹爪持有且线速度不大于 0.05 m/s，连续 30 个控制步（30 Hz，名义 1 秒）；此联合窗口属于 success，不单独计步。",
+    "step": {
+     "cat": "材料",
+     "item": "温度变化"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：开启的灶头、烤箱或其他有效热源加热牛胸肉；手装载或夹持肉的接触属于操作过程。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4 任务描述；两种模式相同",
+     "inputs/task/privileged/instruction.md:25 cooked 按历史最高温判断；70 °C 是说明中的默认值",
+     "inputs/bddl/cook_a_brisket.bddl:18-20 初态未熟",
+     "inputs/bddl/cook_a_brisket.bddl:31 烹熟是目标",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标共同成立、所有目标物体离手且速度不大于 0.05 m/s，连续 30 个控制步",
+     "inputs/oracle/run.json:1 steps[id=285]：RECOVERY_HEAT=286.3968811035156，Cooked=True，肉仍在左夹爪中",
+     "inputs/oracle/replay.mp4 @ 270.0, 280.0, 290.0 s",
+     "inputs/bddl/cook_a_brisket.bddl:17 牛胸肉初始在冰箱内；开门后才能移至外部热源处加热",
+     "inputs/oracle/run.json:1 steps[id=40].out.text：j_left_door 与 j_right_door 初始关节值分别约 1.17e-9、1.53e-9，均为关闭；支持开冰箱为烹熟的物理前置"
+    ],
+    "conf": 6,
+    "note_zh": "设备完成：灶头、烤箱或其他有效热源。烹熟是设备产生的材料变化，夹持时可成立，故关闭 freeze_held。未加入必须使用煎锅、放上灶台或放入烤箱的节点；烹熟和上砧板之间不设顺序边，允许移动砧板后在其上加热。"
+   },
+   {
+    "id": "brisket_on_board",
+    "zh": "牛胸肉上砧板",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "fridge_opened"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见牛胸肉落到橙色矩形砧板的上表面，由砧板直接承托并接触，砧板在肉的正下方；肉只悬在砧板上方、落到邻近台面或滑离砧板均不成立，关系失去则该步骤失去。全局终验还要求三个目标同时成立，肉、砧板、煎锅和台面均未被夹爪持有且线速度不大于 0.05 m/s，连续 30 个控制步（30 Hz，名义 1 秒）；此联合窗口属于 success，不单独计步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只二指夹爪抓住牛胸肉，从冰箱移至砧板上方并放下。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在夹爪持肉时承载机器人，从冰箱附近移动到砧板附近。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4 任务描述；两种模式相同",
+     "inputs/bddl/cook_a_brisket.bddl:17 初态肉在冰箱内",
+     "inputs/bddl/cook_a_brisket.bddl:32 目标是肉在砧板上",
+     "inputs/task/privileged/instruction.md:24 ontop 要求接触、下方直接承托",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标共同成立、所有目标物体离手且速度不大于 0.05 m/s，连续 30 个控制步",
+     "inputs/oracle/replay.mp4 @ 290.0, 297.4 s"
+    ],
+    "conf": 7,
+    "note_zh": "取肉、抓取、搬运、松手不是额外步骤。此节点自身判断 ontop，允许关系在夹持时成立，故 freeze_held=false；全体离手和静止的共同验收保留于 success。"
+   },
+   {
+    "id": "pan_on_counter",
+    "zh": "煎锅留台面",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "黑色带柄煎锅留在厨房台面上，由台面直接承托并接触；初态已成立，应从起始计入进度，锅被移离台面、掉落或悬空时失去，放回后恢复。全局终验还要求三个目标同时成立，肉、砧板、煎锅和台面均未被夹爪持有且线速度不大于 0.05 m/s，连续 30 个控制步（30 Hz，名义 1 秒）；此联合窗口属于 success，不单独计步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "需要恢复时，一只二指夹爪握住煎锅把手，将煎锅放回台面；全程保持原位的方案无需碰锅。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "需要从其他位置把煎锅搬回时，轮式底盘承载持锅的机器人移动。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4 任务描述；两种模式相同",
+     "inputs/bddl/cook_a_brisket.bddl:21 初态煎锅在台面上",
+     "inputs/bddl/cook_a_brisket.bddl:33 最终仍须在台面上",
+     "inputs/bddl/cook_a_brisket.literals.json:14 初始目标位��为 001",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标共同成立、所有目标物体离手且速度不大于 0.05 m/s，连续 30 个控制步",
+     "inputs/oracle/replay.mp4 @ 0.0, 297.4 s"
+    ],
+    "conf": 8,
+    "note_zh": "依据 S4(a) 独立保留可全程维持的目标；不要求主动挪锅或用锅烹饪。接触描述的是需要恢复该关系时的典型方案。节点自身判断 ontop，联合松手静置在 success 中，故 freeze_held=false。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人倒地",
+    "never": null,
+    "criterion_zh": "机器人底座上轴的 z 分量小于 0.75（偏离竖直超过约 41.4°），或底座低于地板超过 0.03 m，连续 300 个控制步（30 Hz，名义 10 秒）后判倒地；短暂倾斜后恢复不满足该约束，且同一步成功先于倒地检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99 倒地常量",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:135-143 连续计数",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398 先故障、后成功、再倒地"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "仿真状态失控",
+    "never": null,
+    "criterion_zh": "机器人位置、四元数、基座线速度或关节位置出现非有限值；或机器人任一位置坐标绝对值超过 10000 m、基座线速度超过 100 m/s；或每 30 个控制步检查时发现目标物体位置非有限或任一坐标绝对值超过 10000 m，即判仿真故障失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113 仿真故障阈值与目标物体采样周期",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471 故障检查和终止"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "fridge_open",
+    "level": "new_code",
+    "source": "proc.electric_refrigerator.n.01_1.open；需记录门开合原生谓词及能取肉的开口，来源 inputs/oracle/run.json:1 steps[id=40] 的门关节初态"
+   },
+   {
+    "atom": "any_heat_source_on",
+    "level": "new_code",
+    "source": "proc.oven.n.01_1.toggled_on 与 proc_scene 中每个有效热源的 toggled_on/active；来源 inputs/bddl/cook_a_brisket.scene_objects.json:1；应对全部有效热源求存在，不能仅记录烤箱"
+   },
+   {
+    "atom": "brisket_cooked",
+    "level": "new_code",
+    "source": "flags.lit:(cooked brisket.n.01_1)；需记录原生 Cooked，不从肉色估计温度；来源 inputs/bddl/cook_a_brisket.bddl:31"
+   },
+   {
+    "atom": "brisket_on_board",
+    "level": "new_code",
+    "source": "flags.lit:(ontop brisket.n.01_1 chopping_board.n.01_1)；来源 inputs/bddl/cook_a_brisket.bddl:32"
+   },
+   {
+    "atom": "pan_on_counter",
+    "level": "new_code",
+    "source": "flags.lit:(ontop frying_pan.n.01_1 countertop.n.01_1)；来源 inputs/bddl/cook_a_brisket.bddl:33"
+   },
+   {
+    "atom": "success_rule",
+    "level": "new_code",
+    "source": "flags.success_rule 以及目标物体持有状态、线速度和 goal_held_steps；来源 inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "flags.fallen 或原生 FallWatch 计数；来源 inputs/grader/efe_behavior-files/rcb_behavior.py:135-143"
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "flags.breakdown；来源 inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "note_zh": "原生目标满足度；1 表示三个目标关系齐全，但不能替代联合松手静置规则。",
+   "sources": [
+    "inputs/grader/efe_behavior-files/rcb_behavior.py:1548-1553 读取原生指标",
+    "inputs/grader/efe_behavior-files/privileged/grade.py:188-190 输出 q_score"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "输入 inputs/states/index.json 的 logs 为空；依暂行 P8，全部节点 when、约束 never 和 success 均为 null，无法进行状态日志上的到达率及评分一致性验证。atoms 的 new_code 指需补充记录的数据，不表示本次已观察到这些字段。",
+  "启用热源作为必要前置的边界：灶头和烤箱初始关闭有成功运行的原生读数，其他设备的开关初态未完整保留；需核实是否存在开局已开启且足以烹熟肉的替代热源。当前保留一个覆盖全部有效热源的前置并标待核实，不强制烤箱或煎锅路线。",
+  "成功录像采用旧版规则：inputs/oracle/run.json:1 的 task_text 明示三个 BDDL 目标一旦同时成立即结束；其 steps[id=287] 仅在 8924 到 8927 三个控制步间就从未成功变为成功。当前文件的评分器新增所有目标物体离手、速度不大于 0.05 m/s 连续 30 步，因此录像可验��核心目标和几何，不能验证现行共同静置窗口；后续应按各轨迹实际评分版本判断（暂行 P19）。",
+  "说明中的 70 °C 为默认烹熟阈值，200 °C 也不是所有热源的实际温度：oracle steps[id=40] 读出烤箱 HeatSourceOrSink 温度为 250 °C；所给文件未包含肉的实际 Cooked 参数源码。应以原生 cooked 为准，不能把默认热源温度或距离用作所有路线的额外强制条件。",
+  "两模式场景目标及成功窗口相同；privileged 以两次新进程重放的成功、相同终态哈希和实例匹配验收，standard 采用服务内单次实时成功。重放有效性、文件交付和实例复现不属世界语义步骤，未写入节点；相关差异见 inputs/grader/efe_behavior-files/privileged/grade.py:167-175 与 inputs/grader/efe_behavior-files/standard/grade.py:29-35。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三个目标和煎锅初态有文本及 BDDL 明确证据，开冰箱和灶头路线有成功录像支持；无状态日志、替代热源初态未完整核实，且成功录像采用旧版即时成功规则，不能验证现行联合验收。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点集合与语言描述和评分器一致（开冰箱、热源、烹熟、上砧板、锅留台面），无状态日志，所有 when 为 null 符合暂行规则。唯一问题：缺少“开冰箱→烹熟”的物理必要边。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无状态日志，节点集合（开冰箱、启用热源、做熟、上砧板、煎锅留台面）与说明及BDDL目标一致；成功合取项（cooked、ontop×2、离手、静止1 s）均有覆盖，约束为评分器的倒地与仿真故障；边合理，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['fridge_opened', 'heat_source_enabled', 'brisket_cooked', 'brisket_on_board', 'pan_on_counter']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:50:11Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__cook_a_brisket/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "5b2104c97fb66dcd5b5c1e5efe15bcf9072efab4d97f5225b49d674f2662d450",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--t2evava.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-privileged--t2evava",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "f923b51ebce4bb044e2af7692c3bd60a9b3800d7e3afe1ac2ed5062b9d343f7f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2316,
+   "sim_steps": 2316,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1114.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 2,
+   "agent_sim_steps": 4632,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.65,
+   "peak_memory_gb": 14.22,
+   "peak_processes": 49,
+   "peak_disk_gb": 1.672,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-privileged--t2evava/replay.mp4",
+  "duration_s": 77.2,
+  "fps": 30.0,
+  "frames": 2316,
+  "sha256": "631ae0a0ad06cc7940d3b0666399a4976d54edca4e58496885a997b337fa03bb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–11.0 s，机器人右夹爪夹住冰箱竖直把手并向外拉，门向外转开，白色内胆和高层搁板露出；视频 12.0–15.0 s 取肉通道继续扩大。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "推断：视频 26.0–32.0 s，机器人右末端沿已打开的门边继续施力，门进一步向外转开；右腕视图遮挡了部分指尖接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱门把手并拉开门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "松开把手后，右末端继续把门推向更大的开度；部分指尖接触被门遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在接近冰箱及拉门时移动，承载机械臂并配合门的运动。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 66.3,
+      "log_step": null,
+      "text_zh": "观察：视频 65.0–66.0 s，机器人左夹爪指尖抵在灶台红色控制标记处；视频 66.33 s 标记变绿，视频 67.33–69.0 s 左手撤离后仍保持绿色，右夹爪同时持肉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "左夹爪指尖按触灶台开关标记，将灶头开启；右手此时仅持肉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘移至灶台前，并在左手按开关前调整工作位置。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 71.3,
+      "log_step": null,
+      "text_zh": "推断：视频 69.0–71.4 s，机器人右夹爪把肉降低到已开启的灶头上方；视频 71.7 s 肉已呈黑红焦化纹理，结合本次评分器 success=1、q_score=1.0，判烹熟约在视频 71.3 s 达成，时间不确定约 0.5 s；后续焦化不撤销 cooked。"
+     },
+     {
+      "t": 77.167,
+      "log_step": null,
+      "text_zh": "观察：视频 72.0–77.17 s，机器人将黑红色肉从灶台移到砧板；inputs/run.json 的 reward 报告 success=1、all_success=1、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "装载与启用热源阶段，右二指夹爪持续夹住牛胸肉，左手配合按开关；左手撤离后由右夹爪独自持肉接近热源。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "右手持肉期间，左夹爪指尖按触灶台开关；随后左手退出，热源完成加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘携带右手中的牛胸肉驶向灶台，并在热源开启后横向调整��置，使肉移到有效加热位置。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "观察：视频 43.5–45.0 s，右腕视图中牛胸肉随右夹爪离开冰箱高层搁板并来到冰箱外；视频 48.0–60.0 s 肉持续随机器人搬运。"
+     },
+     {
+      "t": 77.167,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–77.17 s，机器人右夹爪将黑红色肉移到橙色砧板上方并下降；最后两帧腕视图中肉相对砧板进一步下落，头部视图显示落点位于砧板范围内，旁边煎锅仍在台面上。"
+     },
+     {
+      "t": 77.167,
+      "log_step": 135,
+      "text_zh": "推断：视频末帧部分肉与砧板接触处被夹爪遮挡，结合评分器 reward.success=1、q_score=1.0 及 log step 123、135 对同一 2316 行交付轨迹的成功重放结果，肉上砧板按本次实际即时成功规则在视频约 77.17 s 成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪从冰箱取出牛胸肉，持续夹持搬运并在橙色砧板上方松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘承载持肉的机器人从冰箱经灶台驶向砧板旁，配合右臂完成放置。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.0,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–77.17 s，头部相机显示黑色带柄煎锅平放在橙色砧板左侧的厨房台面上，机器人未操作煎锅。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务初始条件明确煎锅在台面上；所检视频全程机器人只操作冰箱、牛胸肉与灶台开关，煎锅没有被搬动，末帧仍由台面承托且评分器三个目标全满足，因此该关系从视频 0 s 延续至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频约 11.0 s 打开冰箱，随后取肉，视频约 66.3 s 按亮灶台绿色开关，最后在视频约 77.17 s 将肉降到砧板上，煎锅保持在台面上，评分器判定成功，五个节点最终均成立。推断：烹熟约在视频 71.3 s 达成，受热后肉呈黑红焦化外观但不撤销 cooked；无状态日志，烹熟精确时刻及末帧肉与砧板的局部接触依靠过程画面与成功评分联合判断。观察：本次 task_text 规定三个目标同时成立即结束，log step 123、135 的两次 2316 行重放均成功，录像在放肉后立即结束；依 P19 按本次旧版规则标注，不能用它验证 DAG 新版的离手、低速连续一秒联合窗口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个节点时间与视频一致：开冰箱约11 s、灶头标记66.3 s变绿、肉约71–72 s呈焦化、末帧肉在砧板上；烹熟时刻已标为推断，接触标注合理，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--t2evava/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--t2evava/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6accd732f5306125bb69c46d9aa9580cd9e351a71d58101b77c04a0c25196ec1",
+   "video_sha256": "631ae0a0ad06cc7940d3b0666399a4976d54edca4e58496885a997b337fa03bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--2ckjy4b.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--2ckjy4b",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "f923b51ebce4bb044e2af7692c3bd60a9b3800d7e3afe1ac2ed5062b9d343f7f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3717,
+   "sim_steps": 3717,
+   "physics_steps": 14868,
+   "steps": 1239,
+   "elapsed_s": 1564.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.368,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.091,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-standard--2ckjy4b/replay.mp4",
+  "duration_s": 123.9,
+  "fps": 30.0,
+  "frames": 3717,
+  "sha256": "bcb3c72ae51281368e63621d9b2928b71c490d7b7ca31910c3c5c0659ba2f925"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 83,
+      "text_zh": "观察：视频 12.0–16.0 s，机器人右夹爪合在冰箱把手处并向外拉，门板转开；视频 16.0 s 已露出白色内胆和多层搁板，取物通道不再被门板封住，时间约有 0.5 s 误差。"
+     },
+     {
+      "t": 40.0,
+      "log_step": 104,
+      "text_zh": "观察：视频 35.0–40.0 s，机器人随后用左夹爪拉开另一扇门，视频 40.0 s 两侧内胆均可见；视频 113.0 s 两门仍敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.0–16.0 s 右侧二指夹爪夹住门把手向外拉；视频 35.0–40.0 s 左夹爪随后操作另一扇门，两臂依次工作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.0–8.0 s 底盘承载机器人驶近冰箱，视频 27.0–34.0 s 在两次开门操作之间移位。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 104.0,
+      "log_step": 204,
+      "text_zh": "观察：视频 96.0、100.0、104.0 s 机器人巡视灶台，灶头、烤箱和台面小电器的控制标记仍为红色，未出现成功示例视频 230.0 s 可见的灶头绿色标记；本次视频未见机器人按触或旋转任何热源开关。"
+     },
+     {
+      "t": 123.85,
+      "log_step": null,
+      "text_zh": "推断：结合本次视频 0.0–123.85 s 的开门、冰箱内巡视与空手移位过程，没有有效热源被启用的可见迹象，判此事件未达到；未把 agent 在 log step 218 将红色灶头称为 active 的自述当作开机证据。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 92.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–92.0 s 机器人在敞开的冰箱前变换视角、将右腕伸到搁板和抽屉边缘，未见牛胸肉离开冰箱或被夹爪带走；视频 96.0–113.0 s 机器人空手巡视台面，没有夹持肉在热源处加热的过程。"
+     },
+     {
+      "t": 123.85,
+      "log_step": null,
+      "text_zh": "推断：任务初态为冰箱内的生肉（log step 11 的服务任务描述）；本次视频截至 123.85 s 没有取肉和加热过程，也没有成功示例视频 280.0 s 所见的熟肉外观变化，因此烹熟条件未达到。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": 148,
+      "text_zh": "观察：视频 47.0–85.0 s 机器人反复将右夹爪伸向冰箱抽屉边缘并查看搁板；腕部视图多次被搁板或抽屉面遮住，退回时未见夹爪携带肉，冰箱到砧板的搬运没有发生。"
+     },
+     {
+      "t": 113.9,
+      "log_step": 211,
+      "text_zh": "观察：视频 93.0–113.0 s 机器人离开冰箱，空手沿灶台及冰箱前移位；视频约 113.9 s 机载视野突然翻转，视频 123.85 s 仍侧倒。"
+     },
+     {
+      "t": 123.85,
+      "log_step": null,
+      "text_zh": "推断：本次视频 0.0–123.85 s 未见肉从冰箱被取出，也未出现成功示例视频 297.4 s 中肉由橙色砧板直接承托的几何关系；结合肉的已知初态，判未上砧板。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 28.0–47.0 s、59.0–74.0 s 及 93.0–113.0 s 底盘承载机器人在冰箱和台面附近移位，以查看取肉与放置所需区域；没有观察到持肉搬运。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 47.0–85.0 s 右夹爪在抽屉边缘试探，但接触处反复被冰箱层板与抽屉遮挡，无法确认具体抓握、勾拉或顶压方式；未见夹爪与牛胸肉建立接触。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 11,
+      "text_zh": "观察：log step 11 中服务返回的任务描述明确说明煎锅初始在台面上；视频 0.0 s 头部视图显示厨房台面，但煎锅所在区域没有清晰近景。"
+     },
+     {
+      "t": 123.85,
+      "log_step": null,
+      "text_zh": "推断：结合煎锅在台面的已知初态，本次视频 0.0–113.0 s 的实际操作集中在冰箱，随后为空手沿台面巡视；视频 113.9–123.85 s 机器人在冰箱附近侧倒，没有观察到夹爪搬动煎锅或机器人撞到其所在台面，故按未被改变的关系记为全程保持。终态煎锅被遮挡，此结论为上下文推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brisket_on_board",
+   "t": 113.9,
+   "log_step": 211,
+   "where": "探索",
+   "evidence_zh": "观察：视频 28.0–92.0 s，机器人打开冰箱后反复查看搁板、探查抽屉，始终没有将肉取出；视频 93.0–113.0 s 又空手巡视相邻台面。视频约 113.9 s，机器人沿敞开冰箱前方移位时视野急剧侧翻，视频 123.85 s 仍倒着；log step 214 的服务状态报告 done=True、reason=failure: the robot fell over。推断：将断点归于取肉并放上砧板这一步的场景探索阶段，取肉这一未完成环节此前没有修复，翻倒后也无法继续。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 113.9,
+    "log_step": 214,
+    "evidence_zh": "观察：视频 113.7–114.3 s，机器人机载相机所见冰箱门、墙和地面整体迅速旋转，随后处于明显侧倒视角；视频 123.0–123.85 s 未恢复直立。log step 214 中单次实时仿真服务明确报告 failure: the robot fell over，与视频末段一致。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，底盘、支撑点和可能的碰撞接触均未被机载相机完整拍到；视频可确认翻倒，但不能区分碰撞、重心布局或控制跟踪失稳等具体根因，故根因层留空。牛胸肉及煎锅的终态没有清晰近景：肉未熟、未上板及锅仍在台面的判断结合了已知初态和实际动作过程，未用 q_score=0 单独反推节点。未巡视的替代热源初始状态也没有原生读数。"
+ },
+ "summary_zh": "本次运行打开了冰箱，煎锅留台面依据已知初态及未见搬动推断保持，最终为 2/5 个节点；未见肉被取出、加热或放上砧板，巡视中的热源标记仍为红色。机器人在取肉和放置所需区域的探索中，于视频约 113.9 s 空手移位时翻倒，视频 123.85 s 仍未恢复，服务也报告倒地失败。没有状态日志且底盘接触被遮挡，无法可靠确定翻倒根因，煎锅终态为上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（开冰箱达成、其余未达）、翻倒时间约113.9 s、断点与平衡现象均与视频一致；根因留空并有gap_zh，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:05:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--2ckjy4b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--2ckjy4b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3bea39569382a8b2e6be141f25b116951de723de95a2a79cf86a28367540fc88",
+   "video_sha256": "bcb3c72ae51281368e63621d9b2928b71c490d7b7ca31910c3c5c0659ba2f925",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/vacuuming_floors/task_dag.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "suite": "behavior-1k",
+ "base": "behavior-vacuuming-floors-i00",
+ "title_zh": "卧室地板除尘",
+ "summary_zh": "卧室地板上的灰尘全部移除，无尘目标与目标实体离手、静止的联合条件连续保持30个控制步。",
+ "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人，两臂各7自由度并各装二指夹爪，带可调躯干、全向轮式底盘、头部相机及双腕相机；辅助抓取。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "behavior-vacuuming-floors-i00",
+  "bench": "behavior-1k",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bedroom_floor_dust_free",
+    "zh": "卧室地板除尘",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部相机和腕部视角中，床边、床头柜旁及门侧木地板上原有的深色尘点全部消失；只清掉部分尘点不算，任一处仍残留或重新覆盖灰尘即不成立。完整成功还须该无尘状态与目标实体离手、线速度不超过0.05米/秒连续成立30个控制步（30赫兹，约1秒）；吸尘器不在目标实体集合内，可以仍握在手中，遮挡区域须结合此前扫过的视角判断。",
+    "step": {
+     "cat": "材料",
+     "item": "清洁"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选“吸除”：夹爪持吸尘器，使吸头贴近地板尘点并吸走灰尘；工具与灰尘间的吸入作用没有对应的现有接触条目，不等同于压擦或推扫。只记吸头对灰尘的作用，不重复记夹爪握工具。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在卧室木地板上移动，支承机器人并让吸头覆盖床边和门侧的灰尘区域。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:4-22",
+     "inputs/task/standard/instruction.md:5-17",
+     "inputs/bddl/vacuuming_floors.bddl:11-24",
+     "inputs/bddl/vacuuming_floors.literals.json:2-10",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:181-190",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1435",
+     "inputs/oracle/replay.mp4: video 0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 65.0, 70.0, 80.0, 90.0, 100.0, 110.0, 119.4 s",
+     "inputs/oracle/run.json: steps[id=97,103,116,121,133].say; steps[id=136].out.text"
+    ],
+    "conf": 6,
+    "note_zh": "灰尘为物质覆盖状态，唯一目标为非覆盖，不按参考运行的8处灰尘拆成8步。开机、持工具和扫过各点是参考方案的操作过程，未核实为全部合法路线的必经状态；无必经门步骤。hold_s为0，节点表示无尘世界状态，30步联合成功窗口属于整体验收；因无状态日志，success亦为null，验收由文字判据表达。吸尘器需由机器人持续操纵吸头清洁，接触按手持工具标注；不同于机器人只装载并启动后由设备自行完成的洗衣或加热。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fallen",
+    "zh": "机器人摔倒",
+    "never": null,
+    "criterion_zh": "底座上轴的竖直分量低于0.75（相对竖直倾斜超过约41.4度），或底座低于场景地面超过0.03米，连续300个控制步（10秒）触发失败；短于该窗口的倾倒本身不触发此约束。同一步先检查模拟崩溃，再检查成功，最后检查摔倒。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
+    ]
+   },
+   {
+    "id": "simulator_breakdown",
+    "zh": "模拟状态崩溃",
+    "never": null,
+    "criterion_zh": "机器人位置、姿态、线速度或关节位置含非有限值，底座任一位置分量绝对值超过10000米，或底座线速度模长超过100米/秒时立即失败；目标实体的位置每30控制步检查一次，非有限或任一分量绝对值超过10000米也触发失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
+     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "bedroom_floor_dust_free",
+    "level": "new_code",
+    "source": "Replay adapter must log flags.lit:(not (covered floor.n.01_1 dust.n.01_1)); inputs/bddl/vacuuming_floors.literals.json:3; no state logs supplied."
+   },
+   {
+    "atom": "settled_success",
+    "level": "new_code",
+    "source": "Replay adapter must log flags.success_rule from Session.succeeded; inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1435; no state logs supplied."
+   },
+   {
+    "atom": "robot_fallen",
+    "level": "new_code",
+    "source": "Replay adapter must log Session.status()[fallen] or FallWatch.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1546; no state logs supplied."
+   },
+   {
+    "atom": "simulator_breakdown",
+    "level": "new_code",
+    "source": "Replay adapter must log Session.status()[breakdown]; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471,1546; no state logs supplied."
+   }
+  ]
+ },
+ "native_metrics": [],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，没有可核实的逐帧字段，依DECISIONS.md P8，所有节点when、约束never及success均为null；atoms列出后续应记录的目标谓词和原生成功、失败信号，不能以参考运行的口头成功报告替代状态日志自检。",
+  "DECISIONS.md D2、D16(e)／CASES.md OPEN-24：参考运行确实抓住并开启吸尘器，但BDDL只要求地板不再覆盖灰尘，不检查工具握持或开机。现有场景材料没有给出全部可用除尘机制，不能验证每条合法路线都必须拿起或开启该工具，故未设这两个必经节点；接触只记录持吸尘器吸除的典型方案。",
+  "接触词汇缺口：吸头吸入灰尘的作用不对应抓握、推扫或压擦，按S16使用手持工具×其他，候选“吸除”；由于机器人主动移动吸头完成清洁，不按设备自行完成任务标无接触。",
+  "规则版本差异：inputs/oracle/run.json的task_text及其成功状态使用无尘即结束的旧规则，参考视频约119.5秒即停止，未展示当前30步联合验收窗口。当前inputs/task两种模式与评分代码均要求30步目标成立、离手、静止；DAG保留当前验收，参考视频仅核对清洁结果与可见线索，不声称该旧运行已通过新增窗口。",
+  "两种模式共享Session的世界状态验收；特权模式另要求新进程重放均成功、终态哈希一致和初态匹配（inputs/grader/efe_behavior-files/privileged/grade.py:167-175），标准模式判定单次实时场景（inputs/grader/efe_behavior-files/standard/grade.py:29-35）。这些交付及复现有效性不属于世界状态步骤，未绑定为语义条件。",
+  "小尘点在移动的头部及腕部视角中可能被吸头或家具遮挡；视频判据要求检查原有各处，无法由单张干净地板画面证明全房无尘。当前无状态日志，不能核验完整清除或连续30步验收。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "一个清洁步骤直接来自两种模式的任务文字和唯一BDDL目标；同房初态无需门步骤，阈值来自共用评分代码。无状态日志、参考运行规则较旧且尘点可能遮挡，无法完成绑定和成功窗口的重放核验，工具必经性与吸除接触词汇仍有证据缺口。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "任务描述只有一个步骤“清除地板灰尘”，与BDDL唯一目标一致；单个状态节点、when/success为null（无状态日志）、吸尘器不设必经拾取步骤（并写入open_questions_zh）、约束与阈值均符合规则，未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bedroom_floor_dust_free']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T01:51:21Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__vacuuming_floors/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/behavior-1k__vacuuming_floors/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "639a231186467dfd682cae533d4f841c7f26bf7ddaf9f2568ad33143ccc7bf9b",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--iiraaif.json

@@ -0,0 +1,169 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--iiraaif",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "2c5f042da47936a9efbf6da1c8230211d41cc5e3367e339719a59b2d33feb43d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1013,
+   "sim_steps": 1013,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 697.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 1,
+   "agent_sim_steps": 3044,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-privileged--iiraaif/replay.mp4",
+  "duration_s": 33.767,
+  "fps": 30.0,
+  "frames": 1013,
+  "sha256": "5b9a1dc73469337effc52add0879af94b1616813057dfbef33fe7fe944e25ccf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bedroom_floor_dust_free": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，吸尘器直立于床头柜与床边的木地板上，地面可见零散深色尘点；初态尚未达到全部无尘。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–7.5 s，机器人左夹爪合拢在吸尘器杆部，吸尘器随手臂移动，腕部视角的开关标记由红变绿；视频 10.0–30.5 s，机器人持续持吸尘器，随底盘转向和平移把工具带过床边、书桌前及门侧木地板。"
+     },
+     {
+      "t": 33.73,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–33.73 s，机器人持吸尘器移向床侧低柜前；视频 33.0、33.2、33.4、33.6、33.73 s 的可见木地板未见明确残尘，吸头附近部分区域位于画面下缘或被工具遮挡。"
+     },
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：log step 46 的最终生成记录报告尘粒计数依次减至 0、success=True、sim_steps=1013；log step 47 核对交付文件形状为 (1013,25)，该文件的新进程重放返回 success=true、all_success=true、deterministic=true。inputs/run.json 的正式评分也给出 success=1、q_score=1.0、n_actions=1013；早期 log step 39–45 的 1018 步调试结果不作为本次节点时间。"
+     },
+     {
+      "t": 33.7,
+      "log_step": null,
+      "text_zh": "推断：结合视频末段清扫动作、未见相反残尘证据以及正式评分的成功结果，唯一受评无尘目标在终态成立。按本运行 task_text 的旧规则，无尘即自动结束，故将达到时刻保守估计为视频约 33.7 s；末粒消失被遮挡，不能直接逐帧定时，也不能声称展示了 DAG 当前版本的额外约 1 秒联合验收窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 7.5–33.73 s，机器人左夹爪持续持吸尘器，带动其底部吸头沿木地板清洁；推断：结合清扫后无尘的成功结果，工具对灰尘的作用为候选“吸除”，现有抓握、推/扫及压/擦均不能准确描述吸入除尘，不重复标夹爪握工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.5 s 机器人底盘移动接近吸尘器；视频 10.0–33.73 s，底盘在卧室木地板上转向、平移，支承机器人并带动左臂所持吸尘器覆盖不同地面位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人左手持已开启的吸尘器，借底盘移动清扫卧室木地板，唯一无尘目标在视频约 33.7 s 达成，终态为 1/1；正式评分与最终交付文件的新进程重放均成功。规则版本差异：本运行 task_text 规定无尘即结束，按该旧规则计为完成，不追加 DAG 当前版本的离手、静止连续 30 个控制步验收。无状态日志，吸头附近及最后尘粒消失有遮挡，达成时间为结合末段画面和成功判定的保守估计。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，唯一目标节点 1/1、终态成立；视频抽帧与标注一致（吸尘器直立→左手持握开启→清扫至末段），时间为保守估计且已声明，contact_actual 合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:32:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--iiraaif/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--iiraaif/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d16b05d322465f7c52359996030d301286f2dbe656085b1927119da0eaf4250",
+   "video_sha256": "5b9a1dc73469337effc52add0879af94b1616813057dfbef33fe7fe944e25ccf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--3egzbzt.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-standard--3egzbzt",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "2c5f042da47936a9efbf6da1c8230211d41cc5e3367e339719a59b2d33feb43d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14403,
+   "sim_steps": 14403,
+   "physics_steps": 57612,
+   "steps": 4615,
+   "elapsed_s": 1685.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.413,
+   "peak_processes": 7,
+   "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/behavior-vacuuming-floors-i00-standard--3egzbzt/replay.mp4",
+  "duration_s": 480.1,
+  "fps": 30.0,
+  "frames": 14403,
+  "sha256": "bece1fc145f91713bf448de70292984bbfbd6e4e854bc11f47dece550e8a828a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_dust_free": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，吸尘器直立在床头柜与床前地板之间，木地板上可见深色尘点，初态不满足全清。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 95,
+      "text_zh": "观察：视频18.0–20.0 s，机器人右夹爪合拢于吸尘器杆部后，吸尘器离开原来的直立位置，红黑吸头被带到头部画面右上方；这只证明拿起工具，不证明尘点已被吸走。"
+     },
+     {
+      "t": 300.0,
+      "log_step": null,
+      "text_zh": "观察：视频300.0 s，头部视角中电视柜前至门侧地板仍有多处深色尘点；视频460.0 s，右腕视角地板上仍有多处尘点，未出现全部消失的结果。"
+     },
+     {
+      "t": 480.067,
+      "log_step": 200,
+      "text_zh": "观察：视频464.0–480.067 s，机器人视角持续翻斜，片尾朝向墙面和天花板，未恢复清洁姿态；log step 200的机器人服务状态为done=True、reason=\"failure: the robot fell over\"。结合视频460.0 s仍有残尘，未观察到全清节点成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频18.0–20.0 s，机器人右侧二指夹爪夹住吸尘器杆部，并使吸尘器离开原来直立的位置；记录实际持工具准备动作，未据此认定吸头已吸除灰尘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘支承本体，在视频0.0–464.0 s期间多次移动、转向，持吸尘器沿床前、书桌及门侧往返；末段继续移动时逐渐倾倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_dust_free",
+   "t": 464.0,
+   "log_step": 197,
+   "where": "操作中",
+   "evidence_zh": "观察：视频460.0 s的右腕画面仍有尘点，机器人持吸尘器移动，视频458.0–464.0 s头部画面朝向电视柜，未见床沿贴近机体；视频约464.0 s起头部及腕部视角持续翻斜，视频470.0–480.067 s未恢复直立。log step 197运行门侧/电视柜清扫脚本，log step 200机器人服务记录因摔倒结束，因此断在卧室地板除尘操作中。"
+  },
+  "unmet": {
+   "bedroom_floor_dust_free": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 464.0,
+    "log_step": 200,
+    "evidence_zh": "观察：视频464.0–480.067 s，头部画面中的电视、墙角和窗户不断旋转，视线由电视柜移向墙面及天花板，双腕画面也随本体翻斜，直至片尾未恢复；log step 200机器人服务明确返回failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有提供状态日志；吸头在大部分清扫过程被机体或视野边缘遮挡，无法确认实际吸入灰尘的接触、开机状态及部分尘点是否曾被清除，故不把持工具和往返移动记为已发生吸除。视频458.0–464.0 s头部画面朝向电视柜，腕部画面可见搁架和地板，未见床沿贴近机体。log step 196脚本前段也列出(-4.20,3.00)、(-3.95,3.25)等落在log step 103所估算床体范围内的航点，而视频330.0–435.0 s的往返移动未见倾倒；航点与估算范围重叠不足以证明床体碰撞导致摔倒。缺少底盘与家具的接触对、力及完整外部视角，无法区分碰撞、底盘动力学或持杆姿态等可能原因，因此根因留空。"
+ },
+ "summary_zh": "机器人实际拿起吸尘器并在卧室多次往返，但门侧及腕部视角仍有尘点，唯一的卧室地板除尘节点始终未达成，最终0/1。视频约464.0 s起机器人在朝向电视柜的画面中持续倾倒，服务最终以摔倒结束。无状态日志且吸头和底盘接触处多被遮挡，无法确认实际吸除量或倾倒根因；原床体碰撞及规划归因缺少证据，删除该根因并将置信度下调为5。",
+ "conf": 5,
+ "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、摔倒断点与平衡现象基本可由视频支持；但根因“推理/规划（路线闯入床体范围）”与视频不符：同一脚本前面的 X=-4.2/-3.95、Y≈3.0 航点（同样落在估算的床范围内）已执行过而未倾倒，视频 458–462 s 画面朝向电视柜，看不到床沿贴近机体，证据过强，应下调或删除。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、摔倒断点与平衡现象有视频支持；根因按上一轮意见已删除并在gap_zh说明，写法诚实，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3688f0b131fc3baa2c5d5ded081418564737f760f7f63c663ae29d8c878a03c1",
+   "video_sha256": "bece1fc145f91713bf448de70292984bbfbd6e4e854bc11f47dece550e8a828a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/bigym2/flip_cutlery/task_dag.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "bigym2/flip_cutlery",
+ "suite": "bigym2",
+ "base": "bigym2-flip-cutlery-i00",
+ "title_zh": "勺子翻转放回杯中",
+ "summary_zh": "勺子原朝上的一端改为朝下且偏角不超过50度、勺子接触杯子、杯勺均脱离两侧夹爪手指并连续保持50个控制步，机器人全程未跌倒。",
+ "embodiment_zh": "三个模式均为Unitree G1足式人形机器人，左右臂各配Dex1-1二指夹爪，GR00T全身控制器驱动双腿与腰部；可迈步、调整骨盆高度和躯干前倾，无轮式底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "bigym2-flip-cutlery-i00",
+  "bench": "bigym2",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "spoon_returned_flipped",
+    "zh": "勺子翻转放回",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0.98,
+    "goal": true,
+    "freeze_held": true,
+    "criterion_zh": "两个外部视角中，白色杯口处原来朝上的椭圆勺头已翻到下方，成功示例末尾是细长勺柄露出杯口、勺头隐入杯中；验收要求原朝上一端与竖直向下夹角不超过50度、勺子接触杯体，左右夹爪的手指均不碰勺子和杯子，连续50个控制步（名义1秒）。勺头仍朝上、勺子还在空中离杯或手指仍碰杯勺都未完成；已完成后若离手的勺子脱离杯体或朝向不再合格，则失去该状态。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪夹住勺子，取出后端对端翻转并放回杯子；不限定必须哪一只手。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "需要靠近台面时，G1双脚通过地面支撑并移动身体，手中夹爪同时操作勺子；这是足式移动，无轮式底盘。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一侧二指夹爪握住杯子稳定杯体，另一侧二指夹爪握住勺子翻转放回；最后两侧手指都须离开杯子和勺子。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "采用双臂方案而需靠近台面时，G1双脚与地面接触支撑并移动身体，两侧夹爪同时操作杯子和勺子。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:6 task text",
+     "inputs/task/privileged/instruction.md:8 initial mug and spoon",
+     "inputs/task/privileged/instruction.md:15 orientation, contact, finger-contact release and 50-step acceptance",
+     "inputs/task/standard/instruction.md:20 same physical acceptance",
+     "inputs/task/standard-realtime/instruction.md:22 same physical acceptance",
+     "inputs/task/privileged/environment/instance.json:168 control_dt = 0.02 s",
+     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147 upstream is_success delegation",
+     "inputs/grader/efe_bigym2-files/sim/server.py:125 common Episode step and success",
+     "inputs/oracle/replay.mp4:0.00s initial exposed spoon bowl; 2.40s turning; 4.64s returned handle-up and released",
+     "docs/DECISIONS.md:677 D31 discrete debounce convention"
+    ],
+    "conf": 6,
+    "note_zh": "按D5把未独立受评的取出并入最后放回，按S8把翻转朝向作为放回的验收，不重复计分；抓取、抬高和撤手是该步过程。采用关系·放置，是因为明确验收为勺杯接触，不能以放入暗加整勺或特定部分位于杯腔的未给定几何阈值；翻转仍须满足50度朝向要求。单手与一手稳杯另一手翻勺是替代方案；脚部移动接触仅适用于靠近台面的方案，不把移动设为必经节点。释放是本步验收，沿用持物冻结；50步按D31记hold_s=0.98。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "robot_fell",
+    "zh": "机器人跌倒",
+    "never": null,
+    "criterion_zh": "本回合任一时刻骨盆相对竖直倾斜超过约53度，或骨盆高度低于0.30米，即为跌倒；恢复站立也不能消除失败，跌倒本身不立即结束回合。",
+    "consequence": "历史否决",
+    "sources": [
+     "inputs/task/privileged/instruction.md:15",
+     "inputs/task/standard/instruction.md:20",
+     "inputs/task/standard-realtime/instruction.md:22",
+     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156"
+    ]
+   },
+   {
+    "id": "pelvis_out_of_bounds",
+    "zh": "骨盆越界",
+    "never": null,
+    "criterion_zh": "骨盆离场景原点超过10米时立即结束回合；该距离是相对场景原点，不是相对杯子或机器人起点。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/instruction.md:17",
+     "inputs/task/standard/instruction.md:22",
+     "inputs/task/standard-realtime/instruction.md:24"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "spoon_angle_to_down",
+    "level": "new_code",
+    "source": "dyn.spoon_angle_to_down_deg: log the angle between the initially upward spoon end axis and world down, as defined by FlipCutlery; inputs/task/privileged/instruction.md:15"
+   },
+   {
+    "atom": "spoon_mug_contact",
+    "level": "new_code",
+    "source": "dyn.spoon_mug_contact: log the native spoon-cup collision predicate; inputs/task/privileged/instruction.md:15"
+   },
+   {
+    "atom": "spoon_gripper_contact",
+    "level": "new_code",
+    "source": "dyn.spoon_gripper_contact: log robot.is_gripper_holding_object(spoon, side) for both grippers; inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:375"
+   },
+   {
+    "atom": "mug_gripper_contact",
+    "level": "new_code",
+    "source": "dyn.mug_gripper_contact: log robot.is_gripper_holding_object(cup, side) for both grippers; inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:375"
+   },
+   {
+    "atom": "flipped_return_streak",
+    "level": "new_code",
+    "source": "dyn.flipped_return_streak_steps: log the consecutive control-step count for orientation AND spoon-cup contact AND neither object touching either gripper finger; inputs/task/privileged/instruction.md:15"
+   },
+   {
+    "atom": "episode_fell",
+    "level": "new_code",
+    "source": "dyn.episode_fell: log env.episode_fell() as the native historical fall latch; inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156"
+   },
+   {
+    "atom": "pelvis_origin_distance",
+    "level": "new_code",
+    "source": "dyn.pelvis_origin_distance_m: log the native scene-origin distance used for the 10 m bound; inputs/task/privileged/instruction.md:17"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/instruction.md:15"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json中logs为空；按暂行DECISIONS.md P8，全部节点when、约束never及success均为null，atoms仅列需要补记的世界状态，不能以oracle最终reward充当每帧条件，自动证据核对分母为0。",
+  "粒度边界（暂行DECISIONS.md D5，及已决定S8）：取出只为翻转放回服务，未见独立取出目标或阶段检查；翻转方向又是最后放回的验收，故从文字按一个完整步骤记atomic，不建立取出、翻转、松手三个过程节点。",
+  "描述与验收口径差异：Task写放回杯中，Success明确采用勺子接触杯子而非杯腔包含、插入深度或杯子保持台面；本节点按该验收记关系·放置，视频示例确为勺头向下入杯，不能据示例追加未给定的空间阈值。",
+  "输入只含上游适配层，未含完整FlipCutlery._success、BiGymEnv保持计数与跌倒检查源码；oracle/run.json中步骤id=10的任务源码也被截断。50度、50步、约53度、0.30米和10米均引用各模式instruction的Success；跌倒角度明确只有约值，尚不能逐行确认边界比较与越界距离的维数。",
+  "模式差异：三个模式初态文件一致，物理验收同用Episode和上游is_success；privileged还要求两次重放都成功且终态哈希一致，standard及standard-realtime评服务的实时记录并检查终结有效性。这些交付与基础设施条件不写成语义节点或世界状态，且不将两次相同轨迹重放当作两个独立场景。",
+  "保持窗按暂行DECISIONS.md D31写为(50-1)×0.02=0.98秒，对应文字连续50控制步的名义1秒；缺少日志，尚不能按实际日志采样步长再向下取整。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "任务文字、共同初态和成功视频一致支持翻转放回及离手的联合结果；但无状态日志、上游检查源码不全，取出与翻转的合并依D5/S8解释，接触验收与杯腔放回的口径及约53度跌倒边界仍有限制。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "任务文字的取出、翻转、放回都服务于同一个验收状态（勺子翻转放回，且夹爪松开），按S8合并为一个关系·放置节点是合理的。success=null、when=null符合P8（无状态日志）。约束（跌倒历史否决、越界立即终止）与指令的Success一致，保持窗0.98秒符合D31，开放问题已列出。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['spoon_returned_flipped']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:03:48Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/bigym2__flip_cutlery/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/bigym2__flip_cutlery/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "bca54142b50b5331588a6997ecdb4a2667c72bc93e710e3ee54cb55e6468df90",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-privileged--cbefkws.json

@@ -0,0 +1,161 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-privileged--cbefkws",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "ab93792fc5657f8b164f6d7ae0b402247ab2363d850228569510b71b9fe2dc8b",
+ "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_returned_flipped": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，白色杯子位于台面，椭圆勺头朝上露出杯口，尚未满足翻转放回条件。"
+     },
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.68–4.64 s，机器人左侧二指夹爪在勺头处合拢；视频 4.80–5.28 s，勺子随左夹爪升起并离开杯口，杯子仍在台面。右夹爪停在胸前，未参与持杯。"
+     },
+     {
+      "t": 6.88,
+      "log_step": null,
+      "text_zh": "观察：视频 5.44–6.40 s，机器人左夹爪带勺子端对端翻转，细长勺柄转到上方；视频 6.72–7.20 s，左手将勺头向下送入杯口并张开夹爪，随后撤手。视频 7.44–7.80 s 杯体短暂晃动，之后稳定。"
+     },
+     {
+      "t": 8.92,
+      "log_step": null,
+      "text_zh": "推断：视频 7.92–8.92 s 的密集帧中，两侧夹爪均与杯勺分开，细长勺柄向上露出杯口，勺头隐入杯内且勺杯位置保持稳定；结合评分器 success=1、replay_success=1，判断翻转朝向、勺杯接触及连续50控制步的验收成立，节点约在视频 8.9 s 达到并保持至结束。无状态日志，保持窗边界约有0.2秒不确定性。"
+     },
+     {
+      "t": null,
+      "log_step": 91,
+      "text_zh": "观察：log step 91 对最终交付轨迹的独立重放输出 success=true、executed_rows=447、fell=false；inputs/run.json 的评分字段为 success=1、replay_success=1、deterministic=1、n_actions=447、fell=0，与视频末态一致。该记录用于核对交付结果，不用 agent 工作时间换算视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.68–7.20 s，机器人左侧二指夹爪夹住勺头附近，将勺子取出、翻转并放回杯子，随后张开撤离；视频 4.80–5.28 s 勺子随夹爪离杯升高，支持实际夹持。右手未持杯。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.80–2.40 s，G1双脚接触地面并迈步，使躯干靠近台面；随后站立支撑左臂操作勺子，直至视频 8.92 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "value": null,
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人靠近台面后用左夹爪取出勺子、端对端翻转并放回杯子，撤手后勺柄朝上，视频 7.92–8.92 s 保持稳定，最终完成1/1节点；评分器报告成功且未跌倒。推断：计入约0.98秒保持窗，节点约在视频 8.9 s 达标，无失败断点。无状态日志，微观接触与保持窗起点不能精确测定；评分字段未报告勺子最终角度，原生角度指标留空，未采用会话测试中的角度值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，单节点 spoon_returned_flipped 在视频约 8.9 s 达成（hold_s 0.98 对应约 8.0–8.96 s）与帧一致；左夹爪抓握与腿/躯干支撑的接触标注符合画面，无断点，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:59:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "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": "14350b149c8c9d03260028f5acf3ca5b0d56115a94552a92b8490dac5141abb1",
+   "video_sha256": "fb1cf5d9709e95d84e6044af78f75379d671191237a3e70ba47c864540bd052f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/bigym2/flip_cutlery/trajectories/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe",
+ "taskKey": "bigym2/flip_cutlery",
+ "dag_sha256": "ab93792fc5657f8b164f6d7ae0b402247ab2363d850228569510b71b9fe2dc8b",
+ "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_returned_flipped": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白杯立在台面上，椭圆勺头朝上露出杯口，初态不满足翻转放回。"
+     },
+     {
+      "t": 13.52,
+      "log_step": null,
+      "text_zh": "观察：视频 13.28–13.52 s 右夹爪下降时碰动杯子，杯体倾斜后回正；右视角中，杯口上方的椭圆勺头由正面变成细窄轮廓。视频 13.52 s 的左视角仍见杯口上方的宽勺头，视频 14.40 s、26.00 s 左视角更清楚显示椭圆勺头及其下方通向杯内的柄部。推断：右视角中的细线是勺头侧向投影，不能据此认定勺头已翻入杯内。"
+     },
+     {
+      "t": 26.0,
+      "log_step": 34,
+      "text_zh": "观察：视频 14.40–20.00 s 右夹爪降到杯身旁、接近台面的高度；视频 22.00–28.00 s 右手抬高和转腕时，勺子没有随右手离杯。视频 26.00 s 左视角中椭圆勺头仍露在杯口上方，而右视角只见细窄轮廓。log step 34 的控制器输出标记 lift、flip 阶段，这些阶段名不能证明实际持勺翻转。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 36,
+      "text_zh": "观察：视频 30.00 s、38.04–39.00 s 左视角仍可见杯口上方的椭圆勺头，勺头靠近机器人手腕；右视角中也可见其宽面重新显露。成功参考视频 4.64 s 则为勺头隐入杯中、细长勺柄露出杯口。log step 36 的机器人服务状态为 done=true、reason=failed、control_steps=1950，本次评分字段 live_success=0。推断：本次未达到勺头朝下的翻转放回状态，节点 final=false；手指是否还碰杯勺不由这些图像确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 13.28–13.60 s 右二指夹爪下降并碰动杯口附近的杯勺，杯体倾斜、勺子转动；随后右爪在杯身旁闭合和抬起，未见夹持勺子离杯。视频 28.00–39.00 s 露出的勺头与机器人手腕相邻，不能确认是否存在左夹爪手指与勺子的接触，故不将其记为双手抓握或稳杯。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频约 8.0–11.6 s 机器人双脚接触地面并迈步靠近台面，之后双腿支撑站立完成右臂操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "spoon_angle_to_down",
+   "value": null,
+   "unit": "deg",
+   "threshold": 50,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "spoon_returned_flipped",
+   "t": 22.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22.00–28.00 s 机器人右手抬高并转腕，勺子没有随右手离杯；视频 26.00 s 左视角及视频 30.00 s、38.04–39.00 s 的末段画面仍见椭圆勺头露在杯口上方。推断：翻转放回这一步未达到要求的朝向，后续动作也未修复；以抬手转腕而未带动勺子翻转的视频 22.00 s 为导航锚点。"
+  },
+  "unmet": {
+   "spoon_returned_flipped": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 26.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.00 s 左视角中，机器人右手已抬起转腕，杯中勺子的椭圆勺头仍在杯口上方；视频 30.00 s、38.04–39.00 s 仍可见勺头宽面，靠近机器人手腕。成功参考视频 4.64 s 的勺头则隐入杯内。推断：被操作勺子的最终朝向未达到翻转放回要求；不以右视角的细窄投影认定翻转，也不把未见抓握当作本任务唯一可能的失败原因。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "未提供模拟器状态日志，无法精确读取勺子与竖直向下的夹角、左右手指对杯勺的接触对以及连续50控制步计数；原生角度指标未在评分字段中报告，仍记 null。右视角在视频 13.52–28.00 s 的细窄轮廓与左视角可见的椭圆勺头必须结合判断，不能单凭细线判定勺头入杯；末段勺头与手腕邻近也不能证明左手指接触。log step 33–34 记录了两次目标估计及覆盖，但没有独立物体位姿真值，也未核实估计坐标与实际抓取偏差的对应关系，无法确认感知误差导致本次失败，故根因留空。"
+ },
+ "summary_zh": "机器人靠近台面，右夹爪碰动杯勺后在杯旁闭合、抬高和转腕，但勺子未随右手取出翻转，最终翻转放回为0/1。右视角碰杯后仅见细窄勺子轮廓，左视角在视频 14.40 s、26.00 s 及末段仍显示椭圆勺头露在杯口上方，支持朝向未达标。删除未经独立核实的感知根因；由于缺少精确朝向、手指接触及保持计数，且根因不能确定，置信度从8降为5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频 13.3→13.5 s 右夹爪碰杯后，勺子由勺头朝上变为只露细长勺柄（勺头沉入杯中），14–26 s 一直如此；标注称 13–39 s 勺头一直朝上、勺子始终没被带动，与画面不符，由此得出的“没建立接触”和断点叙述缺乏支撑。末段（约 28–39 s）勺子斜靠在抬高的左手/手腕处，真正未通过的原因（夹角、手指仍碰勺/杯或保持计数）需重写。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本轮标注已按上轮意见修正：左视角视频 13.6 s、26.00 s 勺头仍在杯口上方，末段勺头靠近手腕，节点 final=false、断点、现象与留空根因均有帧支持且推断已标明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/bigym2-flip-cutlery-i00-standard-realtime--bnwrzbe/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "29d1fc63e46cb7bb63694ce4def4062b84c3bac561df0c6eeac3953792286e08",
+   "video_sha256": "4b5ae064a7a0f7271c04cb7e845f5bc4b451b5a9885b66072ba360bc639b05c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dexhand/sweep_dustpan/task_dag.json

@@ -0,0 +1,549 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "dexhand/sweep_dustpan",
+ "suite": "dexhand",
+ "base": "dexhand-sweep-dustpan-i00",
+ "title_zh": "扫入杂物并抬簸箕",
+ "summary_zh": "六件杂物完整位于抬离地面至少50毫米的簸箕内并与其接触，全部曾被刷毛碰到，低速稳定且无失败条件连续保持2000个物理步。",
+ "embodiment_zh": "两种模式均为固定底座的天机Marvin机器人，左右各一条七关节手臂，各装一只灵巧手（默认Sharpa Wave每手22个手指执行器，也支持Wuji Hand 2.2每手20个）；左手预握簸箕柄、右手预握扫帚柄，底座不移动，工具与六件杂物均为自由刚体。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "dexhand-sweep-dustpan-i00",
+  "bench": "dexhand",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "packaging_in_pan_1",
+    "zh": "第1包装入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，橙色与浅蓝色小包装块中至少1件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于1件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的抓握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "包装片集合为 debris_0（橙色）与 debris_3（浅蓝色），形状尺寸相同且无固定目标配对；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "packaging_in_pan_2",
+    "zh": "第2包装入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "packaging_in_pan_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，橙色与浅蓝色小包装块中至少2件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于2件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的抓握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "包装片集合为 debris_0 与 debris_3；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "caps_in_pan_1",
+    "zh": "第1瓶盖入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，红色与黄色圆瓶盖中至少1件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于1件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的抓握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "瓶盖集合为 debris_1（红色）与 debris_5（黄色），形状尺寸相同且无固定目标配对；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "caps_in_pan_2",
+    "zh": "第2瓶盖入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "caps_in_pan_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，红色与黄色圆瓶盖中至少2件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于2件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的抓握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "瓶盖集合为 debris_1 与 debris_5；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "wood_chip_in_pan",
+    "zh": "木屑入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，棕色细长木屑至少1件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于1件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的抓握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "木屑为 debris_2，棕色细长胶囊形刚体；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "paper_in_pan",
+    "zh": "纸团入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "工作视角中，白色不规则纸团至少1件完整越过绿色簸箕入口斜坡，进入底板上方并由簸箕接触承接；每件的全部碰撞形状在簸箕局部坐标内满足 |x| 加半包围宽度 ≤0.229 m、y 范围在 [-0.131,0.131] m、最低点 z≥0.003 m、最高点 z≤0.110 m，并与簸箕底板、前唇、后壁或侧壁之一接触且力≥0.001 N，若掉回地面、越出边界或仅卡在刷毛中而未接触簸箕，使合格数少于1件即未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（全任务联合验收，不要求本节点单独再等一秒）。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "右手灵巧手握扫帚柄，以扫帚刷毛推扫目标杂物；左手同时握簸箕柄定位入口。按工具到杂物的接触链标注，不重复添加握工具的��握。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:146-170",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322",
+     "inputs/task/privileged/environment/instance.json:59-93",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/replay.mp4:0.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "纸团为 debris_4，三个球形碰撞形状构成同一件白色纸团，不能拆成三个物品；计数表示当前合格数量，不锁定先后实例。底板顶面0.004 m减容差0.001 m得最低点0.003 m；底板半宽0.230 m减边距0.001 m得0.229 m。每件曾接触刷毛属于任务指定手段，保留在最终成功验收，不用它替代入簸箕结果。无状态日志；不以原生阶段数代替几何关系，合格物被扫动或掉出可使进度下降。"
+   },
+   {
+    "id": "pan_lifted",
+    "zh": "抬起簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "绿色簸箕整体被左手经长柄抬离灰色地面，簸箕原点的世界高度减地面高度达到0.050 m（地面z=-0.100 m，即原点z≥-0.050 m）；只有扫帚升高、仅倾斜而原点高度不足或簸箕降回阈值以下均未完成或失去。最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件（联合计时放入最终成功条件，抬起状态本身无需等待或松手）。",
+    "step": {
+     "cat": "位姿",
+     "item": "拿起"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左手灵巧手握住簸箕长柄并由左臂抬起簸箕；右手继续握扫帚是工具保持约束，抬起本身不要求扫帚同时接触杂物。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311",
+     "inputs/task/privileged/environment/instance.json:81",
+     "inputs/grader/efe_dexhand-files/privileged/environment/assets/sweep_sharpa.xml:719",
+     "inputs/oracle/run.json:steps 65-71",
+     "inputs/oracle/replay.mp4:4.0-16.0"
+    ],
+    "conf": 6,
+    "note_zh": "簸箕是本步直接受评的工具自身，用手指/夹爪×抓握。开局簸箕入口在地面，双手已握工具；不添加拾取工具、退手或松手步骤。评分器无装满后才可抬起的阶段门控；成功轨迹先升高簸箕再承接卡在刷毛里的黄色瓶盖，因此不给抬起与各入簸箕步骤加先后边。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "debris_outside_workspace",
+    "zh": "杂物离开工作区",
+    "never": null,
+    "criterion_zh": "任一杂物中心世界x不在[0.45,1.00] m或y不在[-0.50,0.40] m，或中心高于地面0.25 m、低于地面0.01 m；等于边界仍允许。地面z=-0.10 m；越界当步永久失败，即使之后回来也不能恢复。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:255-269",
+     "inputs/task/privileged/environment/instance.json:106-115"
+    ]
+   },
+   {
+    "id": "robot_touched_debris",
+    "zh": "机器人直碰杂物",
+    "never": null,
+    "criterion_zh": "任一机器人碰撞几何体直接接触任一杂物且接触力≥0.001 N即永久失败；允许工具接触，不允许手或手臂代替刷毛碰杂物。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:270-271",
+     "inputs/task/privileged/environment/instance.json:61"
+    ]
+   },
+   {
+    "id": "tool_grip_lost",
+    "zh": "工具掉落或滑移",
+    "never": null,
+    "criterion_zh": "从物理步起始时间≥1.2 s起，任一工具柄受到其所属手的≥0.010 N接触的不同手部碰撞几何体少于2个，或相对该手掌在宽限期结束时的参考握持点位移≥0.025 m、相对旋转≥0.25 rad，即永久失败；视觉上工具离手或在掌内明显滑移可作线索，精确接触力与位移需日志。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:221-249",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:276-283",
+     "inputs/task/privileged/environment/instance.json:74-80",
+     "inputs/task/privileged/environment/instance.json:92"
+    ]
+   },
+   {
+    "id": "tool_pressed_by_wrong_link",
+    "zh": "非所属手压工具",
+    "never": null,
+    "criterion_zh": "任一工具受到非所属手的机器人碰撞几何体施力>0.010 N即永久失败；左手只对应簸箕、右手只对应扫帚，此检查不享受1.2秒握持宽限。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:218-220",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:274-275",
+     "inputs/task/privileged/environment/instance.json:79",
+     "inputs/task/privileged/environment/instance.json:94-104"
+    ]
+   },
+   {
+    "id": "robot_self_collision",
+    "zh": "机器人自碰撞",
+    "never": null,
+    "criterion_zh": "机器人躯干、手臂或左右手之间发生力≥0.001 N的接触即永久失败；同一只手内部的接触允许，视觉上的邻近不能直接认定碰撞。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-217",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:272-273"
+    ]
+   },
+   {
+    "id": "unstable_physics",
+    "zh": "物理仿真失稳",
+    "never": null,
+    "criterion_zh": "出现位置、速度或加速度异常的MuJoCo警告（BADQPOS、BADQVEL、BADQACC），或广义加速度含非有限值，运行时结束为unstable_physics；视频中物体异常跳飞仅是线索，精确判定需运行时记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:35",
+     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:245-255"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "debris_0_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_0.inside_pan 与 dyn.sweep.debris_0.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "debris_1_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_1.inside_pan 与 dyn.sweep.debris_1.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "debris_2_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_2.inside_pan 与 dyn.sweep.debris_2.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "debris_3_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_3.inside_pan 与 dyn.sweep.debris_3.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "debris_4_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_4.inside_pan 与 dyn.sweep.debris_4.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "debris_5_in_pan",
+    "level": "new_code",
+    "source": "需逐物理步记录 dyn.sweep.debris_5.inside_pan 与 dyn.sweep.debris_5.touching_pan；取自 inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:347-354，保留完整形状包含及≥0.001 N支持判定，不是以物体中心估算。"
+   },
+   {
+    "atom": "pan_lift",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.pan_lift_m；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:358，单位m。"
+   },
+   {
+    "atom": "terminal_acceptance",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.terminal_run 与 dyn.sweep.success；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:284-311,324-339；success要求terminal_run≥2000，所有杂物完整容纳、接触、低速、历史刷毛接触、握持宽限结束且无失败共同成立，计数失败时清零。"
+   },
+   {
+    "atom": "debris_outside_workspace",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:255-269, inputs/task/privileged/environment/instance.json:106-115；没有状态日志，不能构造never绑定。"
+   },
+   {
+    "atom": "robot_touched_debris",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-212, inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:270-271, inputs/task/privileged/environment/instance.json:61；没有状态日志，不能构造never绑定。"
+   },
+   {
+    "atom": "tool_grip_lost",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:221-249, inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:276-283, inputs/task/privileged/environment/instance.json:74-80, inputs/task/privileged/environment/instance.json:92；没有状态日志，不能构造never绑定。"
+   },
+   {
+    "atom": "tool_pressed_by_wrong_link",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:218-220, inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:274-275, inputs/task/privileged/environment/instance.json:79, inputs/task/privileged/environment/instance.json:94-104；没有状态日志，不能构造never绑定。"
+   },
+   {
+    "atom": "robot_self_collision",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:199-217, inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:272-273；没有状态日志，不能构造never绑定。"
+   },
+   {
+    "atom": "unstable_physics",
+    "level": "new_code",
+    "source": "需记录 dyn.sweep.failure 及对应物理量；inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:35, inputs/grader/efe_dexhand-files/privileged/environment/variants/2ef7f8ba38/runtime.py:245-255；没有状态日志，不能构造never绑定。"
+   }
+  ],
+  "notes_zh": "最终还须六件同时在簸箕内并接触簸箕、簸箕原点离地≥0.050 m、全部杂物线速度<0.030 m/s且角速度<0.800 rad/s、六件均曾被刷毛以≥0.001 N接触，且无失败并已结束1.2秒握持宽限期，连续2000个0.0005秒物理步满足这些条件；terminal_run在任一联合条件不满足时清零，达到2000即锁存成功，任何失败立即终止且历史否决成功。所有节点hold_s=0，因为1秒是跨步骤的联合窗口，需读取原生terminal_run而非对每个节点另计一次；本任务没有状态日志，success和所有when、never均为null。"
+ },
+ "native_metrics": [
+  {
+   "name": "in_pan",
+   "unit": "piece",
+   "threshold": 6,
+   "direction": "higher_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:318-322"
+  },
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "source": "inputs/task/privileged/environment/instance.json:81"
+  },
+  {
+   "name": "debris_max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:292; inputs/task/privileged/environment/instance.json:76 (strict <)"
+  },
+  {
+   "name": "debris_max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:293; inputs/task/privileged/environment/instance.json:75 (strict <)"
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_step",
+   "threshold": 2000,
+   "direction": "higher_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:297-311; inputs/task/privileged/environment/instance.json:93"
+  },
+  {
+   "name": "max_grip_drift_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:282 (strict <)"
+  },
+  {
+   "name": "max_grip_rotation_rad",
+   "unit": "rad",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:282 (strict <)"
+  },
+  {
+   "name": "min_grip_contacts",
+   "unit": "collision_geom",
+   "threshold": 2,
+   "direction": "higher_better",
+   "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ae9cbedaa/checker.py:279; inputs/task/privileged/environment/instance.json:80"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空；按P8全部节点when=null，约束never及success也为null，无法进行状态回放的reach-all或success==grader核对。精确毫米级边界、毫牛级接触和速度阈值不能仅凭工作视角可靠量测，需新增原生checker诊断日志；atoms列出缺失字段。",
+  "按N4将同形同尺寸、同目标的两块包装片和两个瓶盖各自计数；颜色只用于视频辨认，不固定橙色先于蓝色、红色先于黄色，也不把四种杂物统一混合计数。不同颜色是否应算不同物品仍有规则边界，但当前按类别内可互换处理。",
+  "接触词汇边界D16(b)：双手分别持扫帚和簸箕，此处各入簸箕步骤采用手持工具×推/扫，说明右手刷毛作用及左手定位簸箕，不为同一工具链重复添加抓握或双臂协作标签；抬簸箕直接作用于工具自身，采用手指/夹爪×抓握。",
+  "文本描述先扫入再抬起，但checker.py:284-296没有阶段顺序；成功录像及run.json步骤65-71先抬起簸箕，再托住卡在刷毛中的黄色瓶盖，因此装载与抬起可交叠，不加六件入簸箕到抬起的边。",
+  "文本与评分器阈值边界略有不同：instruction.md:3称握持相对位移超过25毫米或转角超过0.25弧度失败，而checker.py:282使用>=；约束按评分器的等号即失败书写。",
+  "两模式共用SweepChecker及相同场景条件，交付判定方式不同：privileged/tests/grade.py:113-123要求两次成功且终态哈希相同；standard/tests/grade.py:22-29判可信服务最后一次实时episode。确定性和有效交付不作为世界状态节点，也不凭此伪造success绑定。",
+  "每件曾被刷毛接触是文本明确写出的手段限制，并非单独的语义步骤；最终success需保留该限制，不能只以六件位置正确代替成功。工具开局已握持，1.2秒后握持检查属于约束，不添加工具拾取步骤。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "七个步骤来自文本，几何、接触、升高、速度、联合计时及失败边界均由评分器与实例参数确定；初始画面确认工具已握持、六件杂物在地面，成功画面及运行记录支持最终完成。没有状态日志，精确验收无法自动核对，双工具接触及同类不同颜色物品仍有解释边界，因此置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无状态日志，按P8所有when与约束never、success为null；节点（两包装、两瓶盖、木片、纸团各入簸箕＋抬簸箕）与说明及checker.py的contained/valid条件一致，计数步按N4，边仅为同类计数顺序，装载与抬起不加边有成功录像依据，约束均立即终止，阈值与checker一致，开放问题已列出。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['packaging_in_pan_1', 'packaging_in_pan_2', 'caps_in_pan_1', 'caps_in_pan_2', 'wood_chip_in_pan', 'paper_in_pan', 'pan_lifted']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T01:49:31Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/dexhand__sweep_dustpan/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/dexhand__sweep_dustpan/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "0e343bd1f8ac3e1d88568765e1527a7d15934e6c5cd853058b8c26ea63623d0e",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--skemtjf.json

@@ -0,0 +1,408 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-privileged--skemtjf",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "6eb19254ca95f27bdfb9ed95388abf9e0cc8213c291e490f33823ffa1e9586c3",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 44279,
+   "sim_steps": 44279,
+   "stages_completed": 7,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.795,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.508,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/replay.mp4",
+  "duration_s": 7.6,
+  "fps": 10.0,
+  "frames": 76,
+  "sha256": "2b20774fc45d39037d74393b9d398b27d25ad1a0ce9fc6e917ea3c351acbdb9f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "packaging_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6 s 橙色包装仍被扫帚遮在入口外侧，视频 1.8–1.9 s 橙色包装随右手持扫帚的向前上挑动作越过入口，出现在绿色底板上；视频 2.1 s 可清楚看见它已留在底板内。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 橙色、浅蓝色两块包装均留在升高的簸箕内，画面为 PASS；评分器 reward.success=1、stages_completed=7。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚，用刷毛向入口推扫橙色包装并向前上挑；左手持簸箕柄使底板承接包装。按当前合格包装数计第1件。"
+     }
+    ]
+   },
+   "packaging_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6 s 浅蓝色包装还在簸箕入口外，视频 1.8–2.0 s 被扫帚头遮挡；视频 2.1 s 扫帚向内移开后，浅蓝色与橙色包装都完整显露在簸箕底板内。此处用首次清楚显露的时刻，入内时间约有 0.2 s 不确定性。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7 s 及视频 3.9–7.5 s 两块包装均在底板上，簸箕升起和倾斜后也未掉出；视频 5.6 s 起显示 PASS，评分器 reward.success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚刷毛推扫浅蓝色包装并将其送过入口，左手持簸箕承接；按两块包装当前同时入簸箕计数，不固定颜色身份。"
+     }
+    ]
+   },
+   "caps_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.7–1.6 s 右手持扫帚将红、黄色瓶盖推向入口；视频 1.9 s 两个瓶盖从扫帚右侧显露，均已越过入口并位于绿色底板上，至少1个瓶盖入簸箕。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.9–7.5 s 红、黄色瓶盖均由簸箕承载，末帧仍在底板边界内，画面 PASS。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚刷毛推扫瓶盖群，左手持簸箕定位并承接；按至少1个瓶盖计数，不固定红黄先后。"
+     }
+    ]
+   },
+   "caps_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6 s 两个瓶盖仍在入口外、局部被扫帚遮挡，视频 1.9 s 红色与黄色圆瓶盖都清楚位于绿色簸箕底板内；视频 2.7 s 扫帚撤离后，两盖继续留在簸箕中。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：逐帧核对视频 3.4 s 计数器为 in pan 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 恢复 6/6。右手持扫帚在簸箕内压扫瓶盖附近并遮住部分杂物；总计数不能确定哪两件暂时不合格，也不能仅据遮挡判断其掉出。画面叠加的 t=14.0–14.8 s 是仿真时钟，不是本文件的视频导航时间。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "推断：视频 3.5–3.8 s 间的计数下降约持续 0.3 s，处于 docs/03_trajectory.md Step 2 的短暂抖动容限附近；前后杂物仍在簸箕底板区域，且缺少逐件状态日志，按短暂抖动处理，不把总计数下降分配为瓶盖或其他具体节点的持续失去，保留原有连续区间。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 红、黄色瓶盖均仍在已抬起的簸箕内；评分器 reward.success=1、stages_completed=7，与末尾 PASS 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚刷毛把红、黄色瓶盖扫过入口；左手持簸箕承接两盖。视频 2.2–3.9 s 扫帚又在簸箕内拨动这一组杂物。"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6 s 棕色细长木屑仍在入口外，视频 1.7 s 随瓶盖和扫帚向内移动，视频 1.8–1.9 s 已完整位于簸箕底板上；视频 2.7 s 扫帚撤开后木屑留在底板内。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–3.8 s 右手持扫帚再次进入簸箕，刷毛下降到木屑、瓶盖所在区域并拨动杂物，随后撤开；视频 3.9–7.5 s 木屑均仍在簸箕内。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 47,
+      "text_zh": "观察：视频 5.6 s 显示 PASS；log step 47 的交付文件独立回放结果为 success=true，且 verdict.brushed 六项均为1，支持木屑最终满足曾被刷毛接触的联合条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚推扫杂物群，木屑随杂物群被送过入口，左手持簸箕承接；随后右手使刷毛下降至木屑处并拨动它。初次入内时不据遮挡画面断言木屑已被刷毛直接碰到。"
+     }
+    ]
+   },
+   "paper_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1–1.6 s 白色纸团位于扫帚前方并被逐渐遮挡；视频 1.8 s 随推扫和上挑动作越过入口，出现在绿色底板中央，视频 1.9 s 仍留在底板上。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7 s 及视频 3.9–7.5 s 白色纸团均由簸箕承载，簸箕升高后没有落回原来的地面位置，末帧 PASS。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持扫帚用刷毛推扫白色纸团，左手持簸箕使底板承接；之后扫帚在簸箕内再次拨动纸团附近的杂物。"
+     }
+    ]
+   },
+   "pan_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.1–4.6 s 机器人左臂经黑色长柄抬升整个绿色簸箕，底板及其所载六件杂物一起上移，与下方地面、投影的距离增大；右侧扫帚已撤到入口外。"
+     },
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "推断：视频约 4.5 s 簸箕已接近本次完整抬升高度，且之后保持悬空；结合视频 5.6 s 出现 PASS 及评分器 reward.success=1，判定达到离地至少50毫米。没有状态日志直接量测高度，阈值穿越时刻约有 0.2 s 不确定性。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.2–5.6 s 簸箕又倾斜，六件杂物仍在底板内；视频 6.5–7.5 s 逐帧检查均为已抬起簸箕承载六件杂物的 PASS 终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左手灵巧手持续握住簸箕黑色长柄，由左臂抬升并倾斜簸箕；工具随手臂运动、没有松手。手部本身在本工作视角上方，握持由工具运动及成功验收共同支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "in_pan",
+   "unit": "piece",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "debris_max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "debris_max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_step",
+   "threshold": 2000,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_grip_drift_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_grip_rotation_rad",
+   "unit": "rad",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "min_grip_contacts",
+   "unit": "collision_geom",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次评分视频中，机器人右手持扫帚在视频约 1.8–2.1 s 将六件杂物送入左手持有的簸箕，随后再次拨扫杂物，视频约 4.5 s 已抬起簸箕，视频 5.6 s 出现 PASS，末尾七个节点均保持达成。观察：评分器 success=1、stages_completed=7、deterministic=1，log step 47–48 也记录交付文件两次独立回放成功且终态哈希相同；会话中其他试验的碰撞和未成功保持不属于本次评分失败。推断：视频注明4倍速回放，本文时间均为视频时钟；没有状态日志，毫米级包含边界、接触力、速度及精确抬升阈值主要由成功验收支持，视频 3.5–3.7 s 总计数短暂降为4/6、视频 3.8 s 恢复6/6，受扫帚遮挡无法确定哪两件暂时不合格，按约0.3秒的短暂抖动处理，未拆分各节点区间，reward 未逐项报告 DAG 原生指标数值，故这些数值保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点时间和最终结果基本与视频一致（视频 1.9 s 计数 5/6，约 2.7 s 起 6/6，5.6 s PASS）；唯一遗漏是视频 3.4–3.5 s 画面计数器短暂掉到 4/6，文件把它写成了从未失去。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，七个节点时间与视频一致（视频 1.9 s 计数 5/6，约 4.5 s 簸箕升起，5.6 s PASS）；3.5–3.7 s 的 4/6 短暂下降已如实记录，未见需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "591b7894bc4e6b553c043cfddf46d8f8d8e0d2d62c9a0f4ae1951fd5d44e747f",
+   "video_sha256": "2b20774fc45d39037d74393b9d398b27d25ad1a0ce9fc6e917ea3c351acbdb9f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--bctjxcu.json

@@ -0,0 +1,380 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-standard--bctjxcu",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "6eb19254ca95f27bdfb9ed95388abf9e0cc8213c291e490f33823ffa1e9586c3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 51,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 19602,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 6,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 19602,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.345,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.291,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/replay.mp4",
+  "duration_s": 4.5,
+  "fps": 10.0,
+  "frames": 45,
+  "sha256": "019984f9579c02de984b0cc63c2202271f3d39d21f3c0dc3655f893be0affc38"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "packaging_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两块橙色、浅蓝色包装均在绿色簸箕入口外的灰色地面上，簸箕底板空着。"
+     },
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.4–2.3 s 右手所持扫帚向入口推扫；浅蓝包装在视频 2.2–2.3 s 仍露在刷头与入口之间，橙色包装被刷头遮住，未见任何包装完整越过入口进入底板。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频 2.4–2.5 s 入口边缘的杂物、视频 2.5–4.4 s 完全不再变化的终态及画面原生 in pan 0/6 计数，本次没有包装达到完整入簸箕并由其承接的关系；不是仅凭总评分为零判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "推断：视频 1.4–2.4 s，右手握持的扫帚刷头经过两块包装的位置并将其推到入口附近，末段被刷头遮挡；实际作用端为扫帚刷毛，对象为包装块。左手持簸箕定位入口，不重复记录握扫帚的接触链。"
+     }
+    ]
+   },
+   "packaging_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两块包装均在入口外；视频 1.4–2.3 s 扫帚依次覆盖其位置，浅蓝包装最后仍露在入口外侧，未见两件包装落在绿色底板上。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：视频 2.5–4.4 s 终态固定，刷头停在入口且底板其余部分空着，画面原生 in pan 0/6；结合扫入前后的连续帧，两件完整入簸箕的条件从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "推断：视频 1.4–2.4 s，同一次扫帚推扫覆盖橙色和浅蓝色包装，末段两者位于入口附近并部分被刷头遮挡；右手经扫帚刷毛推扫包装，左手持簸箕定位。"
+     }
+    ]
+   },
+   "caps_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3–1.5 s 右手所持扫帚首先推到红色瓶盖，随后推到黄色瓶盖，两盖被带向绿色簸箕入口；接触发生后仍在地面区域，未到达底板。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.3 s 红盖仍露在刷头右侧、入口外，视频 2.4 s 黄色盖露在刷头下端、入口边缘；随后刷头遮住部分杂物。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：视频 2.5–4.4 s 保持失败静帧，瓶盖没有从刷头附近进入底板内部，画面原生 in pan 始终为 0/6；结合此前可见运动，本次没有瓶盖完整进入并被簸箕承接。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.3–1.5 s，右手所持扫帚先后顶推红色及黄色瓶盖，瓶盖随刷头前移；左手持簸箕定位入口。按扫帚刷毛到瓶盖的工具接触链记录。"
+     }
+    ]
+   },
+   "caps_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3–1.5 s 红、黄两盖先后被扫帚推扫；视频 2.3–2.4 s 仍在刷头与入口附近，未见两盖完整进入底板内部。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频 2.5–4.4 s 不变的入口终态及原生 in pan 0/6，两个瓶盖同时完整入簸箕的条件未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.3–1.5 s，同一刷头先后推扫红色、黄色两盖，并继续带向入口；右手经扫帚作用于瓶盖，左手持簸箕定位入口。"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8 s 棕色细长木屑仍在入口外的地面；视频 2.2–2.3 s 刷头下端将其推向入口。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–4.4 s 木屑露在刷头下端，斜停在绿色入口边缘，仍有部分在绿色底板外，未完整越过入口；画面原生 in pan 为 0/6。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.2–2.4 s，右手所持扫帚下端推到棕色木屑，木屑由入口外地面移至斜坡边缘；左手持簸箕定位入口。"
+     }
+    ]
+   },
+   "paper_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色纸团位于扫帚与入口之间；视频 1.7–1.8 s 被前进的刷头顶向入口，视频 1.8 s 仍露在刷头右侧的灰色区域。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：视频 1.9–2.5 s 纸团被刷头遮挡，未见其越过入口后在底板上出现；结合视频 2.5–4.4 s 不变的终态和原生 in pan 0/6，本次纸团未达到完整入簸箕且由其承接的条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.7–1.8 s，右手所持扫帚刷头顶到白色纸团，纸团随刷头前移，随后被遮挡；左手持簸箕定位入口。"
+     }
+    ]
+   },
+   "pan_lifted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色簸箕入口贴着灰色地面。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.5 s 簸箕底板、入口及黑色长柄位置基本不变，只有扫帚向前扫并转动；视频 2.5–4.4 s 为同一失败终态，簸箕没有整体抬离地面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "in_pan",
+   "unit": "piece",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pan_lift_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "debris_max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "debris_max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_run",
+   "unit": "physics_step",
+   "threshold": 2000,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_grip_drift_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_grip_rotation_rad",
+   "unit": "rad",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "min_grip_contacts",
+   "unit": "collision_geom",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "caps_in_pan_1",
+   "t": 2.5,
+   "log_step": 61,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.3–1.5 s 机器人先扫动红、黄瓶盖，随后同一宽刷头一并推扫其余杂物；视频 2.3–2.4 s 杂物仍在入口附近，视频 2.5 s 画面显示 FAIL: tool_slipped_in_hand，之后至视频 4.4 s 不再运动。推断：这是扫入操作中扫帚握持滑移导致的不可恢复失败；多类杂物在同一次推扫中共同受阻，断点归于最早实际推扫且从未修复的第1瓶盖入簸箕节点，抬簸箕尚未开始。"
+  },
+  "unmet": {
+   "packaging_in_pan_1": false,
+   "packaging_in_pan_2": false,
+   "caps_in_pan_1": false,
+   "caps_in_pan_2": false,
+   "wood_chip_in_pan": false,
+   "paper_in_pan": false,
+   "pan_lifted": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.5,
+    "log_step": 61,
+    "evidence_zh": "观察：视频 2.3–2.5 s 扫帚柄明显转斜，刷头仍在簸箕入口附近；视频 2.5–4.4 s 画面原生失败提示为 tool_slipped_in_hand（工具在手内滑移），而非成功。推断：结合簸箕始终不动及扫帚的转动，机器人未保持住推扫工具的稳定握持；不是已经装好后松手失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：末段工具保持控制未能限制扫帚与手掌的相对运动，依据是视频 2.3–2.5 s 扫帚明显转斜及原生 tool_slipped_in_hand 提示。观察：log step 57–58 的最后一次重置试验固定使用复位手指目标、执行抬刷与前扫，log step 59–61 延续该局并执行抬刷/退刷；log step 61 返回 task_failure、实际执行2356行。由最后前扫代码可复算17246行，合计19602行，与评分器 n_actions 一致；按每行0.0005仿真秒及画面 native replay 4x，结束对应视频约2.45 s，已与视频 2.4–2.5 s 从仿真9.60 s转为仿真9.80 s失败核对。具体是握持接触布局、载荷下滑移还是轨迹跟踪导致，缺少数值记录，故不细分控制子类。",
+    "source_zh": "视频 / 日志 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志；刷头遮挡部分包装、瓶盖和纸团的末段位置，入簸箕判断结合遮挡前后的连续帧、可见入口关系及视频原生 in pan 0/6，未用agent自算的分割结果替代节点值。手掌与工具握持点不在画面内，缺少相对位移、相对转角和接触力记录，不能确定滑移的具体控制子类。日志中的多次重置试验不并入本次进度；本次对应log step 58及61的最后实时episode。"
+ },
+ "summary_zh": "本次机器人用右手所持扫帚将六件杂物推向左手固定的簸箕入口，但没有任何杂物完整进入并被簸箕承接，也没有抬起簸箕，最终为0/7节点。视频约2.5 s 出现 tool_slipped_in_hand，扫入操作因工具握持滑移而失败；断点记在同一次推扫中最早处理且未修复的第1瓶盖入簸箕节点。末段刷头遮挡部分杂物，且没有握持力和相对位姿日志，因此根因只判为控制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全为未达成，与视频 0–4.4 s 及画面 in pan 0/6 一致；视频 2.5 s 的 FAIL: tool_slipped_in_hand 与 log step 61 的 task_failure 对得上，4x 回放时钟换算（9.80 仿真秒≈视频 2.45 s）经 2.0 s 帧 t=8.00 核对无误。断点选在最早被推扫的瓶盖节点，属多节点同时受阻下的可接受选择；根因停在“控制”并写明原因，未见需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:33:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8661b40b944e002db4aff878a5817dcbaa51045b1478fa63f2592199fdcfcfc",
+   "video_sha256": "019984f9579c02de984b0cc63c2202271f3d39d21f3c0dc3655f893be0affc38",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dextoolbench/hammer_claw_hammer_swing_down/trajectories/dextoolbench_hammer_claw_hammer_swing_down-privileged--elhr8he.json

@@ -0,0 +1,1203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_hammer_claw_hammer_swing_down-privileged--elhr8he",
+ "taskKey": "dextoolbench/hammer_claw_hammer_swing_down",
+ "dag_sha256": "da0cf13cfc6195bcf80f25307247d4ae23a699fd77d55cd4bd01f7c45200fd6e",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "progress": 1.0,
+   "goals_reached": 37,
+   "n_goals": 37,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 4454,
+   "control_steps_used": 4454,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 14,
+   "agent_resets": 15,
+   "agent_control_steps": 18251,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 6,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--elhr8he/replay.mp4",
+  "duration_s": 12.433,
+  "fps": 30.0,
+  "frames": 373,
+  "sha256": "f3482fdda01b032d064e9d5e3f1ac03291a8401cbe7468e817e7f26776cb4734"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 37,
+  "base": 0,
+  "peak": 37,
+  "final": 37,
+  "nodes": {
+   "hammer_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.37,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.37,
+      "log_step": null,
+      "text_zh": "观察：视频 3.33–3.37 s，灰锤在手指包围中接近起始绿色轮廓，绿色锤头及锤柄整体上移到下一位置；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 3.37,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第1个位姿通过时间近似定位在视频 3.37 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.9–1.6 s，机器人左型 Sharpa HA4 灵巧手合指包住桌面灰色羊角锤的柄；视频约 1.6–1.9 s 灰锤离开原桌面位置并随手抬升，随后保持对向抓握移向第1目标。"
+     }
+    ]
+   },
+   "hammer_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.57–3.60 s，机器人持灰锤上移，绿色目标轮廓再次略向上移动；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 3.6,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第2个位姿通过时间近似定位在视频 3.60 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.77,
+      "log_step": null,
+      "text_zh": "观察：视频 3.73–3.77 s，灰锤继续上移并贴近绿色轮廓，目标轮廓有小幅变化；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 3.77,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第3个位姿通过时间近似定位在视频 3.77 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端���型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.83,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.83,
+      "log_step": null,
+      "text_zh": "观察：视频 3.80–3.83 s，机器人保持握柄，绿色锤头和柄的方向切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 3.83,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第4个位姿通过时间近似定位在视频 3.83 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.07,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.07,
+      "log_step": null,
+      "text_zh": "观察：视频 4.03–4.07 s，灰锤继续上移，绿色锤头轮廓改成更倾斜的形态；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 4.07,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第5个位姿通过时间近似定位在视频 4.07 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": null,
+      "text_zh": "观察：视频 4.87–4.90 s，机器人持锤转腕，绿色锤头方向进一步倾斜；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 4.9,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第6个位姿通过时间近似定位在视频 4.90 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.97–5.00 s，机器人继续转腕，绿色轮廓方向小幅切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第7个位姿通过时间近似定位在视频 5.00 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.07,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.07,
+      "log_step": null,
+      "text_zh": "观察：视频 5.03–5.07 s，灰锤随闭合的手指转动，绿色轮廓在这一采样间隔内切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.07,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第8与第9个目标的通过定位在视频约 5.07 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.07,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.07,
+      "log_step": null,
+      "text_zh": "观察：视频 5.03–5.07 s，灰锤随闭合的手指转动，绿色轮廓在这一采样间隔内切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.07,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第9与第8个目标的通过定位在视频约 5.07 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.13,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.13,
+      "log_step": null,
+      "text_zh": "观察：视频 5.10–5.13 s，机器人继续转动持锤的手，绿色锤头及柄的方向再次改变；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.13,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第10个位姿通过时间近似定位在视频 5.13 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_11_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.47–5.50 s，机器人持锤转腕，俯视中绿色柄轴方向略变；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第11个位姿通过时间近似定位在视频 5.50 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_12_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.63,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.63,
+      "log_step": null,
+      "text_zh": "观察：视频 5.60–5.63 s，机器人持灰锤横向移动，绿色锤头轮廓向前视左方切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.63,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第12个位姿通过时间近似定位在视频 5.63 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_13_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.77,
+      "log_step": null,
+      "text_zh": "观察：视频 5.73–5.77 s，灰锤随手横移，绿色目标又向前视左方移动；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 5.77,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第13个位姿通过时间近似定位在视频 5.77 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_14_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.13,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.13,
+      "log_step": null,
+      "text_zh": "观察：视频 6.10–6.13 s，机器人继续持锤横移，绿色锤头和柄的整体位置再次改变；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 6.13,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第14个位姿通过时间近似定位在视频 6.13 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_15_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.47,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.47,
+      "log_step": null,
+      "text_zh": "观察：视频 6.43–6.47 s，机器人持锤向前视左侧移，绿色目标轮廓随通过而切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 6.47,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第15个位姿通过时间近似定位在视频 6.47 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_16_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.77,
+      "log_step": null,
+      "text_zh": "观察：视频 6.73–6.77 s，机器人保持闭指握柄，绿色目标向更低位置切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 6.77,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第16个位姿通过时间近似定位在视频 6.77 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_17_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.93,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.93,
+      "log_step": null,
+      "text_zh": "观察：视频 6.90–6.93 s，灰锤在低位接近绿色轮廓，绿色目标在相邻采样帧间明显转向上方；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 6.93,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第17与第18个目标的通过定位在视频约 6.93 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_18_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.93,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.93,
+      "log_step": null,
+      "text_zh": "观察：视频 6.90–6.93 s，灰锤在低位接近绿色轮廓，绿色目标在相邻采样帧间明显转向上方；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 6.93,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第18与第17个目标的通过定位在视频约 6.93 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_19_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.27,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.27,
+      "log_step": null,
+      "text_zh": "观察：视频 7.23–7.27 s，机器人持锤回升并转腕，绿色轮廓方向略变；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 7.27,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第19个位姿通过时间近似定位在视频 7.27 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_20_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.4,
+      "log_step": null,
+      "text_zh": "观察：视频 7.37–7.40 s，机器人保持握柄，绿色目标由上方转到较低位置；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 7.4,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第20个位姿通过时间近��定位在视频 7.40 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_21_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.53,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.50–7.53 s，机器人持锤下移，绿色目标变为较低的近水平轮廓；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 7.53,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第21个位姿通过时间近似定位在视频 7.53 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_22_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.9,
+      "log_step": null,
+      "text_zh": "观察：视频 7.87–7.90 s，机器人继续持锤向下，绿色目标进一步降低；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 7.9,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第22个位姿通过时间近似定位在视频 7.90 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_23_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.03,
+      "log_step": null,
+      "text_zh": "观察：视频 8.00–8.03 s，灰锤在低位接近目标，绿色轮廓向上小幅切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 8.03,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第23个位姿通过时间近似定位在视频 8.03 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_24_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.17–8.20 s，机器人握柄回升，绿色目标明显移到上方并改变柄轴倾角；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 8.2,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第24个位姿通过时间近似定位在视频 8.20 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过���后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_25_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.73,
+      "log_step": null,
+      "text_zh": "观察：视频 8.70–8.73 s，灰锤随手上移，绿色锤头和柄的倾角再次切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 8.73,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第25个位姿通过时间近似定位在视频 8.73 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_26_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.97,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.97,
+      "log_step": null,
+      "text_zh": "观察：视频 8.93–8.97 s，机器人继续持锤上移，绿色目标转向较低位置；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 8.97,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第26个位姿通过时间近似定位在视频 8.97 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_27_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.23,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.23,
+      "log_step": null,
+      "text_zh": "观察：视频 9.20–9.23 s，机器人握柄下挥，绿色目标转为低处近水平轮廓；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 9.23,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第27个位姿通过时间近似定位在视频 9.23 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_28_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.73,
+      "log_step": null,
+      "text_zh": "观察：视频 9.70–9.73 s，机器人持锤到达本轮低位，绿色目标有小幅上移；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 9.73,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第28个位姿通过时间近似定位在视频 9.73 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_29_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": null,
+      "text_zh": "观察：视频 9.73–9.77 s，灰锤仍握在手中，绿色目标紧接着明显上移并转向；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 9.77,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第29个位姿通过时间近似定位在视频 9.77 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_30_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.27,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.27,
+      "log_step": null,
+      "text_zh": "观察：视频 10.23–10.27 s，机器人持锤回升，绿色目标轮廓继续上移并改变倾角；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 10.27,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第30个位姿通过时间近似定位在视频 10.27 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_31_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.73,
+      "log_step": null,
+      "text_zh": "观察：视频 10.70–10.73 s，灰锤随手接近上方目标，绿色轮廓在相邻采样帧间切换为低位目标；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 10.73,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第31与第32个目标的通过定位在视频约 10.73 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_32_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.73,
+      "log_step": null,
+      "text_zh": "观察：视频 10.70–10.73 s，灰锤随手接近上方目标，绿色轮廓在相邻采样帧间切换为低位目标；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 10.73,
+      "log_step": 45,
+      "text_zh": "推断：结合目标位姿序列、相邻绿色轮廓及评分器 goals_reached=37/37，将第32与第31个目标的通过定位在视频约 10.73 s；中间目标在视频采样中未单独呈现，共用近似时间锚，不能据此区分两次通过的先后帧。log step 45 的最终交付回放报告 reached=37、done=true、deterministic=true；本节点为通过后锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_33_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 11.17–11.20 s，机器人握柄下移，绿色目标切换到更低的近水平轮廓；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 11.2,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第33个位姿通过时间近似定位在视频 11.20 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_34_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.43,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.43,
+      "log_step": null,
+      "text_zh": "观察：视频 11.40–11.43 s，机器人持锤到达本轮低位，绿色目标转到略高处；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 11.43,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第34个位姿通过时间近似定位在视频 11.43 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_35_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.67,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.67,
+      "log_step": null,
+      "text_zh": "观察：视频 11.63–11.67 s，机器人握柄回升，绿色目标明显上移并转向；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 11.67,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第35个位姿通过时间近似定位在视频 11.67 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_36_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.17,
+      "log_step": null,
+      "text_zh": "观察：视频 12.13–12.17 s，机器人继续持锤回升，绿色目标轮廓小幅切换；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 12.17,
+      "log_step": 45,
+      "text_zh": "推断：按任务的有序位姿序列及绿色目标切换，将第36个位姿通过时间近似定位在视频 12.17 s；视频无目标编号，不能直接量出角点误差。评分器 goals_reached=37/37、success=1 及 log step 45 最终交付回放的 reached=37、done=true、deterministic=true 支持本事件已通过，后续持锤移动不撤销此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   },
+   "hammer_pose_37_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频 12.37–12.40 s，机器人继续合指持锤，将灰锤靠近最后的绿色锤头和柄轴轮廓，片尾仍握持锤子；前视和斜视可见手指包住锤柄，灰锤随机器人手运动。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 45,
+      "text_zh": "推断：视频 12.40 s 的末端持锤位置与最后绿色目标接近；评分器 success=1、goals_reached=37、deterministic=1，且 log step 45 的最终交付回放报告 reached=37、steps=4454、终态哈希一致，支持第37个位姿已通过并锁存。通过时间约为片尾，未从画面直接测量严格角点误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端左型 Sharpa HA4 灵巧手的拇指与弯曲的其余手指从相对两侧包住灰色羊角锤的柄，持握时灰锤随手运动；本步实际接触为手指直接抓握受评锤体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 1.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频约 1.6–1.9 s 抓握抬起灰色羊角锤，随后持续握柄上移、转向并反复下挥，评分器报告 success=1、goals_reached=37/37、deterministic=1，log step 45 的最终交付回放也通过且终态哈希一致。推断：全部37个有序位姿事件在视频约 3.37–12.40 s 依次完成并锁存，没有失败断点。证据缺口：无状态日志、无目标计数叠字，也无独立参考视频；严格角点阈值的通过依据评分记录，节点时间依据所检视频的绿色目标切换近似定位，其中第8/9、第17/18、第31/32目标未在采样帧中分别呈现，通过时刻不能独立精确分开。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，37/37目标由评分器记录；视频中灰锤被手指包住抬起并连续挥动，未见失败断点，标签（全部到达、抓握接触、无failure）与证据一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:05:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--elhr8he/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--elhr8he/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "798a9c4aa8cae9e3ee1cb4fac0ba98b220e3c350ef8bdae9580a99b2047d2520",
+   "video_sha256": "f3482fdda01b032d064e9d5e3f1ac03291a8401cbe7468e817e7f26776cb4734",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dextoolbench/hammer_claw_hammer_swing_down/trajectories/dextoolbench_hammer_claw_hammer_swing_down-privileged--p6zgpms.json

@@ -0,0 +1,821 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_hammer_claw_hammer_swing_down-privileged--p6zgpms",
+ "taskKey": "dextoolbench/hammer_claw_hammer_swing_down",
+ "dag_sha256": "da0cf13cfc6195bcf80f25307247d4ae23a699fd77d55cd4bd01f7c45200fd6e",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2703,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.2703,
+   "goals_reached": 10,
+   "n_goals": 37,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 1259,
+   "control_steps_used": 1259,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 251,
+   "agent_resets": 297,
+   "agent_control_steps": 68802,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 161,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--p6zgpms/replay.mp4",
+  "duration_s": 10.5,
+  "fps": 30.0,
+  "frames": 315,
+  "sha256": "0294c24953e2a49dabb1644051db5d65da388a1ce7fc8a8b9ebc87d0ba64e0c0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 37,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "hammer_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频2.17 s时灰锤仍在接近绿色锤；视频2.37 s附近绿色目标上移，机器人继续持锤追随新目标。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第1个位姿已按顺序通过并锁存。到达时间约为视频2.4 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频0.5–1.0 s，KUKA单臂末端左型Sharpa五指手合拢包住灰色羊角锤，锤离开桌面并随手移动；随后持握锤体追随绿色目标。"
+     }
+    ]
+   },
+   "hammer_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.9,
+      "log_step": null,
+      "text_zh": "观察：视频2.83 s至2.93 s，机器人握持灰锤上移并调整方向，绿色目标再次变位。"
+     },
+     {
+      "t": 2.9,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第2个位姿已按顺序通过并锁存。到达时间约为视频2.9 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频2.9 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.93 s至3.10 s，灰锤继续跟随相邻的绿色目标，期间目标有细小切换。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第3个位姿已按顺序通过并锁存。到达时间约为视频3.0 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频3.0 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频3.00 s至3.10 s，机器人继续持锤小幅调姿，之��绿色目标保持在更高位置。"
+     },
+     {
+      "t": 3.1,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第4个位姿已按顺序通过并锁存。到达时间约为视频3.1 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频3.1 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频3.90 s至3.97 s，灰锤向上靠近绿色轮廓，绿色锤随后改变姿态。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第5个位姿已按顺序通过并锁存。到达时间约为视频4.0 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频4.0 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.3,
+      "log_step": null,
+      "text_zh": "观察：视频4.20 s至4.27 s，机器人持锤转动，绿色目标发生下一次姿态切换。"
+     },
+     {
+      "t": 4.3,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第6个位姿已按顺序通过并锁存。到达时间约为视频4.3 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频4.3 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频4.93 s至5.00 s，灰锤跟随绿色锤转动，绿色轮廓再次改变。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第7个位姿已按顺序通过并锁存。到达时间约为视频5.0 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.0 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：视频5.30 s至5.37 s，灰锤在手中，绿色目标发生很小的连续变化；两个相邻目标无法从采样画面逐个分开。"
+     },
+     {
+      "t": 5.3,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第8个位姿已按顺序通过并锁存。到达时间约为视频5.3 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.3 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：视频5.30 s至5.37 s，机器人继续持锤；该相邻目标与前一目标变化很小，无法从采样画面单独分开。"
+     },
+     {
+      "t": 5.3,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第9个位姿已按顺序通过并锁存。到达时间约为视频5.3 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.3 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频5.47 s至5.53 s，机器人持锤转动，绿色目标明显改变倾角；之后该绿色目标保持不变直到视频10.47 s。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 461,
+      "text_zh": "推断：评分器reward.goals_reached=10；log step 461对已交付1259行轨迹的原生回放反馈也为reached=10、n_goals=37，与视频依次追随绿色目标的过程相符，因此第10个位姿已按顺序通过并锁存。到达时间约为视频5.5 s，仅按画面目标切换估计，邻近目标的定位约有0.1–0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.5 s附近，单臂五指手保持合拢包住灰色羊角锤，带动受评锤体移动和转向。"
+     }
+    ]
+   },
+   "hammer_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频5.53 s以后绿色目标不再切换；视频6.0 s、9.5–10.47 s中机器人仍握住灰锤，但前视、侧视和俯视的灰色锤柄与绿色轮廓有明显方向及位置偏差，直到末帧未对齐。"
+     },
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "观察：log step 461对最终交付轨迹的原生回放返回reached=10、n_goals=37、done=False、goal_distance_m=0.12426，log step 469再次回放得到相同结果；评分器reward.goals_reached=10且deterministic=1。第11个位姿的0.015 m严格阈值未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.53–10.47 s，KUKA单臂的五指手持续包握灰锤；机器人伸展机械臂并小幅调姿，灰锤仍随手悬在桌面上方。"
+     }
+    ]
+   },
+   "hammer_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第12个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第13个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第14个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第15个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第16个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第17个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第18个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第19个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第20个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第21个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第22个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第23个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第24个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第25个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第26个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第27个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第28个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第29个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第30个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第31个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第32个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第33个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第34个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第35个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第36个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   },
+   "hammer_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.47,
+      "log_step": 461,
+      "text_zh": "推断：视频5.53–10.47 s机器人停留在同一个绿色目标，灰锤仍与其错开；最终评分器goals_reached=10，log step 461及469对已交付轨迹回放也均为reached=10。第11个顺序前置未通过，因此第37个位姿未达到，机器人没有开始追随该目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.2703
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hammer_pose_11_reached",
+   "t": 6.0,
+   "log_step": 461,
+   "where": "操作中",
+   "evidence_zh": "观察：视频5.53 s目标切换后，机器人继续持锤调姿并逐渐伸直机械臂；视频6.0 s起灰锤与绿色锤持续错开，视频10.47 s末帧仍未修复。log step 461对交付轨迹回放的原生计数为10/37，当前目标误差0.12426 m；故失败步骤为正在尝试的第11个位姿。"
+  },
+  "unmet": {
+   "hammer_pose_01_reached": true,
+   "hammer_pose_02_reached": true,
+   "hammer_pose_03_reached": true,
+   "hammer_pose_04_reached": true,
+   "hammer_pose_05_reached": true,
+   "hammer_pose_06_reached": true,
+   "hammer_pose_07_reached": true,
+   "hammer_pose_08_reached": true,
+   "hammer_pose_09_reached": true,
+   "hammer_pose_10_reached": true,
+   "hammer_pose_11_reached": false,
+   "hammer_pose_12_reached": false,
+   "hammer_pose_13_reached": false,
+   "hammer_pose_14_reached": false,
+   "hammer_pose_15_reached": false,
+   "hammer_pose_16_reached": false,
+   "hammer_pose_17_reached": false,
+   "hammer_pose_18_reached": false,
+   "hammer_pose_19_reached": false,
+   "hammer_pose_20_reached": false,
+   "hammer_pose_21_reached": false,
+   "hammer_pose_22_reached": false,
+   "hammer_pose_23_reached": false,
+   "hammer_pose_24_reached": false,
+   "hammer_pose_25_reached": false,
+   "hammer_pose_26_reached": false,
+   "hammer_pose_27_reached": false,
+   "hammer_pose_28_reached": false,
+   "hammer_pose_29_reached": false,
+   "hammer_pose_30_reached": false,
+   "hammer_pose_31_reached": false,
+   "hammer_pose_32_reached": false,
+   "hammer_pose_33_reached": false,
+   "hammer_pose_34_reached": false,
+   "hammer_pose_35_reached": false,
+   "hammer_pose_36_reached": false,
+   "hammer_pose_37_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.0,
+    "log_step": 461,
+    "evidence_zh": "观察：视频6.0–10.47 s，机器人手中的灰色锤柄与绿色目标锤柄的投影方向、锤头位置持续不重合，绿色目标没有继续切换。log step 461及469对最终交付轨迹的原生回放均报告当前目标角点最大误差0.12426 m，超过0.015 m阈值。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 455的最终生成脚本按顺序使用实际锤体位置及四元数计算误差，经手掌目标和局部阻尼逆解下发关节目标，握持指令始终保持；视频5.53–10.47 s中机器人仍持锤，却伸展至近乎固定的臂姿而未消除锤体误差。log step 461及469的交付回放保持10/37并报告当前目标误差0.12426 m，支持执行控制未能使锤体跟踪该目标；现有证据不足以确定控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或已达目标计数叠字；前10个位姿的最终通过数有评分器及交付回放确认，逐节点时间按视频绿色目标切换粗估，其中视频5.30–5.37 s的第8、9个相邻目标不能逐个分辨，采用同一近似时间。没有该交付轨迹的逐步关节误差、逆解收敛标志或手锤接触力记录，不能区分握持几何、局部逆解和反馈跟踪各自的贡献；调试会话中的其他测试不作为本次物理进度。reward没有goal_distance_m字段，native_metrics该值留null；交付回放反馈的0.12426 m仅作为带log step引用的辅助证据。"
+ },
+ "summary_zh": "机器人抓起羊角锤并按顺序通过前10个示范位姿，最终进度10/37，与评分器和交付回放一致。视频约6.0 s起，第11个位姿的灰锤与绿色目标持续错开，机器人仍握锤但控制未使其对齐，直至视频10.47 s末帧。缺少逐帧状态与原生计数，节点时间为画面粗估，尤其第8、9个位姿无法逐项分时；控制���因不细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频、评分器及交付回放一致：机器人抓起锤并通过前10个位姿，第11个位姿起灰锤与绿色目标持续错开；断点、现象（位姿不准）和根因（控制，不细分）均有证据，节点时间为已声明的粗估。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:32:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--p6zgpms/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_down-privileged--p6zgpms/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66b9ca61f853b9fea5af814191cdc031950a24de875029f7b25a5a478cdd7354",
+   "video_sha256": "0294c24953e2a49dabb1644051db5d65da388a1ce7fc8a8b9ebc87d0ba64e0c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dextoolbench/marker_sharpie_marker_draw_smile/trajectories/dextoolbench_marker_sharpie_marker_draw_smile-privileged--nv2dlhg.json

@@ -0,0 +1,1181 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_marker_sharpie_marker_draw_smile-privileged--nv2dlhg",
+ "taskKey": "dextoolbench/marker_sharpie_marker_draw_smile",
+ "dag_sha256": "10c9474f8e3e104ba05efaa6f67317fb56957a82b2df0906f27ced42f6149665",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "progress": 1.0,
+   "goals_reached": 36,
+   "n_goals": 36,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 2873,
+   "control_steps_used": 2873,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 33,
+   "agent_resets": 148,
+   "agent_control_steps": 97123,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 133,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--nv2dlhg/replay.mp4",
+  "duration_s": 12.033,
+  "fps": 30.0,
+  "frames": 361,
+  "sha256": "637ee686e12e5ba2ac45000e1d59701bb5d9e61caeee6ccec184d426cd0dc399"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 36,
+  "base": 0,
+  "peak": 36,
+  "final": 36,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频3.80 s附近，机器人左式灵巧手合拢夹持灰色笔，笔已离开原桌面位置，随手抬升及转动；正视和俯视可见绿色目标露出部位依次变化。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 85,
+      "text_zh": "推断：到达时刻按目标切换附近帧估计，误差约0.3秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第1个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.03,
+      "log_step": null,
+      "text_zh": "观察：视频4.03 s附近，机器人左式灵巧手合拢夹持灰色笔，笔已离开原桌面位置，随手抬升及转动；正视和俯视可见绿色目标露出部位依次变化。"
+     },
+     {
+      "t": 4.03,
+      "log_step": 85,
+      "text_zh": "推断：到达时刻按目标切换附近帧估计，误差约0.3秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第2个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.27,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.27,
+      "log_step": null,
+      "text_zh": "观察：视频4.27 s附近，机器人左式灵巧手合拢夹持灰色笔，笔已离开原桌面位置，随手抬升及转动；正视和俯视可见绿色目标露出部位依次变化。"
+     },
+     {
+      "t": 4.27,
+      "log_step": 85,
+      "text_zh": "推断：到达时刻按目标切换附近帧估计，误差约0.3秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第3个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.93,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.93,
+      "log_step": null,
+      "text_zh": "观察：视频4.93 s附近，机器人左式灵巧手合拢夹持灰色笔，笔已离开原桌面位置，随手抬升及转动；正视和俯视可见绿色目标露出部位依次变化。"
+     },
+     {
+      "t": 4.93,
+      "log_step": 85,
+      "text_zh": "推断：到达时刻按目标切换附近帧估计，误差约0.3秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第4个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "观察：视频5.40 s附近，机器人仍握着灰色笔，视频4.93–5.4 s手指及笔的相对姿态变化，随后绿色目标在俯视中换至另一位置；笔未回到桌面。"
+     },
+     {
+      "t": 5.4,
+      "log_step": 85,
+      "text_zh": "推断：手指遮挡笔身，结合切换前后帧将此处估为第5目标通过，误差约0.3秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第5个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频4.93–5.4 s，单只左式灵巧手继续夹持灰色笔，手指改变姿态且笔在手中的相对朝向变化；推断：结合log step 81中最终生成脚本的手指调姿阶段，此节点采用持笔后的手内调整，随后继续夹持移动。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.97,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.97,
+      "log_step": null,
+      "text_zh": "观察：视频5.97 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 5.97,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第6个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频6.30 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 6.3,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第7个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.53,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.53,
+      "log_step": null,
+      "text_zh": "观察：视频6.53 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 6.53,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第8个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.77,
+      "log_step": null,
+      "text_zh": "观察：视频6.77 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 6.77,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第9个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.03,
+      "log_step": null,
+      "text_zh": "观察：视频7.03 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 7.03,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第10个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.3,
+      "log_step": null,
+      "text_zh": "观察：视频7.30 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第11个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.57,
+      "log_step": null,
+      "text_zh": "观察：视频7.57 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 7.57,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第12个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频7.80 s附近，机器人左手持续夹持笔并带动其在竖板旁向上、横向移动；俯视与正视可见绿色目标端部逐次改变位置，实体笔随手接近目标。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 85,
+      "text_zh": "推断：按有序绿色目标切换估计本节点时刻，误差约0.5秒。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第13个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.07,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.07,
+      "log_step": null,
+      "text_zh": "观察：视频8.07 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.07,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第14个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.3,
+      "log_step": null,
+      "text_zh": "观察：视频8.30 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.3,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按��序锁存判据第15个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.33,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.33,
+      "log_step": null,
+      "text_zh": "观察：视频8.33 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.33,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第16个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频8.50 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第17个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": null,
+      "text_zh": "观察：视频8.70 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.7,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第18个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.9,
+      "log_step": null,
+      "text_zh": "观察：视频8.90 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 8.9,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的���别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第19个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "观察：视频9.10 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.1,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第20个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频9.30 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.3,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第21个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.43,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.43,
+      "log_step": null,
+      "text_zh": "观察：视频9.43 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.43,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第22个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.57,
+      "log_step": null,
+      "text_zh": "观察：视频9.57 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.57,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第23个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频9.80 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.8,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第24个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.97,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.97,
+      "log_step": null,
+      "text_zh": "观察：视频9.97 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 9.97,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第25个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.03,
+      "log_step": null,
+      "text_zh": "观察：视频10.03 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 10.03,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据��26个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.17,
+      "log_step": null,
+      "text_zh": "观察：视频10.17 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 10.17,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第27个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": null,
+      "text_zh": "观察：视频10.20 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第28个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.37,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.37,
+      "log_step": null,
+      "text_zh": "观察：视频10.37 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 10.37,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第29个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.53,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.53,
+      "log_step": null,
+      "text_zh": "观察：视频10.53 s附近，机器人左手持笔在竖板旁高处做小幅平移和转动，俯视可见绿色目标露在手两侧的部分反复换位，正视支持持续跟随。"
+     },
+     {
+      "t": 10.53,
+      "log_step": 85,
+      "text_zh": "推断：这一密集段的个别相邻目标切换不足以逐帧辨清；结合顺序、前后目标切换和最终36/36推断本节点已通过，所填时刻为约0.5秒精度的定位估计，不是逐控制步测量。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第30个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.73,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.73,
+      "log_step": null,
+      "text_zh": "观察：视频10.73 s附近，机器人左手带着笔从高处回移，俯视中手与笔逐渐返回桌面投影上方，绿色目标随序列回移；笔保持在手指之间。"
+     },
+     {
+      "t": 10.73,
+      "log_step": 85,
+      "text_zh": "推断：按末段绿色目标切换与回移次序估计本节点时刻，误差约0.5秒；相邻末端位姿可能在近邻控制步通过。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第31个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频11.20 s附近，机器人左手带着笔从高处回移，俯视中手与笔逐渐返回桌面投影上方，绿色目标随序列回移；笔保持在手指之间。"
+     },
+     {
+      "t": 11.2,
+      "log_step": 85,
+      "text_zh": "推断：按末段绿色目标切换与回移次序估计本节点时刻，误差约0.5秒；相邻末端位姿可能在近邻控制步通过。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第32个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.47,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.47,
+      "log_step": null,
+      "text_zh": "观察：视频11.47 s附近，机器人左手带着笔从高处回移，俯视中手与笔逐渐返回桌面投影上方，绿色目标随序列回移；笔保持在手指之间。"
+     },
+     {
+      "t": 11.47,
+      "log_step": 85,
+      "text_zh": "推断：按末段绿色目标切换与回移次序估计本节点时刻，误差约0.5秒；相邻末端位姿可能在近邻控制步通过。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第33个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "观察：视频11.70 s附近，机器人左手带着笔从高处回移，���视中手与笔逐渐返回桌面投影上方，绿色目标随序列回移；笔保持在手指之间。"
+     },
+     {
+      "t": 11.7,
+      "log_step": 85,
+      "text_zh": "推断：按末段绿色目标切换与回移次序估计本节点时刻，误差约0.5秒；相邻末端位姿可能在近邻控制步通过。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第34个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：视频11.90 s附近，机器人左手带着笔从高处回移，俯视中手与笔逐渐返回桌面投影上方，绿色目标随序列回移；笔保持在手指之间。"
+     },
+     {
+      "t": 11.9,
+      "log_step": 85,
+      "text_zh": "推断：按末段绿色目标切换与回移次序估计本节点时刻，误差约0.5秒；相邻末端位姿可能在近邻控制步通过。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第35个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频12.00 s附近，视频11.0–12.0 s机器人左手持笔回移；视频12.0 s最后一帧笔仍位于合拢手指之间，接近最后绿色目标，未见落回桌面。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 85,
+      "text_zh": "推断：结合最后一帧及评分器36/36，末目标在视频结束前通过，将视频12.0 s作为到达锚点。inputs/run.json的评分器字段goals_reached=36、n_goals=36、deterministic=1；log step 85中最终交付文件的两次新回放均报告reached=36、done=True，状态哈希一致，并确认重新生成的动作与交付文件完全相同，因此按有序锁存判据第36个位姿已达成。未将agent工作时间或早期调试结果换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：正视、俯视及斜视中，单臂末端左式灵巧手的合拢手指夹持灰色记号笔笔身，笔随手移动；受评对象是笔本身。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goals_reached",
+   "unit": "count",
+   "threshold": 36,
+   "direction": "higher_better",
+   "value": 36
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 1.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用单只左式灵巧手从桌面夹起灰色记号笔，抬升后在手内调整，再沿竖板旁的示范位姿序列移动，末段仍持笔；评分器确认36/36个有序位姿全部通过，最终交付文件的两次新回放也均成功且状态哈希相同（log step 85），无失败断点。主要证据缺口是没有状态日志，笔身部分被手遮挡，尤其视频8.07–10.53 s的密集相邻目标不能逐个量化八角点误差；各节点的通过由评分器及确定性回放支持，到达时刻按已检查的绿色目标切换与有序运动估计，密集段约有0.5秒定位不确定性。任务要求并验收示范位姿运动，不以白板墨迹作为另一个完成条件。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，36/36由评分器确认；视频抽查（3.0 s、3.8 s及���程缩略图）与各节点时间、抓握接触标注、无失败断点基本一致，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--nv2dlhg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--nv2dlhg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "398ba9e3872d5efdabc0994054832eae54a51d8ed434ab634bba4c29ff57124f",
+   "video_sha256": "637ee686e12e5ba2ac45000e1d59701bb5d9e61caeee6ccec184d426cd0dc399",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/dextoolbench/marker_sharpie_marker_draw_smile/trajectories/dextoolbench_marker_sharpie_marker_draw_smile-standard--n4sz9eg.json

@@ -0,0 +1,652 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_marker_sharpie_marker_draw_smile-standard--n4sz9eg",
+ "taskKey": "dextoolbench/marker_sharpie_marker_draw_smile",
+ "dag_sha256": "10c9474f8e3e104ba05efaa6f67317fb56957a82b2df0906f27ced42f6149665",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "control_steps": 9379,
+   "calls": 497,
+   "elapsed_s": 2202.7,
+   "video_rendered": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "no_verdict": 0,
+   "sim_error": 0,
+   "resets": 20,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 36,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.484,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.095,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_marker_sharpie_marker_draw_smile-standard--n4sz9eg/replay.mp4",
+  "duration_s": 25.04,
+  "fps": 25.0,
+  "frames": 626,
+  "sha256": "c83f2313d4c3fd80e135a8faba4c7d57312e06a3513faa815d9b10226a7a0c6c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 36,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.16–6.64 s，机器人左式灵巧手下探并合指，灰色实体笔在桌面上被推偏；视频 6.76–6.96 s 手撤到桌边，笔仍留在桌上，没有随手升到悬空绿色目标笔处。"
+     },
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.60–24.80 s，灰色笔从桌沿外侧下落，斜视图可见其落向地面；视频 25.00 s 手已撤开，绿色目标仍处于首目标位置。全片没有出现成功参考视频中实体笔被持起并随目标切换运动的过程。"
+     },
+     {
+      "t": null,
+      "log_step": 308,
+      "text_zh": "观察：log step 308 的机器人服务返回 episode 21、goals_reached 0/36；inputs/run.json 的评分器字段也为 goals_reached=0、n_goals=36、deterministic=1。该计数报告未通过任何有序目标，并非仅依据总奖励为零判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 6.08–6.64 s，机器人左式 Sharpa HA4 灵巧手的手指接触并推移灰色记号笔；合指后撤手时笔仍在桌上。视频 24.60–24.80 s 的后续接触使笔离开桌沿；未见包围笔身并夹持抬起的抓握。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第2个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第3个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第4个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第5个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第6个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第7个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第8个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第9个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第10个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第11个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第12个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第13个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第14个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第15个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第16个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第17个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第18个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第19个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第20个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第21个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第22个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第23个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落��桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第24个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第25个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第26个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第27个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第28个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第29个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第30个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第31个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第32个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第33个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第34个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第35个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 308,
+      "text_zh": "推断：视频 0.00–25.00 s 中绿色目标一直停在首目标，机器人未将灰色笔持起并沿示范移动；视频 24.60–24.80 s 笔反而落出桌沿。log step 308 的服务累计计数及 inputs/run.json 的 goals_reached 均为0/36，故按序才能通过的第36个位姿未达到，其前置目标也未通过。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goals_reached",
+   "unit": "count",
+   "threshold": 36,
+   "direction": "higher_better",
+   "value": 0
+  },
+  {
+   "name": "progress",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 6.1,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.16–6.64 s，机器人正在为首目标下探、合指取笔，视频约 6.1 s 合指接触把笔推偏；视频 6.96 s 手撤离而笔仍在桌上。之后反复重试也未持笔到达绿色首目标，视频 24.60–24.80 s 笔落出桌沿，视频 25.00 s 结束时未修复。"
+  },
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.08–6.64 s，机器人手指合拢并推移笔，但视频 6.76–6.96 s 手离开时笔留在桌面；后续抬手也没有实体笔随手升到绿色目标。这里未建立的是搬运所需的对向夹持接触，已有手指推碰，不是完全没有碰到笔；没有先握住再滑落的可见过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 4.16–6.64 s 可见机器人以伸向桌面的手指下探，在笔的上方或侧面合指，笔沿桌面移动而未被对向手指包住；视频 6.76–6.96 s 的空手撤离及视频 24.60–24.80 s 最终将笔带出桌沿，支持接触几何没有形成可承载的夹持。成功参考 inputs/oracle/replay.mp4 的参考视频约 3.5–6.5 s 显示同一机器人能夹持并抬起该笔，验证存在可行替代抓法；此参考仅用于可行性比较，不计入本次进度。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐指接触、受力记录，局部手指接触有遮挡，因此不判断具体是哪根手指、夹持力大小或精确八��点误差。各视频时刻直接取已检查帧；日志含多轮重置，未把 agent 时间或会话累计控制步换算成视频时间。"
+ },
+ "summary_zh": "最后一轮计分尝试未到达任何有序位姿，最终为0/36；机器人反复接近并合指取笔，但视频约 6.1 s 已出现推移笔而未形成夹持的失败，首个位姿节点始终未修复。视频 24.60–24.80 s 笔最终落出桌沿，与原生 goals_reached=0 一致，根因判为抓取和接触设计。缺少逐指接触与受力记录，无法进一步量化局部抓握几何或力度。",
+ "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：36个节点均未达到，断点为首个位姿节点；笔被推移而未被持起，最终笔落出桌沿；接触标注为手指推/扫，抓取和接触设计的根因有视频及参考视频支持，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:01:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-standard--n4sz9eg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-standard--n4sz9eg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0ba7c4be1a1553c31bf82e2c7c8b1e4580a1566ab3262709a437e64132c4398",
+   "video_sha256": "c83f2313d4c3fd80e135a8faba4c7d57312e06a3513faa815d9b10226a7a0c6c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/high_jump/task_dag.json

@@ -0,0 +1,250 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/high_jump",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-high-jump-i00",
+ "title_zh": "跳高越杆落地",
+ "summary_zh": "机器人合法单脚起跳，在同一次腾空中从两立柱之间完全越过横杆后落地，并在规定的落地后检查中让横杆仍静置于两支座上。",
+ "embodiment_zh": "特权与标准模式均为 Unitree H1-2 双足人形机器人，27 个关节、身高约 1.78 米、质量约 67 千克，双臂各 7 关节且末端均为无活动手指的拳垫，不是二指夹爪或灵巧手，本任务无可抓握物；以双腿、脚和躯干完成起跳与落地，无轮式底盘。",
+ "task_class": "atomic",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-high-jump-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bar_cleared_and_landed",
+    "zh": "越杆落地",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "场地外部视角可见机器人从红色跑道单脚蹬离，在灰色立柱之间从红白横杆上方越过并落到杆后（通常为蓝垫上，允许垫外及任意身体部位着地）：起跳脚离地前最后 0.15 秒另一脚的地面力须低于体重的 5%，或另一脚在起跳脚最后整段接地期间均离地，其他部位在相应期间不得接触外物，脚接触间隙不超过 0.03 秒并为一段，且同一腾空至少 0.05 秒、骨盆上升至少 0.08 米，骨盆与双踝各自前穿 x=-0.015 米平面时均须 |y|<2.01 米且 z>1.0 米，并在接触横杆以外外物前全身越过平面，首次着地点不得在起跳侧；站在杆前、仅起跳、钻杆绕杆或先触垫再越杆均未完成。越杆与首次落地两者较晚时刻起满 2.0 秒后，红白横杆仍同时接触两支座，中心沿跑道位置距原位不超过 0.02 米、高度偏差不超过 0.005 米、线速度不超过 0.05 米/秒、角速度不超过 0.5 弧度/秒，且未触发所列违规，才完成此步；只看到机器人躺在垫上而未看见合法越杆或未到横杆检查时刻不能提前记完成，亚厘米位置、接触力和毫秒接触次序在画面不足以分辨时需依据该次裁判记录。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "起跳脚与跑道地面承重蹬离；随后腾空，再由腿或躯干与蓝色软垫或杆后地面接触承重，前后接触写在同一方案说明中，左右起跳脚均可。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-35",
+     "inputs/task/privileged/environment/rfo_task.py:24-40",
+     "inputs/task/privileged/environment/rfo_task.py:110-120",
+     "inputs/task/privileged/environment/rfo_task.py:179-198",
+     "inputs/task/privileged/environment/rfo_task.py:200-216",
+     "inputs/task/privileged/environment/rfo_task.py:245-339",
+     "inputs/task/privileged/environment/rfo_task.py:341-363",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:353-394",
+     "inputs/oracle/replay.mp4 @ 0.0,15.2-18.96 s",
+     "inputs/oracle/run.json:steps[id=156].out.text (historical rule version)"
+    ],
+    "conf": 6,
+    "note_zh": "按 DECISIONS.md S10 将起跳、越杆、落地合为一次连续跳跃，take-off/clearance/bar stays 原生阶段只用于验收；横杆初态在架但脱架立即失败，作为约束，不从初态另计一步。event 表示已完成的一次跳跃，裁判成功后即终止并锁存；2 秒是落地后的延迟检查，不是从起跳开始连续保持的 hold_s，因此 hold_s=0。正常跌倒或背部落垫允许，不建站稳节点；短暂碰杆允许，不强制无接触过杆。示例先转身背向杆再起跳只是策略，不建立依赖或手部要求；示例规则版本与当前代码不同，具体差异见疑问项。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "bar_off_supports",
+    "zh": "横杆脱架",
+    "never": null,
+    "criterion_zh": "红白横杆中心在任一物理步比第一次物理步记录的初始中心高度低超过 0.05 米即失败；越杆和首次落地两者较晚时刻满 2.0 秒后的检查中，若未同时接触两支座、中心沿跑道偏移绝对值大于 0.02 米、高度偏差绝对值大于 0.005 米、线速度大于 0.05 米/秒或角速度大于 0.5 弧度/秒，也失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:245-252,341-363"
+    ]
+   },
+   {
+    "id": "bar_contact_excess",
+    "zh": "横杆接触超时",
+    "never": null,
+    "criterion_zh": "机器人与横杆累计接触时间超过 0.3 秒���失败；当前实现完成越杆并首次落地后停止累计该接触时长，先前的累计仍有效。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:258-263"
+    ]
+   },
+   {
+    "id": "bar_impulse_excess",
+    "zh": "横杆推力超限",
+    "never": null,
+    "criterion_zh": "横杆对机器人产生的法向接触力按 1 毫秒物理步积分，整次试跳累计冲量超过 2.0 牛顿秒即失败；落地后的 2 秒等待期仍累计。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:219-230,253-259"
+    ]
+   },
+   {
+    "id": "invalid_single_foot_takeoff",
+    "zh": "非单脚起跳",
+    "never": null,
+    "criterion_zh": "跳跃腾空被识别后回查最后支撑脚的起跳：另一脚未在离地前至少 0.15 秒保持地面力低于机器人重量的 5%，且也未在起跳脚最后整段接地期间离地，判失败；若其他身体部位既未在最后 0.15 秒保持不接触外物，也未在起跳脚最后整段接地期间保持不接触外物，同样失败，最多 0.03 秒的脚接触间隙仍并为同一接地段。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:200-216,271-279"
+    ]
+   },
+   {
+    "id": "invalid_plane_crossing",
+    "zh": "绕杆或钻杆",
+    "never": null,
+    "criterion_zh": "骨盆或任一踝关节点从起跳侧向落地区穿过横杆近边平面 x=-0.015 米时，插值交点若满足 |y|>=2.01 米或 z<=1.0 米，立即失败；绕立柱、从杆下过去都不算跳过。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:24-40,282-299"
+    ]
+   },
+   {
+    "id": "contact_before_clearance",
+    "zh": "越杆前触地",
+    "never": null,
+    "criterion_zh": "全身尚未在同一次腾空中越过近边平面之前，机器人触及平面后方的地面或蓝垫即失败；已识别的跳跃在全身越杆之前接触横杆以外的外物而结束腾空，也失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:303-324"
+    ]
+   },
+   {
+    "id": "insufficient_jump",
+    "zh": "腾空不构成跳跃",
+    "never": null,
+    "criterion_zh": "越杆后首次接触横杆以外外物时，若该次腾空未持续至少 0.05 秒，或骨盆最高点比离地时上升不足 0.08 米，判失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:118-119,326-333"
+    ]
+   },
+   {
+    "id": "landing_on_takeoff_side",
+    "zh": "落回起跳侧",
+    "never": null,
+    "criterion_zh": "越杆后首次着地时，若任一机器人与地面或垫子的接触点 x<=-0.015 米，即触及起跳侧，判失败；不要求脚先落地或站立。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:309-310,326-339"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "high_jump_completed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:200-363; log ref.stages, ref.success, task.trackers.t_clear, task.trackers.t_land, task.bar_on_supports(w, ref) after the physics-step checks"
+   },
+   {
+    "atom": "high_jump_rule_violation",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:200-339,355-363; log ref.failed, ref.events, task.trackers.bar_s and task.trackers.bar_J at physics resolution"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:118,326-331"
+   ]
+  },
+  {
+   "name": "rise_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:118,330-333"
+   ]
+  },
+  {
+   "name": "bar_impulse_Ns",
+   "unit": "N*s",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:253-257"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，没有任何状态日志；按暂行 DECISIONS.md P8，所有节点 when、约束 never 及 success 均为 null，atoms 标明需要补录的原生裁判世界状态，不把离线总评或复现有效性伪装成节点条件。视频可见越杆与落地，但无法精确复核单脚载荷、冲量及毫秒级接触次序。",
+  "任务设计问题：开头及目录摘要要求落到软垫上，详细规则却明确允许落在垫外和任意身体部位着地；当前评分器仅记录 on_the_mat 而不要求其为真（inputs/task/privileged/environment/rfo_task.py:326-339）。按完整 instruction 的详细规则及当前评分器将落地纳入一次跳跃，不增设会排除合法成功策略的落垫节点（DECISIONS.md N1、N3���S10）。",
+  "成功示例存在规则版本差异：inputs/oracle/run.json 的 task_text 用 0.05 秒单脚接地判据和 0.05 米骨盆上升门槛，未规定当前 2.0 牛顿秒冲量上限及完整的双支座静止检查；当前任务规定力判据窗口 0.15 秒、上升至少 0.08 米（inputs/task/privileged/environment/rfo_task.py:110-120,200-216,341-363）。steps[id=156].out.text 记录 landing=16.397 秒、clearance=16.954 秒、success=18.96 秒，先落垫后越杆与当前必须同次腾空清杆的代码不相容；示例仅供目标几何与可见姿态参考，不为贴合旧成功而放宽当前阈值，历史轨迹应按执行时规则判断（DECISIONS.md S3、P19）。",
+  "文本与实现细节差异：详细规则称横杆接触时长整次累计，但代码在完成越杆且首次落地后直接返回，不再增加 bar_s，bar_J 则仍累计（inputs/task/privileged/environment/rfo_task.py:253-263）；起跳的其他部位接触检查实际覆盖除横杆及机器人外的外物（:278-279），比文本只说地面更广；静止文本说速度小于阈值，代码采用小于等于（:350-351）。判据和约束采用当前代码的边界，接触时长累计范围待统一。",
+  "两模式的 rfo_task.py 内容完全一致，共用世界裁判；特权模式交付轨迹需两次新进程回放成功且终态哈希相同（inputs/grader/efe_embodied-olympics-fun-files/grade.py:105-125），标准模式按最终现场试跳的裁判结果判分（inputs/grader/efe_embodied-olympics-fun-files/standard/server.py:157-175）。这些交付和基础设施条件不形成语义步骤；60 秒试跳上限与仿真数值失稳也不增加世界状态步骤，时间上限不列约束（DECISIONS.md P21）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "一个连续跳跃的粒度、机器人初态、两模式共同规则及全部阈值均有当前文本和代码依据；已查看示例全程及起跳落垫局部帧，但没有状态日志，且唯一示例采用旧规则并先落地后清杆，无法以其确认当前验收，故降低置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点「越杆落地」符合文本：助跑只是动作，起跳、越杆、落地为一次连续动作（S10），横杆留在支座上的要求作为约束和 criterion 保留；无状态日志故 when/never 为 null（P8）；约束均为评分器失败条件且为立即终止；落垫与细则的矛盾已作为任务设计问题列入 open_questions_zh。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bar_cleared_and_landed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:45:54Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__high_jump/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__high_jump/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "a19f4764882e519534d88c56c1604d9a4174fe021aa986bbe170b0ee42b7bb11",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-fun/high_jump/trajectories/roboolympics-fun-high-jump-i00-privileged--ph4qbms.json

@@ -0,0 +1,192 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-fun-high-jump-i00-privileged--ph4qbms",
+ "taskKey": "embodied-olympics-fun/high_jump",
+ "dag_sha256": "3087e6ba40d4d70f71d786104aa723e1f24af0e82320ead361342a6f1ea8316f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1946,
+   "sim_steps": 1946,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 18.73,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.543,
+   "metric_rise_m": 0.327,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 59,
+   "agent_resets": 0,
+   "agent_replays": 8,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 17.924,
+   "peak_processes": 24,
+   "peak_disk_gb": 1.052,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-fun-high-jump-i00-privileged--ph4qbms/replay.mp4",
+  "duration_s": 19.48,
+  "fps": 25.0,
+  "frames": 487,
+  "sha256": "8f27045d64268d36c8dc771d2392dde73bc0d4d58cbff0fa6babee4cac5120b9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_cleared_and_landed": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–14.0 s，机器人从红色跑道远端向横杆行走，随后在蓝垫前停留；这段尚未越杆。"
+     },
+     {
+      "t": 16.92,
+      "log_step": null,
+      "text_zh": "观察：视频 16.80–17.08 s 的逐帧画面中，机器人先抬起一腿，另一脚留在跑道上蹬离，随后双脚离地并向横杆上方翻转；视角不能精确辨别离地前的载荷和接触窗口。"
+     },
+     {
+      "t": 17.24,
+      "log_step": null,
+      "text_zh": "观察：视频 17.12–17.40 s，机器人在两立柱之间收腿翻转，双腿先从横杆上方进入杆后区域，躯干随后越向蓝垫；横杆未见脱架。"
+     },
+     {
+      "t": 17.48,
+      "log_step": null,
+      "text_zh": "观察：视频 17.40–17.52 s，机器人身体下降到杆后的蓝垫上，由躯干及腿部接触垫面承重，随后保持卧姿。"
+     },
+     {
+      "t": 19.44,
+      "log_step": null,
+      "text_zh": "观察：视频 17.48–19.44 s，机器人留在蓝垫上；已检查视频 18.40、18.60、18.80、19.00、19.20、19.40 s 及末帧 19.44 s，红白横杆均横置于两立柱支座处，没有可见的掉落或持续摆动。"
+     },
+     {
+      "t": 19.44,
+      "log_step": null,
+      "text_zh": "推断：结合视频约 17.44 s 的落垫、片尾横杆仍在架，以及 inputs/run.json 中评分器 success=1、replay_success=1、deterministic=1、stages_reached=3/3、sim_steps=1946，按本次执行时的规则将唯一节点记为完成；完成导航锚点取已查看的末帧视频约 19.44 s，精度约 0.1 s，不在刚落垫时提前记完成。评分器另报告腾空 0.543 秒、骨盆上升 0.327 米；会话中的其他候选试跳不用于此节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–16.92 s，机器人双脚交替支撑跑道，起跳前转为一脚蹬地；视频约 17.44–19.44 s，机器人躯干及腿部落在蓝垫上承重。起跳和落垫为先后发生的本体支撑接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.543
+  },
+  {
+   "name": "rise_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better",
+   "value": 0.327
+  },
+  {
+   "name": "bar_impulse_Ns",
+   "unit": "N*s",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成一次越杆落垫：视频约 16.9–17.4 s 腾空翻转越过横杆，视频约 17.44 s 落垫，至视频约 19.44 s 横杆仍在架，结合评分器成功及确定性回放结果，唯一节点最终为 1/1，无失败断点。规则版本差异：inputs/run.json 的 task_text 使用离地前 0.05 秒单脚接地、骨盆上升至少 0.05 米及横杆下落不超过 0.05 米的历史判据，与当前 DAG 的 0.15 秒载荷窗口、0.08 米上升及更严格的横杆静止验收不同，依 DECISIONS.md P19 按本次执行规则记���功。没有状态日志，画面不能独立复核毫秒级接触次序、单脚载荷或亚厘米横杆位置，最终细项以本次评分器结果为据，横杆冲量未报告故原生指标留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点越杆落地在视频 16.6–17.8 s 的帧中确认：机器人起跳越杆落到蓝垫，杆仍在架；完成时间取落垫后 2 s 检查点（约 19.44 s），与规则相符，接触标注合理，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:02:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-high-jump-i00-privileged--ph4qbms/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-high-jump-i00-privileged--ph4qbms/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f0f60f00e629f265efa4128fe50d71bc45246a2613a35a19592bb6ad4cab3634",
+   "video_sha256": "8f27045d64268d36c8dc771d2392dde73bc0d4d58cbff0fa6babee4cac5120b9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/high_jump/trajectories/roboolympics-fun-high-jump-i00-privileged--ynkaujj.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-fun-high-jump-i00-privileged--ynkaujj",
+ "taskKey": "embodied-olympics-fun/high_jump",
+ "dag_sha256": "3087e6ba40d4d70f71d786104aa723e1f24af0e82320ead361342a6f1ea8316f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1,
+   "sim_steps": 1,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 2.07,
+   "bad_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "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": 0.0,
+   "peak_memory_gb": 0.746,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.267,
+   "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/roboolympics-fun-high-jump-i00-privileged--ynkaujj/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_cleared_and_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查本次评分视频的唯一一帧（视频 0.0 s；全长 0.04 s，亦为末帧），机器人在红色跑道初始区域直立，远离横杆和蓝垫，未处于起跳、越杆或杆后落地姿态。"
+     },
+     {
+      "t": null,
+      "log_step": 10,
+      "text_zh": "观察：log step 10 中 agent 的 gen.py 仅调用一次 hold()、一次 step() 后 save_trajectory()，命令成功并列出 trajectory.npz；NOTES.md 明称该文件为初始占位轨迹。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 n_actions=1、sim_steps=1、stages_reached=0、replay_success=0、deterministic=1，与视频 0.0 s 的初态画面一致；全日志未见 log step 10 后重新保存交付轨迹。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "推断：评分轨迹只执行初始保持动作，没有启动跳高；因此越杆落地在本次评分视频中始终未达成。成功参照视频约 15.0–18.8 s 可见机器人在杆边起跳并落到蓝垫区域，本次唯一帧没有这种位置或姿态变化；参照仅用于比较可见几何。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rise_m",
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_impulse_Ns",
+   "unit": "N*s",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_cleared_and_landed",
+   "t": 0.0,
+   "log_step": 10,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s 的唯一帧显示机器人仍在起始区域，尚未接近横杆；log step 10 保存的脚本只执行一次 hold() 后保存，评分器 n_actions=1、sim_steps=1。推断：评分轨迹在跳高步骤启动前就结束，未出现起跳或越杆；日志中另行运行的试跳不是该交付轨迹。"
+  },
+  "unmet": {
+   "bar_cleared_and_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 10,
+    "evidence_zh": "观察：视频 0.0 s 为初始直立姿态，本次视频仅此一帧；log step 10 的交付生成脚本只有 hold() → step() → save_trajectory()，没有助跑或起跳动作。推断：尽管 agent 在会话中进行了试跳调试，评分所用的占位轨迹没有启动越杆落地步骤。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中无状态日志；本次评分视频只有一帧。log step 54 的最后一条 say 仍是等待独立测试完成，日志最后的 log step 111 是独立诊断命令的 SyntaxError，没有最终完成报告或明确的会话终止原因。推断：可以确认评分文件仅含初始保持动作，但不足以判定为何未更新该占位文件，也不能把会话测试的碰杆、钻杆或语法错误直接当作评分轨迹的控制根因；故根因留空。三个原生指标均未由评分器报告，值填 null。"
+ },
+ "summary_zh": "观��：评分视频仅有视频 0.0 s 的初态帧，机器人仍在远离横杆的跑道上，越杆落地最终为 0/1。推断：log step 10 保存的单步保持占位轨迹与评分器的一动作记录一致，跳高未启动，断点为越杆落地的首步前，现象为没尝试。观察：后续日志为独立调试且无最终报告或明确终止原因，缺乏解释占位文件为何未更新的证据，根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频仅一帧（0.0 s）机器人在起始区，与 n_actions=1、sim_steps=1 一致；log step 10 的 gen.py 只含 hold→step→save。节点未达成、断点首步前、没尝试、根因留空并附 gap_zh 均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:02:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-high-jump-i00-privileged--ynkaujj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-high-jump-i00-privileged--ynkaujj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "28fa5b9a52b82fcb0feb9702f7d74039fac30cbf3f463690fb4dc130d9aede86",
+   "video_sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/steeplechase/task_dag.json

@@ -0,0 +1,321 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/steeplechase",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-steeplechase-i00",
+ "title_zh": "障碍水坑赛",
+ "summary_zh": "合法越过固定障碍栏和水坑，全身到达水坑远端之外，并仅以脚着地连续站稳一秒。",
+ "embodiment_zh": "两模式均为 Unitree H1-2 双足人形机器人，27个关节，双臂各7个关节；双手末端是固定拳垫，无可用的活动手指或夹爪，本任务没有可抓物体；双腿与躯干运动，无轮式底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-steeplechase-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "hurdle_cleared",
+    "zh": "越过障碍栏",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地侧视中，机器人从白色横栏上方越到蓝色水坑一侧，连最后方的肢体也越过栏后沿（全身碰撞包围盒最小 x > 10.127 米）；骨盆和两脚中心分别向前穿过 x = 10.0635 米中面时均须高于 0.914 米，骨盆穿面位置须满足 |y| ≤ 1.83 米。只探过上身、仍有脚留在栏前，或从栏下、栏侧通过均未完成；不要求腾空，允许手脚扶踩栏杆。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚由红色助跑道支撑起跳，之后可落到坑底；这些接触依次发生。",
+      "plan": 1
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚踩住白色栏顶或跑道承重，逐步攀越；与扶栏的双手可同时支撑。",
+      "plan": 2
+     },
+     {
+      "who": "双臂协作",
+      "how": "支撑",
+      "note_zh": "两手拳垫撑住白色横栏，辅助身体越过；不假定手指能够抓握。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-31",
+     "inputs/task/privileged/tests/rfo_task.py:41-43",
+     "inputs/task/privileged/tests/rfo_task.py:75-79",
+     "inputs/task/privileged/tests/rfo_task.py:135-145",
+     "inputs/task/privileged/tests/rfo_task.py:158-161",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/oracle/replay.mp4:16-20 s"
+    ],
+    "conf": 6,
+    "note_zh": "骨盆及两脚是同一越栏步骤的验收点，不拆成三个节点；动作类型按跨越障碍标跳跃，包含允许的攀越。越栏后可停在坑内再继续，故可与出坑分开；不加入助跑、腾空、落坑或恢复平衡节点。"
+   },
+   {
+    "id": "pit_exited",
+    "zh": "全身出水坑",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "hurdle_cleared"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地侧视中，机器人由白栏后的蓝色坑区前进到远端红色跑道，所有肢体都离开远端坑沿：全身碰撞包围盒最小 x > 13.66 米；只有骨盆或前脚出坑、后脚或手臂仍伸在坑沿内均未完成。该阶段在越栏阶段之后记入并锁存，允许先落坑再走出，也允许直接越过坑；途中不得违反越栏及水坑侧边规则，终点站稳时仍须全身在远端之外。",
+    "step": {
+     "cat": "本体",
+     "item": "行进"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双脚在坑底、斜坡和远端红色跑道上承重前进；直接跃过时起落由双脚支撑，不强制落在坑内。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-31",
+     "inputs/task/privileged/tests/rfo_task.py:75-79",
+     "inputs/task/privileged/tests/rfo_task.py:133-152",
+     "inputs/task/privileged/tests/rfo_task.py:158-166",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-159",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:250-259",
+     "inputs/oracle/replay.mp4:20-28.7 s"
+    ],
+    "conf": 6,
+    "note_zh": "采用原生出坑阶段的 event 语义；首次全身越过远端后锁存。若随后退回坑内，该历史阶段不丢失，但站稳步骤必须重新满足实时出坑条件。"
+   },
+   {
+    "id": "standing_beyond_pit",
+    "zh": "出坑后站稳",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pit_exited"
+    ],
+    "hold_s": 0.99,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "场地侧视中，机器人全身处于蓝色水坑远端外的红色跑道，至少一脚着地且接地部位仅限左右脚，躯干距竖直不超过 20 度、骨盆三维速度���超过 0.35 米/秒，连续满足 1.0 秒（100 个 0.01 秒控制采样）才完成。仍在跨步赶路、身体伸回坑内、手膝躯干着地或明显倾倒时尚未完成，计时清零；达到后立即成功并结束。",
+    "step": {
+     "cat": "本体",
+     "item": "保持平衡"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "左脚和/或右脚由水坑远端外的红色跑道承重，躯干保持直立且身体近乎静止。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:26-31",
+     "inputs/task/privileged/tests/rfo_task.py:41-43",
+     "inputs/task/privileged/tests/rfo_task.py:162-169",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:1103-1105",
+     "inputs/task/privileged/environment/instance.json:46",
+     "inputs/oracle/replay.mp4:27-28.72 s",
+     "inputs/task/privileged/tests/rfo_task.py:165-169",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:69",
+     "docs/01_task_dag.md:318-321"
+    ],
+    "conf": 6,
+    "note_zh": "这是出坑后可单独完成的站立目标，不是一次不可中断空翻的落地阶段；允许出坑后先坐下再站起。用 state 实时检查全身出坑且站稳，开局因尚未出坑而不计分；after 仅记录裁判的阶段顺序。原生保持为100个0.01秒控制采样，按 docs/01_task_dag.md Step 4 与 DECISIONS.md D31，以首末采样间隔 (100-1)×0.01 设置 hold_s=0.99。当前没有状态日志，when 仍为 null；将来若记录瞬时 out 与 standing 条件，可配合此保持窗口；若改用原生 _hold[stand] >= 100，则须同时将 hold_s 改为0，避免重复计时。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "invalid_hurdle_crossing",
+    "zh": "违规越栏",
+    "never": null,
+    "criterion_zh": "出坑阶段尚未锁存时，每次骨盆或任一脚中心向前穿过 x = 10.0635 米，穿面高度 ≤ 0.914 米即违规；骨盆穿面时 |y| > 1.83 米也违规。手脚接触栏顶本身不违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:133-145",
+     "inputs/task/privileged/tests/rfo_task.py:75-79",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:161-164",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:288-289"
+    ]
+   },
+   {
+    "id": "pit_side_bypass",
+    "zh": "从水坑侧绕出",
+    "never": null,
+    "criterion_zh": "出坑阶段尚未锁存且骨盆 x > 10.0635 米时，骨盆 |y| > 1.83 米，或任一身体部位接触坑两侧跑道且接触点 z > -0.05 米，立即违规；允许接触更低的坑壁及坑底。出坑阶段锁存后不再检查此规则。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/tests/rfo_task.py:133-152",
+     "inputs/task/privileged/tests/rfo_task.py:41-43",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:194-224",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:288-289"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "hurdle_cleared",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:125-145,158-161; log ref.stages containing hurdle, or all trackers.over and ref.robot_span((1,0,0))[0] > 10.127"
+   },
+   {
+    "atom": "pit_exited",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:158-164; log ref.stages containing out of the water jump and unrounded ref.robot_span((1,0,0))[0]"
+   },
+   {
+    "atom": "standing_beyond_pit",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:162-169; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:180-184,292-301; log instantaneous live rear > 13.66 and standing (feet-only ground contact, torso upright and pelvis speed), with stage order; hold_s=0.99 implements the 100-sample window. If instead logging ref._hold[stand] >= 100, set hold_s=0 to avoid double counting; no state logs currently supplied"
+   },
+   {
+    "atom": "invalid_hurdle_crossing",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:133-145; log interpolated crossing point coordinates and rule violation event"
+   },
+   {
+    "atom": "pit_side_bypass",
+    "level": "new_code",
+    "source": "inputs/task/privileged/tests/rfo_task.py:133-152; log pelvis position, side-track contact heights and out-stage latch"
+   },
+   {
+    "atom": "referee_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178; log the benchmark per-frame ref.success with stages and failed; no state logs currently supplied"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "rear_x_m",
+   "unit": "m",
+   "threshold": 13.66,
+   "direction": "higher_better",
+   "note_zh": "全身碰撞包围盒最后端的前进坐标，出坑要求严格大于13.66米；指标显示时四舍五入到毫米，不能用其舍入值替代原始判定。",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:158-164"
+   ]
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "note_zh": "成功时记录的用时；评分为二值，不按快慢加分，60秒仅为回合时限。",
+   "sources": [
+    "inputs/task/privileged/tests/rfo_task.py:167-169"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；按 DECISIONS.md P8，所有节点的 when、两条约束的 never 和 success 均为 null，需依视频判定，不能验证1毫秒穿面或精确站立速度。atoms 的 new_code 表示需要补录的原生量，并非现有日志字段。",
+  "粒度边界（DECISIONS.md S2、S10、D10）：保留越栏、全身出坑、出坑后站稳三步，因为文本逐项要求这些改变，且允许在坑内停留、出坑后再起身，存在可暂停边界；不将腾空与落坑拆开，也不要求某一次连续跳跃。",
+  "模式的物理裁判与任务模块相同；privileged 还要求提交文件两次独立回放均成功且终态哈希相同（inputs/grader/efe_embodied-olympics-fun-files/grade.py:98-115），standard 评分直播最后一回合且检查完成记录（inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这些交付及复现条件不作世界状态节点，当前也没有状态日志表达完整交付评分。",
+  "文本与评分细节：站稳不要求双脚同时着地，原生 standing 接受至少一脚接地且没有其他部位接地（inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301）；判据依此写为左脚和/或右脚。站立保持按100个控制采样验收，而越栏违规按1毫秒物理步检查。",
+  "oracle 是唯一成功且也是待标注的轨迹（inputs/oracle/oracle.json；DECISIONS.md N2）；已查看全程及越栏、出坑、结束帧，仅据其建立视觉参照，未将其起跳姿态、翻转或行走控制顺序设为必经步骤。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本、同源两模式任务模块和裁判支持三步顺序；所有阈值来自固定场景与评分器，成功录像显示越栏后出坑并停稳。但完全没有状态日志，毫米级穿面和速度无法从远景核实，站稳与出坑的分步仍属明确记录的粒度边界。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "三步（越栏、全身出坑、站稳）与文本和评分器一致，阈值（0.914、10.127、13.66、20°、0.35 m/s）均正确，约束也对应评分器的两个失败条件；无状态日志，when 均为 null 合理。仅有两处小问题：站稳节点缺少评分器的 1 秒保持窗口，且 mode 应为 state 而非 final。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三步（越栏、全身出坑、出坑后站稳）与文本和评分器 stage 顺序 hurdle→out→stand 一致；阈值 0.914/10.127/13.66/20°/0.35 m/s/1.0 s 与 rfo_task.py 相符，hold_s=0.99 按 D31，两条约束对应评分器的两个失败条件，无状态日志故 when 为 null 合理。未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['hurdle_cleared', 'pit_exited', 'standing_beyond_pit']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:56:30Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__steeplechase/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__steeplechase/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__steeplechase/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__steeplechase/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "b910777fe930ede3b20aed4d182e878b1fcb7f2ca7d5e2e0e3968e61e25c2fe5",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-fun/steeplechase/trajectories/roboolympics-fun-steeplechase-i00-privileged--4db4amv.json

@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-fun-steeplechase-i00-privileged--4db4amv",
+ "taskKey": "embodied-olympics-fun/steeplechase",
+ "dag_sha256": "32b3df1d18f4093b2d275c716364566e180274e658180ac2354eb4fee22e01f3",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 2868,
+   "sim_steps": 2868,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 19.82,
+   "bad_trajectory": 0,
+   "metric_rear_x_m": 14.486,
+   "metric_time_s": 28.68,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 208,
+   "agent_resets": 24,
+   "agent_replays": 36,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.306,
+   "peak_processes": 25,
+   "peak_disk_gb": 1.598,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-fun-steeplechase-i00-privileged--4db4amv/replay.mp4",
+  "duration_s": 28.72,
+  "fps": 25.0,
+  "frames": 718,
+  "sha256": "1ee6245760be91c6c90f6287623b30eaed1273ac10f2601c526959274ed4b85b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "hurdle_cleared": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 17.6–18.4 s，机器人在白栏前屈膝下蹲后起跳；视频 18.6–19.2 s 身体旋转、双脚抬过白栏，随后下降到蓝色坑区。"
+     },
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "推断：结合视频 18.8–19.4 s 的逐帧检查及评分器 stages_reached=3、success=1，越栏节点约在视频 19.2 s 达成，视觉时刻误差约 0.3 s；后续视频 19.6–22.0 s 显示机器人已在栏后的坑内站起并向前行进。精确穿面高度和全身包围盒阈值由成功判定支持，远景不能直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚先由红色助跑道承重，视频 17.6–18.4 s 屈膝蹬地起跳，视频 19.4–19.8 s 落至蓝色坑底并恢复脚部支撑。手部与横栏的微小接触在远景中不能确认，未据此声称扶栏或抓握。"
+     }
+    ]
+   },
+   "pit_exited": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–25.8 s，机器人在白栏后的蓝色坑内以双脚交替支撑向远端行走，逐步沿坑底斜坡上升；视频 25.8–26.2 s 脚部仍贴近蓝红交界。"
+     },
+     {
+      "t": 26.4,
+      "log_step": null,
+      "text_zh": "观察：视频 26.28–26.64 s，机器人后脚离开远端坑沿，整个身体进入红色跑道；将全身出坑时刻估为视频 26.4 s，误差约 0.3 s。视频 27.0–28.68 s 机器人继续在坑外，未退回蓝色坑区；评分器记录三个阶段全部完成，metric_rear_x_m=14.486。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 21.0–26.6 s，机器人左右脚在蓝色坑底及上坡段交替承重，随后踏上远端红色跑道并继续行走。"
+     }
+    ]
+   },
+   "standing_beyond_pit": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.72,
+      "log_step": null,
+      "text_zh": "观察：视频 26.6–27.6 s，机器人已在坑外红色跑道继续跨步并减速；视频 27.72–28.68 s 机器人躯干保持直立，位移很小，脚部着地，手、膝和躯干未见触地，最后一帧仍保持该姿态。"
+     },
+     {
+      "t": 28.68,
+      "log_step": null,
+      "text_zh": "推断：视频末尾的直立减速姿态与评分器 success=1、stages_reached=3、fell=0、metric_time_s=28.68 一致，故把连续一秒站稳的完成时刻标为视频 28.68 s，而非刚出坑或刚开始减速的时刻；没有状态日志，无法逐采样核验骨盆速度和躯干倾角。"
+     },
+     {
+      "t": null,
+      "log_step": 206,
+      "text_zh": "观察：agent 在 log step 206 自述最终保存的轨迹已通过两次新回放，裁判记录越栏、出坑和站立三个阶段；这是交付说明，节点终值同时有本次评分器���功字段及视频末尾姿态支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 27.72–28.68 s，机器人以脚部支撑于水坑远端外红色跑道，躯干直立并近乎静止；未见手、膝或躯干接地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "rear_x_m",
+   "unit": "m",
+   "threshold": 13.66,
+   "direction": "higher_better",
+   "value": 14.486
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 28.68
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人旋转越过白栏、落入蓝色坑区后沿斜坡行走，约在视频 19.2 s 完成越栏、视频 26.4 s 全身出坑，并在视频 28.68 s 完成连续一秒站稳，三个节点最终均成立。评分器记录 success=1、stages_reached=3、fell=0，视频末尾直立状态与此一致；日志中的先前失败和重置属于调试，未计入交付轨迹。无状态日志，远景无法精确测量穿面高度、包围盒及站立速度，也无法确认手部是否轻触白栏，节点时间按视频估计并以本次成功判定辅助验收。",
+ "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（越栏约19.2 s、出坑约26.4 s、站稳28.68 s，均为视频时钟）与帧和评分器字段一致；contact_actual为腿/躯干支撑，合理；成功运行无failure。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-steeplechase-i00-privileged--4db4amv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-steeplechase-i00-privileged--4db4amv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b2cd06c5136fcb22d6541cb775c6cd50700209d475ac1b15f9f8d02468b338b2",
+   "video_sha256": "1ee6245760be91c6c90f6287623b30eaed1273ac10f2601c526959274ed4b85b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/steeplechase/trajectories/roboolympics-fun-steeplechase-i00-privileged--rjne7s7.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-fun-steeplechase-i00-privileged--rjne7s7",
+ "taskKey": "embodied-olympics-fun/steeplechase",
+ "dag_sha256": "32b3df1d18f4093b2d275c716364566e180274e658180ac2354eb4fee22e01f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 2492,
+   "sim_steps": 2492,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.3333,
+   "stages_reached": 1,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 14.8,
+   "bad_trajectory": 0,
+   "metric_rear_x_m": 10.668,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 708,
+   "agent_resets": 1387,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 9.913,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.415,
+   "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/roboolympics-fun-steeplechase-i00-privileged--rjne7s7/replay.mp4",
+  "duration_s": 24.96,
+  "fps": 25.0,
+  "frames": 624,
+  "sha256": "0f1661da0930c889ada2850b267c2f3ba042ee6b8c24e07c4a7f2832c528765d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "hurdle_cleared": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.6,
+      "log_step": null,
+      "text_zh": "观察：视频 19.6–21.8 s，机器人从跑道前倾搭上白色横栏，身体向坑侧折转；视频 22.2–22.6 s，两腿从栏上方摆过，约视频 22.6 s 全身移到蓝色坑一侧（视觉时刻约有 0.2 s 不确定性）。"
+     },
+     {
+      "t": 24.92,
+      "log_step": 125,
+      "text_zh": "观察：log step 125 的官方工具回放交付文件，报告 stages=[hurdle]、steps=2492、failed=None；log step 142 再生成文件与原文件的 2492 行动作最大差为 0，评分器 stages_reached=1、deterministic=1，与视频越栏后留在坑内一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–19.8 s 双脚在红色跑道上支撑行走、停步；视频 20.4–21.8 s 身体折在白色横栏上，躯干/髋部搭靠横栏承重，之后双腿摆过横栏。"
+     }
+    ]
+   },
+   "pit_exited": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "观察：视频 22.6–23.0 s，机器人离开横栏后仰面落入蓝色坑区，随后保持低伏倒卧；视频 23.0–24.92 s 没有站起或向远端红色跑道继续前进，全身始终没有越过远端坑沿。"
+     },
+     {
+      "t": 24.92,
+      "log_step": 142,
+      "text_zh": "观察：log step 142 的交付文件再生成结果仍只有 hurdle 阶段，rear_x_m=10.668；评分器亦报告 metric_rear_x_m=10.668，未到全身出坑所需的 13.66 米。此结论同时由视频末帧仍倒卧坑内支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 22.8–24.92 s，机器人仰面落坑后由背部/躯干接触蓝色坑底承重，未恢复脚部支撑或走上远端斜坡。"
+     }
+    ]
+   },
+   "standing_beyond_pit": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.92,
+      "log_step": null,
+      "text_zh": "观察：视频 23.0–24.92 s，机器人一直倒卧在坑内，没有在远端红色跑道直立站稳的时段。成功参考视频 26.5–28.5 s 可见机器人全身出坑后直立停留，当前视频全程未出现这一可见结果；参考视频仅用于辨认目标外观。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "rear_x_m",
+   "value": 10.668,
+   "unit": "m",
+   "threshold": 13.66,
+   "direction": "higher_better"
+  },
+  {
+   "name": "time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pit_exited",
+   "t": 22.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 22.6 s 机器人全身越过白栏，但视频 22.8–23.0 s 仰面落到坑底，此后至视频 24.92 s 都没有恢复脚部支撑并向远端前进。推断：越栏后的出坑推进在落坑及恢复支撑处中断，断点属于全身出水坑；站���节点尚未具备出坑条件。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 22.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 22.4 s 机器人双脚朝上，视频 22.6–23.0 s 身体转为仰面并落到坑底；视频 23.0–24.92 s 由躯干贴地，始终未恢复直立脚部支撑。这一倒卧状态阻断后续出坑，未见修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：交付控制序列没有实现翻越后的落地平衡恢复及起身衔接。log step 39 的生成代码在翻越后伸髋并保持同一关节目标，GETUP 为空；log step 41 改为 15 个控制采样伸髋、随后保持 300 个采样，保存的动作与 over_c 完全一致；log step 142 去掉空的起身段并重生成，仍与原交付动作完全一致。视频 22.8–24.92 s 对应地显示机器人仰面落坑后不起身。agent 在 log step 148 也承认未解决起身；其关于力矩不足的解释仅为自述，未据此细分控制子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，远景视频不能精确测得骨盆/两脚穿栏瞬间高度、逐链接触或速度，越栏完成时刻据视频近似并由交付回放阶段支持。控制证据能确定未实现落地恢复与起身，但不足以区分接触布局、反馈控制、轨迹或具体参数问题；会话中的单独起身、出坑测试不计入本次节点进度。评分器未报告原生 time_s 指标。",
+  "unmet": {
+   "hurdle_cleared": true,
+   "pit_exited": false,
+   "standing_beyond_pit": false
+  }
+ },
+ "summary_zh": "本次交付轨迹约在视频 22.6 s 完成越栏，最终完成 1/3 个节点；机器人随后仰面落坑，至视频 24.92 s 仍倒卧坑内，未全身出坑或出坑后站稳。断点为全身出水坑，现象为平衡，交付关节控制序列没有实现落地后的支撑恢复与起身衔接。无状态日志，越栏的精确穿面高度及控制失效的具体子类无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "越栏约视频22.6 s完成、坑内倒卧未出坑，与评分器stages=[hurdle]、rear_x=10.668及视频一致；断点、平衡现象与控制根因有日志证据支持，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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-steeplechase-i00-privileged--rjne7s7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-steeplechase-i00-privileged--rjne7s7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fc7e1597c23cd31aada727868291bd40917a63468609a3a2f608431b718d6967",
+   "video_sha256": "0f1661da0930c889ada2850b267c2f3ba042ee6b8c24e07c4a7f2832c528765d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/triple_jump/task_dag.json

@@ -0,0 +1,415 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-fun/triple_jump",
+ "suite": "embodied-olympics-fun",
+ "base": "embodied-olympics-fun-triple-jump-i00",
+ "title_zh": "三级跳远",
+ "summary_zh": "机器人按同脚单足跳、换脚跨步跳、跳入沙坑的顺序完成合法三级跳，落沙后通过两秒丈量且最近落沙痕迹距起跳线至少七米。",
+ "embodiment_zh": "特权与标准模式均为 Unitree G1 人形机器人：29 个关节、身高约 1.32 米、质量约 33 千克，双腿承重与跳跃；双臂各七关节，末端为无活动手指的固定拳垫，无可抓取物体，双足移动而无轮式底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-fun-triple-jump-i00",
+  "bench": "embodied-olympics-fun",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "hop_landed",
+    "zh": "单足跳落地",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "场地侧视画面中，机器人从白色起跳板靠沙坑一侧边缘之前单脚蹬地，身体完全离地至少 0.05 秒，骨盆较离地瞬间升高至少 0.05 米，再越过该边缘，第一次接触地面仅由同一只脚落在红色跑道上；另一脚须早至少 0.05 秒离地，起跳支撑点须在跑道宽度内，落地全部接触点须满足横向距中线不超过 0.61 米且位于沙坑前。仅助跑、未越线落地、双脚起跳、异脚或其他身体部位先触地均未完成；左右脚可以互换，已合法完成的单足跳事件不因后续腾空而失去。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "机器人任一只脚在起跳线前红色跑道支撑起跳，同一只脚越线落回红色跑道承重。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-36",
+     "inputs/task/privileged/environment/rfo_task.py:105-110",
+     "inputs/task/privileged/environment/rfo_task.py:168-171",
+     "inputs/task/privileged/environment/rfo_task.py:190-218",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:353-394",
+     "inputs/oracle/replay.mp4 @ 6.7-7.4 s"
+    ],
+    "conf": 6,
+    "note_zh": "文本的同脚落地是本步终点，不把起跳、腾空和落地拆开；助跑并非独立目标。对应裁判 hop 阶段；成功参考采用左脚，右脚先行同样合法。"
+   },
+   {
+    "id": "step_landed",
+    "zh": "跨步跳落地",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "hop_landed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "单足跳落地后，在红色跑道原落地点由该脚支撑再起跳，机器人完全离地至少 0.05 秒，下一次首次触地仅由另一只脚落在跑道上（所有接触点横向距中线不超过 0.61 米，且在沙坑前）；侧视画面可见两次跑道落地之间支撑脚更换。下一次腾空前其他部位不得触地，原落地脚触地中心不得移出裁判锚点 0.30 米；同脚落回、双脚或躯干抢先落地、提前落沙均未完成，合法落地事件在之后起跳时保留。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "机器人上一落地脚在红色跑道支撑起跳，另一只脚在红色跑道承接着地。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:3-36",
+     "inputs/task/privileged/environment/rfo_task.py:108-110",
+     "inputs/task/privileged/environment/rfo_task.py:168-171",
+     "inputs/task/privileged/environment/rfo_task.py:219-243",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:353-394",
+     "inputs/oracle/replay.mp4 @ 7.3-7.8 s"
+    ],
+    "conf": 6,
+    "note_zh": "对应裁判 step 阶段；衔接时只允许上一落地脚触地。裁判没有要求两跳间不停顿，允许在原地单脚支撑后继续，故与前一步分开（DECISIONS.md S10）。"
+   },
+   {
+    "id": "pit_jump_completed",
+    "zh": "跳入沙坑",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "step_landed"
+    ],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "跨步跳落地脚从原处支撑起跳，下一次完全无外界接触的腾空至少 0.05 秒，首次触地仅接触黄色沙坑（允许身体任何部位先落沙），随后从首次落沙起经过完整 2.0 秒丈量窗：窗内所有落沙接触点中距起跳线最近者至少 7.0 米，且不得在坑外接触比当时最近落沙痕迹更靠起跳线的地面。侧视画面应见机器人从红色跑道飞入黄色区域并通过该窗口；只在空中、仍落在红道或���地、或刚落沙尚不足 2.0 秒均未完成，坑内倒地本身不影响完成。",
+    "step": {
+     "cat": "本体",
+     "item": "跳跃"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "机器人跨步跳落地脚在红色跑道支撑起跳，脚、腿或躯干在黄色沙坑承接落地；空中阶段无支撑接触。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:30-36",
+     "inputs/task/privileged/environment/rfo_task.py:48-57",
+     "inputs/task/privileged/environment/rfo_task.py:108-110",
+     "inputs/task/privileged/environment/rfo_task.py:219-263",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-178",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:353-394",
+     "inputs/oracle/replay.mp4 @ 7.8-10.6 s"
+    ],
+    "conf": 6,
+    "note_zh": "合并裁判 jump 与 landing：前者是首次落沙，后者是本次落沙的丈量验收，并非独立站稳步骤。对应最终已验收的 landing 事件；2 秒计时及动态最近痕迹均由裁判本身处理，故 hold_s=0，不在已验收事件后再等 2 秒。沙坑从起跳线后 7 米开始，代码由接触几何保证距离，没有单独比较 mark_m >= 7。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "takeoff_line_fault",
+    "zh": "起跳线犯规",
+    "never": null,
+    "criterion_zh": "单足跳形成前，仍在地面支撑的脚有任何部分达到或越过起跳线平面（包括悬空脚尖），或未结束一次有效腾空便在起跳线及前方触地；画面中踩线、越线继续走均属此项。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:190-200"
+    ]
+   },
+   {
+    "id": "hop_fault",
+    "zh": "单足跳犯规",
+    "never": null,
+    "criterion_zh": "越线的首次有效腾空若两脚离地时间差小于 0.05 秒、起跳支撑点超出横向正负 0.61 米、骨盆上升不足 0.05 米，或首次接触并非起跳脚独自在跑道上（所有接触点横向距中线不超过 0.61 米且在沙坑前），裁判立即判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:108-110",
+     "inputs/task/privileged/environment/rfo_task.py:168-171",
+     "inputs/task/privileged/environment/rfo_task.py:201-215"
+    ]
+   },
+   {
+    "id": "interphase_support_fault",
+    "zh": "衔接支撑犯规",
+    "never": null,
+    "criterion_zh": "单足跳或跨步跳落地后至下一次有效腾空完成前，除该次落地脚以外任何部位触地，或该脚触地中心相对裁判锚点移动超过 0.30 米，立即失败；滑行和不足 0.05 秒的小跳不能绕过此检查。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:219-234"
+    ]
+   },
+   {
+    "id": "step_fault",
+    "zh": "跨步跳犯规",
+    "never": null,
+    "criterion_zh": "跨步跳的下一次有效腾空首次接触并非由单足跳落地脚的另一只脚独自在跑道上；双脚、同脚、其他部位先触地、提前落沙，或接触点超出横向正负 0.61 米或位于沙坑处均失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:168-171",
+     "inputs/task/privileged/environment/rfo_task.py:235-243"
+    ]
+   },
+   {
+    "id": "jump_landing_fault",
+    "zh": "末跳落点犯规",
+    "never": null,
+    "criterion_zh": "最后一次有效腾空首次接触没有落到沙坑，或同时接触跑道、草地等硬地；倒在沙坑内本身不违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:107",
+     "inputs/task/privileged/environment/rfo_task.py:244-249"
+    ]
+   },
+   {
+    "id": "nearer_outside_contact",
+    "zh": "坑外近侧触地",
+    "never": null,
+    "criterion_zh": "从首次落沙至 2.0 秒窗口结束，在坑外接触比截至该时刻最近落沙痕迹更靠近起跳线的硬地；例如身体已落沙而拖后的肢体触及起跳线一侧红色跑道。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:252-263"
+    ]
+   },
+   {
+    "id": "venue_left",
+    "zh": "离开场地",
+    "never": null,
+    "criterion_zh": "机器人触及场地下方降低的地平面即失败；场地平面范围为起跳线后方 45 米至前方 22 米、跑道轴线左右各 8 米，离开边缘下落并接触下方地面触发裁判。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/environment/rfo_task.py:41-58",
+     "inputs/task/privileged/environment/rfo_task.py:176-177"
+    ]
+   },
+   {
+    "id": "simulation_unstable",
+    "zh": "模拟数值发散",
+    "never": null,
+    "criterion_zh": "模拟器出现 BADQACC 警告、非有限广义位置，或任���被检查的线速度自由度绝对值超过 150 米/秒时，本次尝试因数值不稳定立即失败；视频可能表现为突然飞散，精确判断需模拟器记录。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:108-109",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:872-883"
+    ]
+   },
+   {
+    "id": "trial_timeout",
+    "zh": "试跳超时",
+    "never": null,
+    "criterion_zh": "从本次尝试开始计，机器人时间达到 60 秒（6000 个控制步）时，若尚未完成合法的单足跳、跨步跳、跳入沙坑及落沙后的完整 2.0 秒丈量验收，裁判即判本次试跳失败并立即终止；该控制步先检查任务成功，已成功的尝试不再因到时判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard/instruction.md:14,25-29",
+     "inputs/task/privileged/environment/rfo_task.py:104,133-138",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:283-289",
+     "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:57-58"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "hop_landed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:216-218；需逐帧记录 ref.stages 中的 hop、落地脚及 Flights 的验收量。"
+   },
+   {
+    "atom": "step_landed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:241-243；需逐帧记录 ref.stages 中的 step、落地脚与衔接触地记录。"
+   },
+   {
+    "atom": "pit_jump_completed",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:247-263；需记录 ref.stages 中的 landing、首次落沙时刻和最近落沙接触位置。"
+   },
+   {
+    "atom": "rule_faults",
+    "level": "new_code",
+    "source": "inputs/task/privileged/environment/rfo_task.py:173-259；需逐帧记录 ref.failed 和触地、脚范围及脚锚点移动量。"
+   },
+   {
+    "atom": "simulation_unstable",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/world.py:872-883；需记录 world.unstable。"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:174-178；需逐帧记录基准裁判自身的 ref.success；不用离线交付或复现有效性作语义条件。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "hop_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:183-206"
+   ]
+  },
+  {
+   "name": "hop_rise_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:205-212"
+   ]
+  },
+  {
+   "name": "step_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:235-243"
+   ]
+  },
+  {
+   "name": "jump_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:235-249"
+   ]
+  },
+  {
+   "name": "mark_m",
+   "unit": "m",
+   "threshold": 7.0,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:48-57,252-263"
+   ]
+  },
+  {
+   "name": "hop_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:217"
+   ]
+  },
+  {
+   "name": "step_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/environment/rfo_task.py:242"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功参考也无状态日志：全部 when、never 和 success 均为 null（暂行：DECISIONS.md P8），atoms 的 new_code 仅说明待补日志字段，未虚构现有绑定；无法进行基于状态的逐节点到达或成功等价性检验。",
+  "粒度边界（DECISIONS.md S10）：保留三个文本明示跳跃步骤，因为前两次落地后可在原处单脚支撑停留再继续，评分器只限制其他部位触地和落地脚位移，没有限定衔接时长；各次空中运动与其着地均合并，最后两秒丈量属于落沙验收。助跑仅为方式，不另建行进节点。",
+  "模式差异：两模式任务模块完全相同，运动成功均为同一裁判按序记录 hop、step、jump、landing 且无失败；特权评分另需轨迹文件有效及两个独立回放均成功且末态哈希相同（inputs/grader/efe_embodied-olympics-fun-files/grade.py:87-115），标准模式评最后一次实时尝试（inputs/grader/efe_embodied-olympics-fun-files/standard/server.py:152-177；inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这些交付与复现要求无法由视频世界状态表达，未另建语义节点。",
+  "坐标表述有歧义：特权说明把坐标原点称为起始骨盆下方，同时规则又称起跳线 x=0；评分器实际以起跳线为 x=0、初始位置 x=-20（任务模块:105,115），传感器相机说明使用起始机器人坐标（rcb_rfo.py:150-168）。判据均用相对起跳线的距离，避免混用。",
+  "参考视频仅有远处场地侧视，脚的瞬时接触与 0.05 秒阈值难以逐帧精确辨别；参考奖励记录完整四阶段成功、mark_m=7.079，且视频显示落沙后倒在坑内。全部阈值沿用任务规则，不以参考的具体脚、距离或姿势定标；只有这一条成功且参考本身是待标注运行（允许：DECISIONS.md N2）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三步来自文本，顺序、阈值及无摔倒禁令均由同一裁判与两模式场景确认，参考视频和四阶段成功记录相符；缺少全部状态日志且远景难辨瞬时脚接触，无法完成条件绑定和状态等价性自检。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "三步结构（单足跳→跨步跳→跳入沙坑）与文本和评分器一致，无状态日志故 when 为 null 合理；唯一缺陷：评分器的 60 秒试跳时限（超时即失败）未列为约束。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个文本明示步骤（单足跳、跨步跳、跳入沙坑）与指令和评分器一致，约束齐全（含上轮已加的60秒超时），无状态日志故 when/success 为 null 合理；未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['hop_landed', 'step_landed', 'pit_jump_completed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:42:53Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__triple_jump/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__triple_jump/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__triple_jump/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-fun__triple_jump/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c27824b5e2e35e93e5467a868ea2fa0f1a67a3ed65a782cc556539b70173146c",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--2mi3s9u.json

@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-triple-jump-i00-standard--2mi3s9u",
+ "taskKey": "embodied-olympics-fun/triple_jump",
+ "dag_sha256": "9f9806e5cbd7c235d13393d3119df9126c28a266701739aedf285a0b41e0aa5c",
+ "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": 1985,
+   "sim_steps": 91212,
+   "calls": 658,
+   "rows": 24723,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 5473.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.556,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.85,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-triple-jump-i00-standard--2mi3s9u/replay.mp4",
+  "duration_s": 19.88,
+  "fps": 25.0,
+  "frames": 497,
+  "sha256": "59f492b59fbe64f390b2687392a911b67fc6d14e96492ee4f95e0f336a5b95b0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "hop_landed": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.56,
+      "log_step": null,
+      "text_zh": "观察：视频 19.20–19.48 s 机器人在白色起跳板前抬起一脚并腾空越板，视频约 19.52–19.56 s 一脚落回板前方红色跑道，随后又离地；身体尚未倒地。"
+     },
+     {
+      "t": 19.56,
+      "log_step": 296,
+      "text_zh": "推断：结合上述腾空、单脚落地再起跳的画面，以及 agent 在 log step 295 启动最后一次驱动、log step 296 和 298 自述该轮 hop 与 step 已验收，将首次落地判为单足跳完成；时刻约为视频 19.56 s，误差约 0.08 s。远景不能独立量测 0.05 秒离脚差及骨盆升高阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人以脚接触红色跑道助跑、蹬地，腾空后以单脚承接落地，再次起跳；作用端为足部，对象为跑道。"
+     }
+    ]
+   },
+   "step_landed": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.72,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.72,
+      "log_step": null,
+      "text_zh": "观察：视频 19.56–19.68 s 机器人在第一次落地后再次腾空，摆腿前伸，视频约 19.68–19.72 s 前伸脚接触红色跑道，身体随即明显向前倾倒。"
+     },
+     {
+      "t": 19.72,
+      "log_step": 298,
+      "text_zh": "推断：连续两次跑道落地间可见支撑腿和摆腿交换，与 agent 在 log step 298 对最后一轮“hop and step were accepted、2/4 stages”的自述一致，跨步跳约在视频 19.72 s 完成，误差约 0.08 s；后续倒地不取消已完成的事件节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人第一次落地脚在红色跑道蹬地，摆出的另一脚随后接触红色跑道承重，衔接至末跳尝试。"
+     }
+    ]
+   },
+   "pit_jump_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.84,
+      "log_step": null,
+      "text_zh": "观察：视频 19.72–19.84 s 机器人在跨步跳落地后继续向前运动，但躯干迅速降低并转至近水平，最后倒在白色板前方不远的红色跑道上；黄色沙坑仍在明显更远处，整段末跳未见机器人落沙。"
+     },
+     {
+      "t": 19.84,
+      "log_step": 297,
+      "text_zh": "观察：log step 297 的机器人服务状态为 episode=51、control_steps=1985、done=True、reason=failed、resets_left=0；log step 298 中 agent 自述最后一轮未落入沙坑。这与视频末帧仍在跑道上倒地的结果相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人用跨步跳落地脚接触红色跑道尝试末次蹬地，随后腿部及躯干落在红色跑道承重；未接触黄色沙坑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hop_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hop_rise_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "step_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "jump_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "mark_m",
+   "unit": "m",
+   "threshold": 7.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hop_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "step_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pit_jump_completed",
+   "t": 19.76,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19.68–19.84 s 机器人在第二次单脚落地后尝试继续末跳，躯干向前翻倒，最终在红色跑道触地，尚远未进入黄色沙坑；前两次落地已经发生，失败落在跳入沙坑这一步。"
+  },
+  "unmet": {
+   "hop_landed": true,
+   "step_landed": true,
+   "pit_jump_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 19.76,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.64–19.84 s 机器人由站立状空中姿态持续前倾，跨步跳着地后未恢复支撑，躯干降至近水平并倒在跑道上；这不是坑内允许的倒地，机器人尚未进入沙坑。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 295 记录 agent 执行最终驱动，并说明在跨步跳落地阶段保持反向摆臂、末跳起动后收腿；log step 297 的驱动节选显示机器人由行走、跑步切换到关节目标控制。视频 19.64–19.84 s 中该衔接未能抑制躯干前倾，机器人在末跳过程中倒地，支持全身运动控制未能完成落地至再起跳的姿态协调；现有记录不足以归到具体增益、力矩或反馈子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；侧视远景中机器人仅占少量像素，前两次脚接触及其 0.05 秒、0.05 米阈值只能结合动作顺序和最后一轮记录推断，到达时刻约有 0.08 秒误差。log step 295 的执行输出为空，log step 297 展示的最终脚本中段已被原记录截断，缺少最后一轮逐阶段裁判输出和完整关节轨迹，不能确定导致前倾的具体控制参数。DAG 的七项原生指标在评分器字段中均未报告，故全部填 null。"
+ },
+ "summary_zh": "机器人助跑后完成单足跳落地和换脚跨步跳，最终为 2/3 个 DAG 节点；视频约 19.72–19.84 s 的末跳尝试中身体前倾倒在红色跑道，未进入黄色沙坑。断点为跳入沙坑，现象为平衡丧失，证据支持控制层的衔接与姿态协调失败，但远景和缺少状态日志限制了精确脚接触时刻及具体控制参数的判断。",
+ "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 18.84–19.84 s：机器人在白色起跳板处越线后前倾倒在红色跑道、远未入沙；hop/step 两节点由服务读数（stages_reached=2/4，outcome“the jump did not come down in the sand”）加画面支持，断点、平衡现象和停在“控制”的根因均有证据，未发现需改内容的错误。远景太小导致两次落地的精确时刻只能凭推断，标注已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:05:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--2mi3s9u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--2mi3s9u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "210307d83a805794a798cd389db4d4472277b12c98366722e0bec7a8848c447b",
+   "video_sha256": "59f492b59fbe64f390b2687392a911b67fc6d14e96492ee4f95e0f336a5b95b0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-fun/triple_jump/trajectories/roboolympics-fun-triple-jump-i00-privileged--tr78mze.json

@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-fun-triple-jump-i00-privileged--tr78mze",
+ "taskKey": "embodied-olympics-fun/triple_jump",
+ "dag_sha256": "9f9806e5cbd7c235d13393d3119df9126c28a266701739aedf285a0b41e0aa5c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1060,
+   "sim_steps": 1060,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 8.35,
+   "bad_trajectory": 0,
+   "metric_hop_air_s": 0.429,
+   "metric_hop_m": 2.263,
+   "metric_hop_rise_m": 0.301,
+   "metric_jump_air_s": 0.703,
+   "metric_mark_m": 7.079,
+   "metric_step_air_s": 0.272,
+   "metric_step_m": 3.907,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1211,
+   "agent_resets": 15,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.879,
+   "peak_processes": 32,
+   "peak_disk_gb": 0.922,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-fun-triple-jump-i00-privileged--tr78mze/replay.mp4",
+  "duration_s": 10.64,
+  "fps": 25.0,
+  "frames": 266,
+  "sha256": "9e5def3b64ffcf0bfd65f2515698b1230a254a10ba808b637211896be85975d5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "hop_landed": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.24,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.84,
+      "log_step": null,
+      "text_zh": "观察：视频 6.72–6.84 s，机器人在白色起跳板附近由单腿蹬地转为明显腾空，向沙坑方向越过起跳线；视频 6.84–7.20 s 身体继续前移并下降。"
+     },
+     {
+      "t": 7.24,
+      "log_step": 233,
+      "text_zh": "观察：视频 7.24–7.36 s，机器人在起跳线前方红色跑道完成第一次落地，以一条腿承重，另一腿保持抬起；到达时间取视频约 7.24 s。log step 233 的 7.079 m 候选裁判记录为 hop、落地脚 left，hop_air_s=0.429、hop_rise_m=0.301；log step 235–236 验证最终交付与该候选末态哈希相同，评分记录 stages_reached=4。远景不能独立精确量出两脚离地时间差，合法性结合裁判通过记录判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.72–6.84 s 的起跳支撑与视频约 7.24 s 的跑道落地均由单脚承重；结合 log step 233 与最终交付一致的裁判记录，起跳及首次落地脚为左脚，右脚悬起。"
+     }
+    ]
+   },
+   "step_landed": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.72,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.72,
+      "log_step": 233,
+      "text_zh": "观察：视频 7.36–7.48 s，机器人从第一次落地点再次离地；视频 7.48–7.68 s 腾空前移，视频约 7.72 s 在红色跑道第二次落地，随后屈腿支撑至视频约 7.88 s 再起跳。log step 233 的最终 7.079 m 候选裁判记录 step、落地脚 right、step_air_s=0.272、step_m=3.907，且其末态哈希与 log step 236 验证的最终交付一致；据此确认换脚及衔接验收通过，视频时刻按所检查帧取近似值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 7.36–7.48 s 从原落地处单脚支撑再起跳，视频约 7.72 s 由另一脚承重落回跑道；左右脚依据 log step 233 最终候选裁判记录确认为左脚蹬地、右脚落地。"
+     }
+    ]
+   },
+   "pit_jump_completed": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": 233,
+      "text_zh": "观察：视频 7.88–8.00 s，机器人从第二次跑道落地点起跳，视频 8.00–8.56 s 向黄色沙坑腾空并前倾，视频约 8.60 s 在沙坑近端落下。log step 233 的最终候选裁判事件记录 jump 首次落沙部位为 left_thigh，jump_air_s=0.703；该候选哈希由 log step 235–236 确认与最终交付一致。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 236,
+      "text_zh": "观察：视频 8.64–10.60 s，机器人在沙坑近端翻转并倒卧，视频 9.60–10.60 s 的密集检查帧显示其最后逐渐停稳，没有重新站起；到视频约 10.60 s 才经过自视频约 8.60 s 首次落沙起的两���丈量窗。评分记录 success=1、replay_success=1、deterministic=1、stages_reached=4、metric_mark_m=7.079；log step 236 确认最终交付两次独立回放成功且末态哈希相同。沙坑内倒地符合本节点允许的验收规则，完成时刻取视频 10.60 s，未在首次落沙时提前记完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.72–7.88 s，机器人以跑道第二次落地脚支撑后起跳；log step 233 最终候选记录该脚为右脚、首次落沙部位为左大腿。视频 8.60–10.60 s 显示腿、骨盆与躯干随后在黄色沙坑内承重并倒卧；未把空中阶段记作支撑接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hop_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.429
+  },
+  {
+   "name": "hop_rise_m",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.301
+  },
+  {
+   "name": "step_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.272
+  },
+  {
+   "name": "jump_air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.703
+  },
+  {
+   "name": "mark_m",
+   "unit": "m",
+   "threshold": 7.0,
+   "direction": "higher_better",
+   "value": 7.079
+  },
+  {
+   "name": "hop_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.263
+  },
+  {
+   "name": "step_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 3.907
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成单足跳落地、跨步跳落地和跳入沙坑三个节点，到达时刻分别约为视频 7.24 s、视频 7.72 s、视频 10.60 s；末跳在视频约 8.60 s 首次落沙后，经过两秒丈量窗才完成验收。评分记录四阶段全部通过，成绩 7.079 米，最终交付两次独立回放成功且末态一致（log step 235–236）；坑内倒卧为规则允许的成功终态。无状态日志，远景及初段机器人在画面外限制了瞬时脚接触、离地时间差与精确接触位置的独立视觉核验；节点时刻取已检查视频帧，脚别及阈值合法性由与最终交付对应的裁判记录补充，参考视频就是本运行，未作独立参考。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "三个节点的到达时刻（视频约 7.24 / 7.72 / 10.60 s）与 log step 233 候选裁判事件时刻（7.236 / 7.719 / 10.599 s）及视频帧一致；成功运行无 failure，contact_actual 为腿/躯干·支撑，合理。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": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-triple-jump-i00-privileged--tr78mze/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-fun-triple-jump-i00-privileged--tr78mze/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ba9af98c01f468e11c7468d1da938f07519846ac1666d3889976b05b4fd307e3",
+   "video_sha256": "9e5def3b64ffcf0bfd65f2515698b1230a254a10ba808b637211896be85975d5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/badminton_match_i01/task_dag.json

@@ -0,0 +1,216 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/badminton_match_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-badminton-match-i01",
+ "title_zh": "羽毛球单打获胜",
+ "summary_zh": "控制装有球拍的机械臂及移动基座，完成固定实例的比赛并由原裁判判定战胜一级脚本对手。",
+ "embodiment_zh": "两种模式均为一条七自由度 Franka Panda 机械臂，末端为安装工具（羽毛球拍），立于一米高支柱和可沿横纵两轴移动的龙门基座；没有独立抓取羽毛球的空闲手，抛球由发球接口实现。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-badminton-match-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "完整比赛结束且原裁判判定我方 A 获胜：通常先到至少11分且领先至少2分，或先到15分；达到双方合计400次击球或40个已结束回合（含重赛）后，在当前回合结束时按总分、最后一个非重赛回合胜者、先接发者依次决胜。录像左侧从我方底线后看球场、右侧为场边视角，可见白色机械臂挥拍及橙白羽毛球；只见一次得分或暂时领先并未完成，须结合裁判最终胜方或完整回合计分确认，画面本身不显示比分与胜方，未结束或对手获胜均不成立。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选：击打。Panda机械臂末端安装的球拍拍面击打羽毛球；现有接触方式没有击打，按S16使用其他，不另标握拍。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "龙门移动基座支撑Panda机械臂，并在回合中沿球场横纵方向移动以使球拍覆盖来球。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:1-5",
+     "task/standard-realtime/instruction.md:41-64",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:170-176",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1231-1239",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1703-1728",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/plugin.py:163-200",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/tools/fullsim/formal.py:315-342",
+     "grader/efe_embodied-olympics-match-files/shared/tests/grade.py:99-138",
+     "oracle/run.json:reward",
+     "oracle/replay.mp4 @ 0-39.9 s"
+    ],
+    "conf": 7,
+    "note_zh": "按比赛结果分析，只建一个获胜节点；逐分计数与发球、回球、移动、复盘不是独立目标步骤。开局比分0比0且比赛未结束，节点从未完成开始；球拍已安装，不建取工具步骤。成功参考记录为11比0，不把该比分或策略设为所有成功路线的要求。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "回合后世界冻结等待复盘时，我方未在300秒真实时间内提交准备，裁判以ready_timeout判我方整场负；即使当时领先也失败。录像的冻结不能单独证明超时，需裁判事件或服务记录确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/tools/fullsim/adapter.py:23",
+     "task/standard-realtime/environment/docker-compose.yaml:48",
+     "task/standard-realtime/instruction.md:9-11"
+    ]
+   },
+   {
+    "id": "serve_delay_fault",
+    "zh": "发球延误失分",
+    "never": null,
+    "criterion_zh": "接发方就绪（恢复比赛后1秒）起，我方发球未在3秒游戏时间窗口内生效抛球，裁判以serve_fault:undue_delay立即结束该回合并给对手一分；此项终止的是当前回合，之后仍可继续并赢得整场，不是全场历史否决。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175-176",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:218-232",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612"
+    ]
+   },
+   {
+    "id": "rally_clock_loss",
+    "zh": "回合计时失分",
+    "never": null,
+    "criterion_zh": "来球段处于接球状态且进入比赛后，自该段发球或击球起600个控制步（6秒）仍无命中或落地判定，裁判判我方该回合失分；我方发球已抛起却未命中也在段起600步后判漏发，我方击出后to_opp段自该段起1800步（18秒）仍未决出结果则以timeout判失分。这里只终止当前回合，不否决后来赢得整场。",
+    "consequence": "立即终止",
+    "sources": [
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:85",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175-176",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1655-1656",
+     "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1684-1689"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/plugin.py:163-200；需逐帧记录比赛完成状态及原裁判胜方（A/opponent），不以交付或回放有效性字段代替世界结果。"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365；需记录我方ready_timeout裁判事件及真实复盘计时。"
+   },
+   {
+    "atom": "serve_delay_fault",
+    "level": "new_code",
+    "source": "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612；需记录逐回合的server、how与结束事件。"
+   },
+   {
+    "atom": "rally_clock_loss",
+    "level": "new_code",
+    "source": "grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629,1655-1656,1688-1689；需记录回合段状态、launch、控制步及超时失分事件。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "points_for",
+   "unit": "point",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "points_against",
+   "unit": "point",
+   "threshold": null,
+   "direction": "lower_better"
+  },
+  {
+   "name": "point_share",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json没有状态日志，依P8所有when、never及success均置null；所列原子是待补的记录需求，未假定这些路径已经存在。无法计算状态证据的一致率。",
+  "录像不叠加比分或胜方，只显示两视角、控制步和段内时间；末帧仍是回合画面，不能凭停帧判获胜。参考run.json的reward明确success=1、points_for=11、points_against=0，与结果节点一致；其他轨迹须结合各自裁判记录，不能照搬参考比分。",
+  "两种模式胜负规则相同，交付有效性条件有别：特权formal.py:315-330要求valid_trial、reason=match_over、新进程回放各摘要及比分胜方一致、无策略错误或提前结束原因；标准实时shared/tests/grade.py:99-138接受有效且已终结的现场或一致回放结果，并处理服务错误。它们属于整体验收，不能建世界状态步骤，也没有可绑定的日志，故success保留null。",
+  "评分器要求，文本未提：bm.py:1655-1656及1688-1689还设6秒与18秒回合段超时失分，已按N7列裁判时钟约束；N7也要求发球3秒延误失分列约束。此类点罚可被后续得分弥补，consequence的立即终止指该回合，不表示整场不得出现一次超时。",
+  "原生point_share按sport.toml:289-294计算我方分数占双方总分比例（无得分时为0.5，弃权为0），没有独立成功阈值；普通发球犯规、触网、出界、漏接均由裁判转为积分，允许失分后获胜，不能增加全程零失误要求。时延、反应和速度反射等诊断记录没有独立通过门槛，不作为额外约束。"
+ ],
+ "conf": 7,
+ "conf_reason_zh": "一个获胜步骤明确来自两种模式的文本，评分器和初态均支持，无习惯顺序；已核对成功录像及11比0的原生结果。缺少逐帧状态和画面比分，自动绑定及裁判时钟事件无法实证，置信度为7。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "任务只有一个文本步骤（赢得整场比赛），节点、criterion_zh、N7裁判时钟约束（复盘超时、发球延误、回合计时）及success=null（无状态日志，P8）均与文本和评分器一致；标签���对抗·获胜，击打按S16记其他，底盘支撑）无误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:04:49Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_match_i01/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_match_i01/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "786b1107f97ed0b434a6ef266330520162c5ceb648023c13633f71fc50b5358c",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-match/badminton_match_i01/trajectories/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm.json

@@ -0,0 +1,300 @@
+{
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+ "taxonomy": "v2",
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+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.303,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.867,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm/replay.mp4",
+  "duration_s": 53.1,
+  "fps": 10.0,
+  "frames": 531,
+  "sha256": "9ae34210c0cf5078e1bd62fc0e70ec38d68eeb9d0484f7ed18debac7c022be9f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 7,
+      "text_zh": "观察：视频开局为我方白色机械臂持安装球拍、龙门基座位于近场，比赛尚未结束；log step 7 的比赛服务初始状态为 prepare、比分0比0、done=false。"
+     },
+     {
+      "t": 50.1,
+      "log_step": 126,
+      "text_zh": "观察：视频50.0–51.1 s 我方球拍将来球击向远侧，羽毛球在对方半场落下，随后双方恢复发球准备姿态；log step 126 的裁判服务记录该回合我方得分，比分仅为1比10，尚未获胜。"
+     },
+     {
+      "t": 53.0,
+      "log_step": 134,
+      "text_zh": "观察：视频52.1–53.0 s 我方抛起的羽毛球从球拍附近落到本方场地，末帧显示控制步 k=5292；log step 134 的比赛服务（现场裁判状态通道）报告 phase=over、reason=match_over、比分1比11，最后一分为 serve_fault:missed。评分器同时给出 match_over=1、A_won=0、points_for=1、points_against=11，回放比分相同。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 46,
+      "text_zh": "推断：本局日志的控制步以0.01 s为一步，可用来定位服务记录；视频14.1 s 显示 k=1410 且来球已降到地面附近，与 log step 46 的控制步1411回合结束相符，log step 134 的控制步5292对应仿真52.92 s，也与视频53.0 s的终帧相符。视频与服务记录指向同一场连续比赛，未将agent工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频16.1–16.5 s、28.2–28.6 s及50.1–50.4 s可见我方机械臂末端安装的球拍触及羽毛球并改变其飞行方向。候选：击打；现有接触方式无对应值，按S16记其他，不另标握拍。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观���：视频10.8–11.7 s、25.4–26.0 s及49.6–50.1 s，我方龙门移动基座承载支柱与Panda机械臂，沿球场横纵方向移位以接近来球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "points_for",
+   "value": 1,
+   "unit": "point",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "points_against",
+   "value": 11,
+   "unit": "point",
+   "threshold": null,
+   "direction": "lower_better"
+  },
+  {
+   "name": "point_share",
+   "value": 0.083333,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": 52.9,
+   "log_step": 134,
+   "where": "操作中",
+   "evidence_zh": "观察：视频52.1–52.9 s 我方执行发球，羽毛球抛起后未被有效击出而落在本方场地；视频53.0 s停在控制步5292。log step 134 的裁判服务记录最后一分为 serve_fault:missed，比分从1比10变为1比11并以 match_over结束；评分器 A_won=0。按比赛结果层级，失败步骤是赢得比赛，时间锚定决定胜负的这一分。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 13.8,
+    "log_step": 46,
+    "evidence_zh": "观察：视频13.4–14.1 s 我方移动基座并挥拍，来球却从球拍旁继续下降到本方场地；视频11.5–11.9 s、23.5–24.0 s及25.8–26.2 s也出现来球落入我方场地、未形成有效回球的模式。log step 39、46、74、80 的裁判服务逐分记录分别确认这些漏接。末次发球也出现对运动中羽毛球的漏击：视频52.2–52.8 s 我方抛起的羽毛球升至球拍附近后落到球拍下方，未形成向对场飞行的有效击球，随后落在本方；视频52.5 s 显示控制步 k=5260，视频52.8 s 显示 k=5280。log step 134 的裁判服务记录末分 point=11、how=serve_fault:missed、比分1比11。log step 132 的发球挥拍预演提示拍头速度受关节速度限制至请求的0.11，racket_vel_delivered=[0.022,0.141,0.119]；这是预演诊断，不是实测接触速度。"
+   },
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 18.6,
+    "log_step": 67,
+    "evidence_zh": "观察：视频18.5–19.1 s 我方球拍触球后，羽毛球仍在本方半场下降落地；log step 67 的裁判服务判定该球落在我方侧，出球速度记录为1.349 m/s。视频16.1–16.5 s另一回合中球拍触球后羽毛球低飞至球网处；log step 55 判定触网，过网平面高度仅1.13 m。log step 28还记录首分击球后落回本方侧，视频2.0–2.5 s可见该球在近场下降，构成击球后飞行方向或高度不足以过网的重复失分模式。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 22.4,
+    "log_step": 73,
+    "source_zh": "日志",
+    "evidence_zh": "推断：控制脚本对来球飞行状态的估计曾混用不同击球段的图像，导致拦截点错误。log step 73 打印 view_times=[2.03,2.09,0.0,0.06]，将对手击球前后样本合并，拟合速度为[-0.222,-0.177,-0.023]，随后选择拦截位置[-0.197,-0.309,0.887]；视频22.3–22.9 s却显示对手回球后羽毛球迅速上升并向我方飞来，视频23.5–24.0 s我方挥拍漏接。log step 74 的agent自述也指出使用了上一击的陈旧帧；该自述仅作补充，跨段样本和后续漏接可独立核对。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 16.1,
+    "log_step": 54,
+    "source_zh": "日志",
+    "evidence_zh": "推断：部分挥拍请求未能实现所需拍头速度及基座站位，使击球过短或漏接。log step 54 的服务挥拍预演返回关节速度限幅至请求的0.70，随后的 log step 55 裁判判触网；log step 66 再次提示基座来不及到位、尚差0.53 m且拍头限速，log step 67判球落回本方，视频16.1–16.5 s及18.5–19.1 s与这些弱回球结果相符。最终 log step 132 的预演还提示限幅至0.11，视频52.1–53.0 s漏发落地。此处服务速度为预演诊断，不当作实测撞击速度；证据不足以进一步唯一分为轨迹求解、反馈跟踪或参数调试。"
+   }
+  ],
+  "gap_zh": "未提供状态日志，视频仅10 fps，无法精确恢复每次球拍接触的时刻、法向及实际接触速度；服务的挥拍预演结果不能替代实测。画面与成功参考末帧均不显示比分和胜方，本局胜负由现场裁判服务及评分器一致的1比11结果确认。point_share使用评分器continuous_score=0.083333，与1/(1+11)一致。"
+ },
+ "summary_zh": "我方移动龙门基座并多次用球拍回球，在视频约51.1 s取得一分，但最终以1比11落败，“赢得比赛”从未成立（0/1）。反复漏接及击球未能过网造成失分，日志支持跨击球段来球估计错误和挥拍速度、站位未达请求，决定胜负的末分在视频约52.9 s漏发落地。无状态日志且画面不显示比分，胜负据裁判服务与评分器一致结果确认，具体接触动力学仍有缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度、时钟、控制步映射和接球侧的现象与根因与日志、视频一致；但断点是最后一次发球漏击，现象里没有任何一条对应这次漏发（现有两条都是接球/回球），应补一条。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点比赛获胜未成立、1比11、时钟与控制步映射、断点（末次发球漏击）及现象与根因均与视频和裁判记录一致；上一轮意见已采纳，未见新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:03:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-match-badminton-match-i01-standard-realtime--llqmgfm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "27adff3ced6032d13df2c753d1c3913d15f70d3de5f1acfce4b50582f5e1e853",
+   "video_sha256": "9ae34210c0cf5078e1bd62fc0e70ec38d68eeb9d0484f7ed18debac7c022be9f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/badminton_match_i01/trajectories/roboolympics-match-badminton-match-i01-privileged--cozngje.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-match-badminton-match-i01-privileged--cozngje",
+ "taskKey": "embodied-olympics-match/badminton_match_i01",
+ "dag_sha256": "5f3302a71f82c6793e6d0e1d5c1c12eca49d95a79bc8cddb75e5d147b7b733fa",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "valid": 1,
+   "deterministic": 1,
+   "infra_error": 0,
+   "policy_error": 0,
+   "calls": 467,
+   "refused": 0,
+   "level": 1,
+   "seed": 7,
+   "slowdown": 20,
+   "replays": 1,
+   "isolation_checked": 1,
+   "processes_left": 0,
+   "points_for": 11,
+   "points_against": 0,
+   "steps": 2365,
+   "late_max_s": 0.0037949788384139538,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 5.333,
+   "peak_processes": 19,
+   "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/roboolympics-match-badminton-match-i01-privileged--cozngje/replay.mp4",
+  "duration_s": 23.8,
+  "fps": 10.0,
+  "frames": 238,
+  "sha256": "f913cd751567b3827c772605ec3cb9c847378e6483eb482f6cde8f81f6d19c3a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 开局后，我方白色机械臂在近端发球位置准备，尚未完成比赛；视频全程可见反复发球、羽毛球过网后落到对方一侧，回合间重新站位。"
+     },
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–1.4 s，我方机械臂末端球拍与橙白羽毛球在拍面处相遇，随后羽毛球向球网及对方场地飞行；视频 1.6–2.0 s，近端支柱及底座相对球场中线小幅横移，支撑机械臂回位。"
+     },
+     {
+      "t": 23.7,
+      "log_step": null,
+      "text_zh": "观察：视频 22.6–22.8 s 我方完成末次挥拍，视频 23.0–23.7 s 羽毛球飞向对方并下降至场地，末帧仍为双视角球场，没有比分或胜方叠字。inputs/run.json 的本次评分器 reward 明确报告 success=1、valid=1、points_for=11、points_against=0、deterministic=1、replays=1、infra_error=0。"
+     },
+     {
+      "t": 23.7,
+      "log_step": null,
+      "text_zh": "推断：结合本次评分器确认的完整比赛获胜与视频末回合落地，将“赢得比赛”首次成立锚定在视频约 23.7 s，并保持至结束；画面不显示裁判胜方，具体判定时刻仅能近似定位，未把任何先前单次发球得分当作整场获胜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：击打。观察：视频 1.2–1.4 s 及视频 22.6–22.8 s，我方Panda机械臂末端固定安装的球拍击打羽毛球，球随后离拍飞向对方；现有方式无击打，按S16使用其他，固定安装的球拍不另记握拍。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.6–2.0 s，我方龙门基座及支柱相对球场中线小幅横移，承载并支撑机械臂在发球后回位；该移动发生在回合内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "points_for",
+   "unit": "point",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 11
+  },
+  {
+   "name": "points_against",
+   "unit": "point",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 0
+  },
+  {
+   "name": "point_share",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分比赛以11比0获胜，唯一节点“赢得比赛”在视频末尾约23.7 s 达成，最终1/1，无失败断点。录像显示我方反复以球拍发球、羽毛球落入对方场地，并有发球后基座小幅回位；获胜结论由本次评分器success=1及一致回放字段确认。无状态日志且画面不显示比分或胜方，精确裁判时刻只能近似定位；成功参考录像亦无比分叠字，未作为本次比分证据，point_share未被评分器直接报告，保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 match_won 由评分器 success=1、11:0 确认，时间锚点 23.7 s（视频末）合理，无失败断点���标注与证据一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:47:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i01-privileged--cozngje/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i01-privileged--cozngje/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c1b4a32909e4e0e12c6ce619f4b32d0be30e3225f69405d6b810868ab966b19",
+   "video_sha256": "f913cd751567b3827c772605ec3cb9c847378e6483eb482f6cde8f81f6d19c3a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/badminton_match_i04/task_dag.json

@@ -0,0 +1,259 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/badminton_match_i04",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-badminton-match-i04",
+ "title_zh": "羽毛球对抗赛",
+ "summary_zh": "己方 A 在对阵等级 5 脚本对手的有效完整羽毛球比赛中被裁判判为最终胜者。",
+ "embodiment_zh": "standard-realtime：单台 Franka Panda 七自由度机械臂，末端为安装工具（球拍，无需夹爪抓取），固定于一米高支座；支座由横纵滚珠丝杠滑台底座移动支承，对手为脚本控制的同限速机器人。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-badminton-match-i04",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得羽毛球赛",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "criterion_zh": "终局比分和裁判结束信息确认己方 A 获胜：通常己方至少 11 分且领先至少 2 分，或先到 15 分；达到全场 400 次击球或 40 个已判回合（含重发）后，在该回合结束时按比分、最后一个非重发得分的胜者、最初接发方依次裁决。后场和侧面相机可见球场对打，但需结合比分及裁判信息确认终局；仅领先、赢下一分或比赛未结束均未完成，且最终记录须有效、完整、无技术错误并由现场裁判判 A 为胜者。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 机械臂末端安装的球拍拍面击打羽毛球；候选接触名“击打”，现有 how 没有对应值，按 S16 使用其他。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "横纵滑台底座支承 Panda 机械臂，在移动选位并挥拍击球时承载机器人。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-14",
+     "inputs/task/standard-realtime/instruction.md:47-58",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:111-118",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:180-223",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1231-1244",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1703-1726",
+     "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:96-138"
+    ],
+    "conf": 6,
+    "note_zh": "竞技比赛只分析结果；得分未作为独立成功目标评分，不拆成逐分或逐拍节点。球拍已安装，无取工具步骤。获胜为终局一次性事件，初始 0:0、done=false、winner=null；无状态日志故无法绑定 when，终局裁判结果可供视频及文本记录联合判断。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "start_forfeit",
+    "zh": "开赛弃权",
+    "never": null,
+    "criterion_zh": "服务启动后 1800 秒现实时间内未开始比赛，或未开始就结束会话，裁判以 no_show 判己方整场负；即使尚无比分也立即判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:13-14",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/8cffd84f39/sport/sport.toml:125",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-338",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:349-362"
+    ]
+   },
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时",
+    "never": null,
+    "criterion_zh": "每个非终局回合结束冻结后，未在 300 秒现实时间内提交 ready，裁判以 ready_timeout 判己方整场负；已有领先比分不能抵消。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:11-12",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/8cffd84f39/sport/sport.toml:126",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-360"
+    ]
+   },
+   {
+    "id": "match_abandoned",
+    "zh": "中途弃赛",
+    "never": null,
+    "criterion_zh": "比赛已开始且尚未结束时会话终止，裁判以 abandoned 判己方整场负；不能把未结束时的领先算作获胜。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:14",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381"
+    ]
+   },
+   {
+    "id": "serve_delay",
+    "zh": "发球拖延",
+    "never": null,
+    "criterion_zh": "接发方准备好（恢复比赛 1 秒后）起的 3 秒比赛时间内，己方仍未抛球，裁判记录 serve_fault:undue_delay 并立即判负当前一分，下一分由对方发球。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:48",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:231",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1279-1283",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1611"
+    ],
+    "note_zh": "按 DECISIONS.md N7 列为裁判时钟约束；立即终止仅指当前回合，单次违反不否决整场获胜。"
+   },
+   {
+    "id": "service_fault",
+    "zh": "发接球犯规",
+    "never": null,
+    "criterion_zh": "发球完成前己方底座离发球点超过 0.05 米，或己方发球击球高度大于 1.15 米、出球竖直速度不为正、未击中球、触网或落在对角发球区外，裁判立即判负当前一分；边线算界内。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:48",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:229-232",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1598-1604",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1613-1629",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1658-1674"
+    ],
+    "note_zh": "立即终止指当前回合而非整场；发球犯规后仍可继续比赛并最终获胜，不能将其作为整场历史否决。"
+   },
+   {
+    "id": "rally_clock_loss",
+    "zh": "回合超时",
+    "never": null,
+    "criterion_zh": "裁判的来球或抛球击球阶段从本段 launch 起累计 600 个控制步（6 秒）仍无有效决断时判己方丢分；己方出球阶段累计 1800 个控制步（18 秒）仍未决断时也判己方丢分。具体分支以 missed、serve_fault:missed 或 timeout 记录确认。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:176",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1655-1656",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1688-1689"
+    ],
+    "note_zh": "评分器要求，文本未提：回合内部的保护时钟；按 N7 列为约束，立即终止只指本回合，不构成整场历史否决。"
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/environment/sim/sport/plugin.py:183-220; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1703-1726; 需记录逐帧比赛结束状态、双方比分、最终胜方及平分裁决依据，不能以外部 grader verdict 代替世界状态。"
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/instruction.md:13-14; inputs/grader/efe_embodied-olympics-match-files/sim/variants/8cffd84f39/sport/sport.toml:125; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-338; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:349-362; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/instruction.md:11-12; inputs/grader/efe_embodied-olympics-match-files/sim/variants/8cffd84f39/sport/sport.toml:126; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-360; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   },
+   {
+    "atom": "match_abandoned",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/instruction.md:14; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-381; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   },
+   {
+    "atom": "serve_delay",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/instruction.md:48; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:231; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1279-1283; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1611; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   },
+   {
+    "atom": "service_fault",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/instruction.md:48; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:229-232; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1598-1604; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1613-1629; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1658-1674; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   },
+   {
+    "atom": "rally_clock_loss",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:176; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1655-1656; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1688-1689; 需记录对应裁判事件、时钟或阶段及触发原因；现无状态日志。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "无成功 oracle：inputs/oracle_none.txt 指明目录中 7 次 catalog 运行均失败；未能用成功视频核对判据，仅依据任务文本、初态和评分源码（N2）。",
+  "inputs/states/index.json 的 logs 为空，所有 when、never 和 success 均为 null；逐帧字段及视觉终局提示尚无法验证（P8）。",
+  "评分器要求，文本未提：bm.py:176,1627-1629,1655-1656,1688-1689 的回合内部 6 秒及 18 秒保护时钟会判负一分，已列回合超时约束；不另建步骤。",
+  "N7 要求裁判判负一分的时钟也列为约束，但 consequence 只有立即终止或历史否决；此处将单分时钟及发接球犯规的立即终止明确限定为当前回合，不能据此否决随后取得的整场胜利。正常回球未接到、出界或触网是可挽回的丢分结果，纳入整场比分，不增设全局禁止条件。",
+  "success 的完整源码语义为 grade.py:96-138 的有效、已终结、完整、现场评分或一致回放、无技术错误并最终胜者为 A，另排除 agent_sim_error；这些有效性条件不能伪装成节点世界状态。无日志故 success=null，由最终比赛记录补充核验；本任务为 program 模式，direct 模式的 no-code 审计不适用。",
+  "point_share 为连续原生指标（sport.toml:289-294，core/score.py:62-95）：己方分数除以双方总分，无得分为 0.5，整场弃权为 0，越大越好；没有固定成功阈值，平分时也可由最后一分决定胜者，故 threshold=null，不另建得分目标节点。",
+  "评分器的 service_faults、velocity_reflexes、击球与动作计数、延迟、回放和 official_config 等为诊断或配置字段，不单独决定本实例成功；不把记录项或非官方等级 5 身份增加为约束。",
+  "文本与代码边界差异：instruction.md:48 写发球击球点低于 1.15 米，bm.py:1616 仅在高度大于 1.15 米时判犯规，即恰好 1.15 米可通过；判据按代码保留严格大于的犯规界限。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单节点及终局计分规则有文本和评分代码支持，初始比分和工具安装状态明确；没有成功视频与状态日志，不能验证绑定或终局可见性，单分约束的后果字段还存在表达边界。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点（对抗·获胜）符合 outcome_only 与 N7；约束阈值（300 步=3 s、600 步=6 s、0.05 m、1.15 m）与 bm.py 一致，success=null 合理（无状态日志）。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:06:01Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_match_i04/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_match_i04/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "f75282b48dec615837a3d4e8681ec2f8024cff27c51435e9e8a3e30d83383098",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-match/badminton_match_i04/trajectories/roboolympics-match-badminton-match-i04-standard-realtime--4okwzvu.json

@@ -0,0 +1,270 @@
+{
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+ "video": {
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+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-match-badminton-match-i04-standard-realtime--4okwzvu/replay.mp4",
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+  "fps": 10.0,
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+  "sha256": "715f5581f5d9c3d2d0510f9fbb226a60ee6cbdde0e20a685dffd31e693d3f136"
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+ "progress": {
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+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 6,
+      "text_zh": "观察：视频 0.0 s 己方机械臂和已安装球拍处于开局位置；log step 6 的比赛服务状态为 prepare、比分 0:0、done=false，尚未获胜。"
+     },
+     {
+      "t": 16.2,
+      "log_step": 140,
+      "text_zh": "观察：视频 16.0–16.4 s 己方机械臂挥动球拍，羽毛球在约视频 16.2 s 靠近拍面后反向飞向球网；log step 140 的比赛服务事件记录 you hit the shuttle，随后裁判记录己方出球在高度 0.96 m 触网，比分变为 0:7。这次击球未带来得分或整场获胜。"
+     },
+     {
+      "t": 26.1,
+      "log_step": 166,
+      "text_zh": "观察：视频 25.0–26.1 s 己方机械臂移动并挥拍，但来球未被回出，最终落到己方场地；末帧叠字为 k=2609。log step 166 的比赛服务状态为 step=2609、t_sim=26.09、phase=over、比分 0:11，裁判记录末分 missed；log step 167 再次确认 done=true、reason=match_over。评分器字段 match_over=1、A_won=0、valid_trial=1、technical_failure=0，赢得比赛节点未达成。"
+     },
+     {
+      "t": 26.1,
+      "log_step": 166,
+      "text_zh": "推断：本次是单场实时比赛，服务控制步与仿真时间满足 step×0.01 s；log step 166 的控制步 2609 对应视频约 26.09 s，已用视频 26.1 s 末帧 k=2609 及落球核对。此映射只用于比赛内事件，未把 agent 工作时间当作视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：己方 Panda 末端固定安装的球拍在约视频 16.2 s 击中羽毛球，视频前后飞行方向变化并有 log step 140 的服务击球事件支持。候选接触名“击打”；现有 how 值无对应项，使用其他。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–23.7 s、25.3–26.1 s 己方横纵滑台底座带动支座与机械臂移动选位，同时承载机械臂挥拍接球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": 26.1,
+   "log_step": 166,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 25.0–26.1 s 己方机械臂移动、挥拍，来球从拍面附近落至己方场地而未被回出；log step 166 的裁判记录末分 missed，比分由 0:10 变为 0:11，比赛服务报告 phase=over、reason=match_over。整场比赛在决定胜负的一分后确定告负，断点为赢得羽毛球赛。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 26.0,
+    "log_step": 166,
+    "evidence_zh": "观察：视频 25.3–26.1 s 己方底座移动、机械臂挥拍，球拍未跟上下降的羽毛球，球落入己方场地；该段末帧 k=2609 与 log step 166 的比赛服务终局控制步 2609 对应，裁判 last_points 将末分记为 point 10、missed、比分 0:11。log step 42、96、136、148、156、166 的裁判记录合计显示 point 1–5、7–10 共九分为 missed，末三分均漏接，支持反复拦截未跟上的模式。另行区分：视频 16.0–16.4 s 己方挥拍，球在约视频 16.2 s 靠近拍面后反向飞向球网；log step 140 记录 you hit the shuttle，随后 point 6 因出球触网（x=0.49、height=0.96 m）丢分至 0:7，这是已击中但回球触网，不计入漏接。log step 35 的 point 0 则为发球前底座移动犯规，也不计入漏接。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "log_step": 166,
+    "evidence_zh": "推断：agent 的视觉跟踪与来球轨迹估计不可靠，使击球动作依据错误预测生成。log step 106 的实时程序日志混入 x=4.07 m、4.14 m 的场外位置样本，随后 fit_ok=false、PLAN none；log step 154 的诊断把同一静止像素反复定位为 [7.705,2.651,-0.784] m，log step 155 因此修改伪检测过滤。log step 159 的真实来球样本未通过拟合，程序以 rms=0.500 的外推结果生成回球；log step 162 的复现显示采样间隔比较使所有种子样本对被跳过。末分 log step 166 仍先按 rms=0.500 的估计发出动作，随后记录击球点预测偏离 0.32 m，更新跟踪后已无法生成可达拦截；视频 25.3–26.1 s 显示对应挥拍漏接。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志和成功参考视频。视频仅 10 fps，约视频 16.2 s 的短暂球拍接触由前后飞行轨迹与服务击球事件联合确认；跟踪缺陷有日志支持，但无法精确分解每分感知误差与动作执行误差的贡献。开局另有独立发球失败：log step 35 的比赛服务裁判记录 point 0 为 serve_fault:moved，称己方底座在发球送出前离开发球点 0.05 m（Law 9.1.4），比分 0:0→0:1；同一日志中 agent 发球程序输出 SERVE: no feasible shot (s_cap=3.28)，inputs/run.json 的 reward.our_serves=1、our_service_faults=1。该发球失败不能由接球感知缺陷解释；现有证据不足以确定底座偏移与求解失败的具体因果关系，不据此新增规划或控制根因。审查建议将该分增列为现象；本文件按 docs/DECISIONS.md N7 的 Now（仅标整场反复出现的丢分模式）及 docs/03_trajectory.md Step 3.1，只保留反复漏接这一现象，将仅发生一次的发球犯规和触网分别记入证据及摘要，不另立现象标签；此处记录与审查建议的分歧。"
+ },
+ "summary_zh": "己方完成有效整场比赛，以 0:11 告负，唯一节点“赢得羽毛球赛”始终未达成，终态为 0/1；point_share=0（评分器 continuous_score=0.0，双方得分 0 与 11）。开局 point 0 因发球前底座移动犯规丢分，发球程序同时报告无可行击球解；其余九分漏接，point 6 在约视频 16.2 s 击中后回球触网，末分于视频约 26.1 s 漏接后确定整场告负。日志支持视觉跟踪与轨迹估计错误影响接球拦截，但未能确认发球底座偏移及求解失败的具体根因，也无法精确拆分各分的感知及执行误差。",
+ "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 match_won=false、终态 0/1、时钟用法均无误；但标注把整场失分都归为“动态时机/感知”，漏掉了第一分是发球犯规（发球前底座移动 0.05 m，发球程序 'no feasible shot'）这一与接球无关的失败，且 0:7 的触网（击球已发生但回球落点/拍面错误）也被当作漏接模式的一部分。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 match_won=false、终态 0/1、断点与 k=步数/100 的时钟映射均有据；第一轮发球犯规遗漏已在 gap_zh 记录并按 N7 Now 处理，触网一分已单列，无需再改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--4okwzvu/05_reconcile_r1"
+   },
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+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--4okwzvu/04_review_r2"
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+   "video_choice": "HF replay.mp4"
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phase1/embodied-olympics-match/badminton_match_i04/trajectories/roboolympics-match-badminton-match-i04-standard-realtime--g6hrndx.json

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+{
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+    "evidence": [
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+      "text_zh": "观察：视频 10.8–11.4 s，己方 A 机械臂在移动滑台支承下挥拍，羽毛球在拍面附近改变方向并飞向对手；评分器字段 good_shots=1 支持本场有一次有效回球。log step 75 的 game status（现场比赛服务及裁判状态接口）记录 step=1279、ball=\"opponent's return\"、t_since_played=0.93，last_shots 末项 returned=true、good: the opponent played it、speed_out=6.813 指对手随后一次击球，仅说明回合继续，不能作为己方该次击球的直接记录；一次有效回球尚非整场获胜。"
+     },
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+      "t": 30.1,
+      "log_step": 127,
+      "text_zh": "观察：视频 29.1–30.1 s，己方 A 移动并挥拍后，来球仍从球拍旁下降到己方场地；末帧显示控制步 k=3004。log step 127 的现场服务终局记录同为 step=3004、phase=over、done=true、reason=match_over，比分己方 0、对手 11，最后一分为 missed；评分器字段 match_over=1、A_won=0、valid_trial=1、technical_failure=0，确认完整比赛已结束且 A 未获胜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 10.9 s，己方 A 机械臂末端固定安装的球拍拍面与羽毛球相遇后，球改变方向向对手飞回；评分器字段 good_shots=1 支持本场有一次有效回球。候选接触名“击打”；现有 how 无对应值，使用其他。不虚构夹爪抓拍步骤。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–11.0 s、22.2–23.1 s 及 29.1–30.1 s，己方 A 的横纵滑台底座移动，支承机械臂选位和挥拍。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": 30.0,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 29.1–30.1 s 的最后一分，己方 A 移动挥拍后未截住下降的羽毛球，球落在己方场内；log step 127 的现场裁判记录比分 0:11、phase=over、reason=match_over，最后一分判 opponent 获胜。按比赛 outcome_only 规则，断点为整场获胜节点，定位于决定比赛结果的末分。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 29.8,
+    "log_step": 127,
+    "evidence_zh": "观察：拦截程序 player.py 在 log step 72 首次启动（log step 71 状态为第 4 分、比分 0:3）；上线后的视频 22.2–23.1 s 以及 29.1–30.1 s，己方 A 虽移位和挥拍，仍未在来球经过时建立有效击球，球继续落入己方场内。log step 110、117、123、127 的现场裁判 last_points 反复记录 missed: the shuttle landed in your court，动态时机现象限定为程序上线后重复出现的漏接。前 3 分（last_points 的 point=0–2）没有己方拦截动作：log step 71、75 记录 point=0 为未在 3 s 内抛球的 serve_fault:undue_delay，point=1、2 为 missed；这些早期丢分不属于已移位挥拍仍漏接的证据。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 有完整比赛视频与运行日志，但没有状态日志或成功 oracle。log step 22 以测试 ready 开始比赛，log step 23–68 的调用仍在查状态、观测、校准和开发脚本，前 3 分已因未抛球或未拦截而丢掉（log step 66、71 的 last_points）；player.py 在 log step 69 写入、log step 72 首次运行，不能将早期丢分概括为执行跟踪失败。对于程序上线后的重复漏接，日志中的后台 player 调用仅返回启动信息，缺少完整逐次观测、预测、击球请求与跟踪误差；agent 在 log step 110、117、123 自述的预测误差、7 cm 残差阈值丢观测及误判出界抑制起拍均未获逐次独立核验。因此保留可见的漏接现象，根因留空：现有证据不能区分后期漏接源于感知、决策/规划还是控制执行，也不能把早期未部署拦截直接作为后期漏接的原因。"
+ },
+ "summary_zh": "己方 A 完成整场比赛，曾在视频约 10.9 s 有效回球，但最终以 0:11 落败，“赢得羽毛球赛”节点始终未达成，末分及 log step 127 的裁判终局记录确认失败。前 3 分发生在拦截程序首次上线之前，分别为未抛球的发球违规和两次未拦截；程序上线后仍重复漏接，保留动态时机现象。缺少逐次预测、决策与执行误差记录，无法独立确认后期漏接的具体根因，故根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点（未获胜）、断点（match_won）、终局时钟均与视频和 log step 127 一致；问题在根因：控制被当作全场漏接的原因，仅靠 agent 自述，且忽略了日志中前几分是在任何拦截程序运行之前就丢掉的；另有 log step 75 被误读为己方回球的确认。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：节点未获胜、断点 match_won、终局 0:11 与视频及 log step 127 一致；上一轮问题均已处理，根因留空并有 gap_zh，无新增错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--g6hrndx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--g6hrndx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--g6hrndx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-match-i04-standard-realtime--g6hrndx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de8349a14a89722a4ed4a3dc6862ce304897943a3092d7a7d1b63817ad564197",
+   "video_sha256": "08aa4a1394c575f86bff6978052a804e92c11ac627b09770e1ace0e39dba901a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/badminton_matchlow_i01/task_dag.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/badminton_matchlow_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-badminton-matchlow-i01",
+ "title_zh": "羽毛球对抗获胜",
+ "summary_zh": "座位 A 在对阵二级脚本对手的有效且已结束的羽毛球单场比赛中获胜。",
+ "embodiment_zh": "标准实时模式：单条七自由度 Franka Panda 机械臂，末端为安装工具（羽毛球拍，无手指夹爪），置于一米高立柱和可沿横纵轴平移的龙门底座上；底层技能控制两条底座轴及七个臂关节。对手为脚本控制的球场对手。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-badminton-matchlow-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "比赛已结束，裁判宣布座位 A（己方）战胜二级脚本对手；可结合末段回合、终场比分和服务日志确认，正在领先或只赢一分不算完成。常规结束为己方至少 11 分且领先至少 2 分，或先到 15 分；累计击球达到 400 次或已打 40 分（含重赛）后于该分结束判胜，先比总分，同分看最后一个非重赛分的赢家，再同则首分接发者（本实例为对手）胜；还须评分记录已最终确认且比赛有效，无技术故障或己方控制步异常导致的失败。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：击打；Panda 机械臂末端安装的球拍拍面击打羽毛球，现有接触方式没有击打项，不另重复标机械臂持拍。",
+      "plan": 1
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "横纵轴龙门底座支撑机械臂并在比赛中移动到击球位置，与球拍击球构成同一典型方案。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-4",
+     "inputs/task/standard-realtime/instruction.md:66",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:170-174",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1231-1244",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1703-1728",
+     "inputs/task/standard-realtime/environment/sim/sport/plugin.py:184-200",
+     "inputs/grader/efe_embodied-olympics-match-files/standard-realtime/tests/grade.py:96-147",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:429-432"
+    ],
+    "conf": 6,
+    "note_zh": "比赛只分析终场结果，不拆发球、回球、走位、复盘或底层技能开发；没有单独得分验收门槛。普通丢分和发球犯规会改变比分，但不自动否决整场胜利；球拍预先安装，不建拿起工具节点。获胜是终场裁判状态，开局比分为 0:0 且尚未结束。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "start_forfeit",
+    "zh": "开赛超时判负",
+    "never": null,
+    "criterion_zh": "服务启动后 1800 秒真实时间内，座位 A 未发送 game start，裁判以 no_show 立即判整场负；未开赛便结束会话同样按 no_show 判负。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:50",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-308",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:323-338",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:349-362"
+    ]
+   },
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "非终场的一分结束、世界冻结进入复盘后，座位 A 未在 300 秒真实时间内发送 game ready，裁判以 ready_timeout 立即判整场负，无论当前比分。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:51",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:354-375",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:429-437"
+    ]
+   },
+   {
+    "id": "serve_delay_fault",
+    "zh": "发球延误失分",
+    "never": null,
+    "criterion_zh": "己方发球时，恢复比赛 1 秒后接发方就绪；从此再过 3 秒（300 个 0.01 秒控制步）仍未生效抛球，裁判记 serve_fault:undue_delay 并立即终止该分，给对手一分和下一次发球权；本项不否决后续整场获胜。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:85",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:175",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:231",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1279-1283",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1708-1728"
+    ]
+   },
+   {
+    "id": "rally_timeout_fault",
+    "zh": "回球超时失分",
+    "never": null,
+    "criterion_zh": "裁判的回球安全时钟到期：己方发球落下阶段或来球阶段，自该段 launch 计满 600 个控制步（6 秒）仍未完成处理，判己方漏球失分；己方击球后 to_opp 阶段满 1800 个控制步（18 秒）仍无结果则以 timeout 判己方失分。立即终止的是当前一分，之后仍可继续争取整场获胜。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:85",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:176",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1655-1656",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1688-1689"
+    ]
+   },
+   {
+    "id": "match_abandoned",
+    "zh": "中途弃赛判负",
+    "never": null,
+    "criterion_zh": "比赛已开赛而尚未终场时结束己方会话，收集结果时裁判以 abandoned 判整场负；这是弃赛判罚，14400 秒会话预算本身不作为约束。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:17",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-382",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:469-478"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "inputs/task/standard-realtime/environment/sim/sport/plugin.py:163-200; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:384-395; inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/outcome.py:23-49; log per-frame task.match_finished and task.match_winner from referee runtime, not verifier verdict"
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:323-362; log referee no_show event with seat and time"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/sim/variants/7d590e169f/core/realtime.py:354-375; log referee ready_timeout event with seat and time"
+   },
+   {
+    "atom": "serve_delay_fault",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1606-1612; log point event how=serve_fault:undue_delay"
+   },
+   {
+    "atom": "rally_timeout_fault",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/sports/badminton/sim/bm.py:1627-1629,1655-1656,1688-1689; log leg launch, state and timeout point event"
+   },
+   {
+    "atom": "match_abandoned",
+    "level": "new_code",
+    "source": "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:371-382; log referee abandoned event with seat and time"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功示例：inputs/oracle_none.txt 记载 7 次目录运行均失败；依据任务文本、初态和裁判源码规划，参考解仅用于确认接口，没有可观看的成功视频（暂行：DECISIONS.md N2）。",
+  "inputs/states/index.json 的 logs 为空，获胜节点 when、约束 never 和 success 均为 null，无法做状态绑定或重放一致性验证；需补充裁判的逐帧终场、胜者与判罚事件，不能用未记录的评分器最终结论替代世界状态（暂行：DECISIONS.md P8）。",
+  "裁判时钟按 DECISIONS.md N7/P21 记约束；发球延误及回球安全时钟只判当前一分负，仍允许最终获胜。现有 consequence 词表没有“立即终止当前一分”，这里采用“立即终止”并在判据中限定作用范围，不能将其解释为整场历史否决。",
+  "评分器要求，文本未提：回球安全时钟在己方处理来球或抛发球时以 6 秒、己方出球后以 18 秒判当前分负（bm.py:1627-1629、1655-1656、1688-1689）；放入对应时钟约束，不增加步骤（暂行：DECISIONS.md N1）。",
+  "point_share 为己方分数除以双方总分，无得分时为 0.5、弃权方为 0；它是连续评分，没有独立通过阈值，不能用大于 0.5 等价替换获胜，达到比赛上限时同分也可能由最后一分决胜（sport.toml:302-307；core/score.py:57-89）。",
+  "技能调用数量及失败数、自碰撞统计、关节速度反射次数和规划不一致数仅报告，均无独立成功门槛；速度反射会令机器人停 1 秒但不直接判整场负，不将这些诊断量建为约束（instruction.md:66；plugin.py:502-528；tests/fexam_reward.py:24-33）。",
+  "本任务只有标准实时模式，环境指定低层、二级对手、种子 8、减速 20 倍和现场评分；其他双人格式及公开技能测试不是本任务的独立评测场景。官方配置标志仅报告，不是本冻结实例成功的必要条件（docker-compose.yaml:37-56；grade.py:138-150）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单一获胜步骤、起始 0:0、终局计分及超时判罚均有任务文本和源码依据；无状态日志和成功视频，条件及视觉终场线索不能实证核验，且逐分时钟约束的后果范围受现有字段词表限制。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单步骤 对抗·获胜（outcome_only）与说明文本“Success = you win the match”及 N7 一致；五个裁判时钟约束（开赛、复盘、发球延误、回球、弃赛）符合 N7/P21，无多余步骤；when/never 为 null 因无状态日志，已在 open_questions_zh 说明。未发现需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:04:42Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_matchlow_i01/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__badminton_matchlow_i01/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c9c454c83d42dd03ba394aaff3544c20a1a422cee8ad9730aa329537a783efbc",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
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phase1/embodied-olympics-match/badminton_matchlow_i01/trajectories/roboolympics-match-badminton-matchlow-i01-standard-realtime--6q4rsga.json

@@ -0,0 +1,232 @@
+{
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+ },
+ "video": {
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+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "d4a63aa223c114ad571c25ff7e51f423336937a8705660f906f60f79968cd377"
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+    "intervals": [],
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+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 是全片唯一一帧，球场两侧的机器人处于初始布置，己方机械臂球拍未呈现击球动作；没有回合或获胜画面。"
+     },
+     {
+      "t": null,
+      "log_step": 71,
+      "text_zh": "观察：log step 71 中 agent 调用 game start（向实时比赛服务发送开赛请求），服务返回 HTTP 409、phase=over、reason=no_show、world=frozen、step=0、t_sim=0.0，比分为 0:0；评分器最终字段 finalized=1、A_no_show=1、A_won=0、n_actions=0、sim_steps=0，确认己方未开赛便判负，赢得比赛条件未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": null,
+   "log_step": 71,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s 仅有初态；log step 2、33 的实时比赛服务状态均为 prepare、world=frozen、step=0。log step 71 的开赛请求已被服务以 not awaiting ready 拒绝，reason=no_show、phase=over，比分仍为 0:0；评分器报告 n_act=0、our_shots=0、sim_steps=0，比赛未启动便失去获胜机会。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 0.0 s 唯一帧只显示初始球场和机械臂，没有实际击球或底座走位；log step 71 服务确认己方未就绪而以 no_show 结束，控制步仍为 0，评分器 n_actions=0、our_shots=0。己方的受评比赛没有启动，而非某次回球失误。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 将开赛安排在大量离线技能开发与测试之后，准备到实战的阶段安排未满足开赛要求。依据是 log step 14 检查全部 194 个公开样例，log step 25–55 反复用 RobotSim 测试和修正击球轨迹；log step 57 只启动技能服务器，log step 58–69 又继续测试视觉、发球和出球规划，直到 log step 71 才请求开赛，此时服务已判 no_show。上述 RobotSim 是 agent 自行调用的离线伺服模拟器，不是受评比赛；评分器 sim_steps=0 与视频 0.0 s 初态相符。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "视频仅 0.1 s、1 帧，已检查其唯一帧（也即末帧），没有显示真实时间上的 no_show 判定瞬间，故断点视频时刻留空；不把 agent 工作时间或服务 elapsed_s 换算为视频时间。没有状态日志或成功参照视频；服务的终止响应与评分器足以确认未开赛，无法据此评估离线控制器在实际比赛中的表现。point_share 的值取评分器弃权连续得分 A_continuous_score=continuous_score=0.0。"
+ },
+ "summary_zh": "受评比赛未开赛，赢得比赛节点始终未达到，最终为 0/1；视频仅有初态，log step 71 的服务响应确认 no_show、控制步 0、比分 0:0。agent 在 log step 14–69 持续开发和测试离线技能，之后才请求开赛，准备与实战的阶段安排导致首步前判负；这些测试不计作比赛进展或实际接触。视频仅一帧且没有状态日志，无法定位判负的真实瞬间或评价实战击球能力。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：视频仅 1 帧初态，log step 71 服务返回 no_show、step=0、比分 0:0，match_won 未达成，断点首步前/没尝试正确；推理/规划根因标为推断并有日志依据，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-29T02:25:50Z",
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+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--6q4rsga/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--6q4rsga/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
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phase1/embodied-olympics-match/badminton_matchlow_i01/trajectories/roboolympics-match-badminton-matchlow-i01-standard-realtime--yh7cmbs.json

@@ -0,0 +1,287 @@
+{
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+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 3,
+      "text_zh": "观察：视频 0.0 s 双方在球网两侧准备，己方为画面右侧持安装球拍的 Panda 机械臂；log step 3 比赛服务状态为 prepare、比分 0:0，尚未获胜。"
+     },
+     {
+      "t": 22.8,
+      "log_step": 337,
+      "text_zh": "观察：视频 21.8–22.8 s 己方底座及机械臂移动，但羽毛球继续落向己方半场，未回过网；log step 337 的比赛服务裁判记录该分 missed，比分为己方 0、对手 10。"
+     },
+     {
+      "t": 25.2,
+      "log_step": 363,
+      "text_zh": "观察：视频 24.2–25.3 s 对手发出的羽毛球越过球网，在己方机械臂旁下降并于末段落地，己方未回球；log step 363 的比赛服务状态为 over、done=true、reason=match_over，终场比分 0:11，最后三分均为 missed。评分字段 match_over=1、won=0、valid_trial=1、finalized=1、technical_failure=0，故赢得比赛未达成。"
+     },
+     {
+      "t": 25.2,
+      "log_step": 363,
+      "text_zh": "推断：本次为单场现场评分，log step 363 的比赛控制步 2523 × 0.01 s = 仿真 25.23 s，与视频 25.2–25.3 s 最后一球落地吻合；log step 337 的控制步 2299 对应仿真 22.99 s，也与视频 23.0 s 回合重置吻合。使用该控制步时钟核对服务读数，未将 agent 工作时间转换为视频时间。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：评分字段 points_for=0、points_against=11、A_continuous_score=0.0、continuous_score=0.0；依 DAG 给出的得分占比定义，point_share 为 0/(0+11)=0.0。"
+     },
+     {
+      "t": 2.2,
+      "log_step": 150,
+      "text_zh": "观察：视频约 1.9–2.2 s 己方���拍击打自己抛起的羽毛球，球未过网并继续落回己方半场；log step 134 确认为己方发球，log step 150 的 last_points[0] 记录首分因己方出球落在己方半场而判负，比分 0:1，last_shots[0].speed_out=0.63。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 1.0–1.8 s 己方抛起羽毛球，视频约 1.9–2.2 s 安装在己方机械臂末端的球拍击打下落的发球，球随后落回己方半场。log step 134 的比赛服务状态为 ball=your serve；log step 150 的裁判记录首分为 fault: your shot came down on your own side，speed_out=0.63。这是己方发球击打；接球阶段仅少数分有出拍指令，所检查的挥拍画面未见球拍与对手来球接触。候选：击打；现有接触方式无击打项，不另虚构持拍抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 21.8–22.8 s 龙门平移底座支撑己方机械臂并明显移动，机械臂同时调整球拍以尝试拦截来球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "point_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": 25.2,
+   "log_step": 363,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.2–25.3 s 的决胜分中，对手来球经过己方球拍附近后继续下降，己方机械臂保持待击姿态而未回球。log step 360 的比赛服务在控制步 2519 仍报 0:10，log step 363 在控制步 2523 报 over、0:11，最后一分因羽毛球落入己方场内判负；整场未赢得比赛。"
+  },
+  "unmet": {
+   "match_won": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 22.6,
+    "log_step": 332,
+    "evidence_zh": "观察：接球阶段反复漏接移动目标，但出手情况不同。日志去重后仅有 4 次接球出拍指令：log step 220、248、264、332 分别记录控制步 1134、1346、1506、2176；其中 log step 264 的 pos=[0.34,-0.20,0.57] 被服务以 HTTP 400、pos[1] must be in [-3.68,-0.3] 拒绝。视频 8.8–9.2 s 己方机械臂保持待击姿态、来球继续落下；视频 22.2–22.8 s 己方机械臂及底座明显移动，球拍与来球错开；视频 24.2–25.3 s 的末分机械臂保持静止而来球落地，log step 360 的 command=none、qd 全为 0。动态时机在此指接球动作未与移动来球相遇，不将无出拍指令的分描述为挥拍早晚失误。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "log_step": 121,
+    "evidence_zh": "推断：agent 的感知程序在 log step 121 把侧相机图像横轴 RIGHT_SIDE 设为 [0,1,0]，而 log step 252 的相机 forward/up 及 log step 253 的叉积计算给出横轴应沿负 y（约 [0,-1,0]），因此前半场的双目重建使用了反向的侧视射线。log step 197 对同场仿真 8.92、8.98 s 来球估计的 y 几乎不变；log step 198 据此预测落点约 [-0.609,-1.449] 并返回 Intercept result: None，而 log step 199 的裁判记录该分实际落点为 [-0.84,-2.42]，视频 8.8–9.2 s 也显示球继续深入己方场内。这组对照支持该段错误位置和速度估计影响拦截判断的推断；证据仅限于相机修正前。log step 255 改正横轴方向，log step 260 已进入第 7 分、比分 0:6，不能用该错误解释修正后的全部失分。"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志或成功参考视频，无法精确恢复每次拍球距离、接触时刻及关节跟踪误差。无出拍指令的分与出拍但未击中的分已分开记录；log step 198 的 Intercept result: None 是对同场读数的诊断，不能单凭它证明所有未出手分均由相同筛选条件造成。前半场相机横轴错误有代码和一次同场读数对照支持，但 log step 255 已修正，log step 260 比分已为 0:6，此后尚有 5 个接球分，后半场原因仍未定。log step 264 的目标越界被拒可确认该次指令不合法；log step 276、306、342 的策略区间修改不能单独证明后续失分均由裁剪造成。log step 332 的目标为 [-0.34,-0.32,0.41]，log step 337 的该分最终落点实际为 x=-0.65、y=-2.49（score=[0,10]），不是此前一分的 y=-2.21；拦截目标和最终落点处于不同飞行时刻，二者之差不能直接作为拍球位置误差。视频 22.2–22.8 s 仅能确认挥拍错开来球，尚不能分离目标估计、拦截点选择、动作时机和执行误差的责任。末分播放器日志（log step 358、359、361）没有说明为何未产生拦截指令。"
+ },
+ "summary_zh": "己方完成整场羽毛球比赛，以 0:11 告负，唯一节点“赢得比赛”始终未达成，视频约 25.2 s 的末分漏球结束比赛。首分为己方发球后球落回己方半场；之后 10 个接球分仅记录 4 次出拍指令（含一次越界被拒），须区分未出手与挥拍错开来球，前半场相机横轴错误支持感知失准的推断。该错误中途修正后仍继续失分，后半场拦截选择及执行的具体责任未定，关键根因仅有一次同场读数对照，故置信度由 8 降至 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "断点、0:11 结果与控制步时钟均成立；但把全场写成“反复未跟上来球”及“多次接球尝试”不符合日志与视频：首分是己方发球失误，之后 10 个接球分里只有约 4 次出拍指令（其中 1 次被服务拒绝），末分机械臂全程未动；唯一的挥拍（22.2–22.8 s）目标点离落点约 1.9 m，是位置问题而非时机。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点、0:11 结果、控制步时钟、首分发球失误与接球分出拍情况均与视频和日志一致；动态时机现象与限定范围的感知推断根因表述克制，gap_zh 已说明未定部分。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--yh7cmbs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--yh7cmbs/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--yh7cmbs/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-badminton-matchlow-i01-standard-realtime--yh7cmbs/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5674e1289c03c29ac1e1cf6792a736f2e18fe97e0e379092a317973c2f847fc1",
+   "video_sha256": "cca0a64b34b8afb58a8e6cd78fdaec2ac3555fa24646d1c0bdccbb2cd32f7686",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/soccer_jointgpu_i01/task_dag.json

@@ -0,0 +1,220 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/soccer_jointgpu_i01",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-soccer-jointgpu-i01",
+ "title_zh": "双机器人足球获胜",
+ "summary_zh": "控制甲队两台机器人，在正式终局被裁判判为胜者，且比赛有效并通过外来步态策略审计。",
+ "embodiment_zh": "标准实时模式：甲方统一控制两台Booster T1人形机器人的下半身，每台只有躯干及双腿、12个腿部关节，以20毫秒控制周期接收关节目标；无手臂、无手或夹爪，无轮式底盘，双脚直接接触草皮和足球。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-soccer-jointgpu-i01",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "全场斜俯视画面中蓝色甲队对红色乙队，橙球进入右侧球门是甲队进球的视觉线索；须在正式比赛终结时裁判判甲队获胜，通常为两半场结束甲队有效进球更多，或领先达到10球提前结束，平局则依点球、突然死亡及最终种子掷币规则决胜。尚在比赛中仅领先或进球不算完成，终局甲队败北即未完成；录像没有比分或胜者字幕，须结合完整有效进球序列与终结信息，无法辨明时用运行记录中的正式胜者确认，不能仅凭最后一帧站位判断。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "候选接触名“击打”：甲队机器人的脚踢击足球；现有接触词表没有踢击项，依规则使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "甲队机器人的支撑脚接触草皮，支撑另一条腿踢球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "推/扫",
+      "plan": 2,
+      "note_zh": "甲队机器人的脚或小腿推拨足球，采用地面运球、推球进攻。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 2,
+      "note_zh": "甲队机器人的双脚交替接触草皮支撑身体并推进足球。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:3-10 甲队控制两台机器人，成功只要求赢得比赛",
+     "inputs/task/standard-realtime/instruction.md:147 蓝甲红乙，无手臂的Booster T1下半身",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:489-533 初始比分0:0，尚未结束且无胜者，球置中点",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:77-100 半场300秒，领先10球提前结束，点球3次及突然死亡最多3轮",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:1207-1223 两半场及平局进入点球",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:1366-1406 有效进球、提前结束与正式胜者",
+     "inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:1502-1522 点球及最终种子掷币决胜",
+     "inputs/grader/efe_embodied-olympics-match-files/shared/tests/grade.py:96-138 有效、完成、单席甲队获胜，排除受控仿真错误",
+     "inputs/task/standard-realtime/tests/fexam_reward.py:30-49 动作已执行的胜局需有效策略审计且不得违规",
+     "inputs/oracle/run.json:1 成功录像对应甲队13:8获胜，策略审计通过",
+     "inputs/oracle/replay.mp4 @ 0,120,300,450,590,600 s 蓝红队、橙球、左右球门及无比分字幕"
+    ],
+    "conf": 6,
+    "note_zh": "竞技任务仅分析结果，不把走路、训练、开赛、复盘、每次触球或本次录像中的13个进球拆成必经步骤；进球计数没有固定完成数量。获胜仅在裁判正式终局成立，开局0:0不成立；有效性、审计及历史否决属于整体成功验收。接触列出踢球和推拨足球两种典型方案，不要求每次成功必须采用其中某种动作。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "start_forfeit",
+    "zh": "开赛超时判负",
+    "never": null,
+    "criterion_zh": "比赛服务启动后7200秒实际时间内甲方未发送开赛请求，裁判以no_show判甲方负；这是开赛裁判时钟，不是整场14400秒会话时限。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:15-21",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:58",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:300-338",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-350"
+    ]
+   },
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "每次需要甲方复盘的停赛从冻结起超过300秒实际时间仍未发送game ready，裁判以ready_timeout判甲方负，即使此前比分领先也失败。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:17-20",
+     "inputs/task/standard-realtime/environment/docker-compose.yaml:59",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365",
+     "inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:286-298"
+    ]
+   },
+   {
+    "id": "external_walking_policy",
+    "zh": "使用外来步态",
+    "never": null,
+    "criterion_zh": "禁止用本次会话外已有的走路或平衡策略控制甲队；实际验收在审计重放未被判不一致时，任一甲队机器人超过一半采样的动作与已发布Booster步态拟合均方根误差小于0.02弧度即置违规标志，最终撤销胜局。此项不能从比赛画面直接判断。",
+    "consequence": "历史否决",
+    "sources": [
+     "inputs/task/standard-realtime/instruction.md:76-77",
+     "inputs/task/standard-realtime/instruction.md:106-107",
+     "inputs/task/standard-realtime/tests/fexam_reward.py:21-49",
+     "inputs/bench_src/sim/audit/policy_fingerprint.py:30-31",
+     "inputs/bench_src/sim/audit/policy_fingerprint.py:260-269"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_won",
+    "level": "new_code",
+    "source": "需逐帧新增task.match_done、task.match_winner；来源 inputs/grader/efe_embodied-olympics-match-files/sim/sport/soccer.py:1399-1406 Soccer.done/winner，以及 inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:286-298 裁判判负后的胜者。仅记录比赛状态，不把评分器总成功值当世界状态。"
+   },
+   {
+    "atom": "start_forfeit",
+    "level": "new_code",
+    "source": "需新增task.forfeit_reason与task.forfeit_seat；来源 inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/service.py:323-338 no_show裁判事件。"
+   },
+   {
+    "atom": "review_forfeit",
+    "level": "new_code",
+    "source": "需新增task.forfeit_reason与task.forfeit_seat；来源 inputs/grader/efe_embodied-olympics-match-files/privileged/environment/fullsim/core/realtime.py:344-365 ready_timeout裁判事件。"
+   },
+   {
+    "atom": "external_walking_policy",
+    "level": "new_code",
+    "source": "需额外记录审计的replay_agrees、flag及每机器人share_below_flag；来源 inputs/bench_src/sim/audit/policy_fingerprint.py:260-269 与 inputs/task/standard-realtime/tests/fexam_reward.py:30-49。此数据只能支持约束和整体成功验收。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "goal_difference",
+   "unit": "goals",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有状态日志（inputs/states/index.json的logs为空），依P8所有节点when、约束never及整体success均为null；新增日志字段在atoms中只是采集需求，不能当成已有字段绑定，也没有状态重放可核对。",
+  "录像为无比分、无胜者字幕的全场斜俯视画面；终局单帧无法证明胜者，必须结合完整有效进球序列和裁判终结记录。成功样本的run.json记录甲队13:8、match_over=1、success=1、policy_audit=1、walking_policy_violation=0。",
+  "整体成功验收还要求有效且已完成的正式比赛记录：grade.py:108-138检查valid_trial、finalized、完整结束原因、实时裁决或一致重放、无技术或计量代理错误，并排除执行动作后的仿真步错误；fexam_reward.py:30-49要求有执行动作的胜局具有审计，审计明确重放不一致视为缺审计，审计命中则撤销成功。这些不是新增物理步骤，因无日志整体success留空。",
+  "净胜球goal_difference仅作连续指标（sport.toml:311-316），常规比分差越大越好，弃权记-10；没有适用于所有胜法的固定通过阈值，平局也可赢点球，故threshold为null，不增加固定进球数或净胜球节点。触球、步行距离、跌倒和一般罚下次数仅作统计，不是独立目标；METHOD.md和NOTES.md是方法记录，不评分（instruction.md:109-113）。",
+  "仅提供standard-realtime模式，未推断其他模式；本任务允许自行训练强化学习，tests/rl_audit.py是未被test.sh或Dockerfile调用的旧审计文本，不能据此禁止学习或要求参数数目上限。实际约束为fexam_reward.py调用的外来步态策略审计。",
+  "任务设计问题：当常规时间及点球、最多3轮突然死亡均仍平时，soccer.py:1520-1522以种子掷币决定胜者；此最终分支不再由机器人的场上动作决定。文本已声明该规则，保留获胜结果节点，不增加无法控制的掷币步骤。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "单一获胜步骤、终局规则、开局及两项裁判超时阈值均有文本和源码依据，成功录像与13:8运行记录相符；但没有任何状态日志，录像也无比分或胜者字幕，无法自动核对终局与审计，按证据缺口给6分。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "竞技对抗任务：outcome_only、单一对抗·获胜目标节点、开赛/复盘裁判超时与外来步态审计三项约束均符合N7与01 Step 0/6；无状态日志故when/success为null合理，N1类不一致已列入open_questions_zh。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:45:07Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__soccer_jointgpu_i01/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__soccer_jointgpu_i01/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "0f2d3171fbb514a8269b72a6fdd764ecc6be44a8d0f9c6bde858fb71f2161739",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}

phase1/embodied-olympics-match/soccer_jointgpu_i01/trajectories/roboolympics-match-soccer-jointgpu-i01-standard-realtime--kdpfwqq.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboolympics-match-soccer-jointgpu-i01-standard-realtime--kdpfwqq",
+ "taskKey": "embodied-olympics-match/soccer_jointgpu_i01",
+ "dag_sha256": "9d434cc969cedfc9f87f61b950ed5082508c8e6289865382556736ea54819ab9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "valid_trial": 1,
+   "technical_failure": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "verdict_replay": 0,
+   "match_over": 0,
+   "seed": 101,
+   "official_config": 0,
+   "video_rendered": 1,
+   "direct_play": 0,
+   "lowlevel_actions": 1,
+   "solo": 0,
+   "no_show": 0,
+   "abandoned": 0,
+   "hidden_seed": 0,
+   "hidden_seed_index": -1,
+   "A_continuous_score": -10.0,
+   "continuous_score": -10.0,
+   "A_won": 0,
+   "A_no_show": 0,
+   "A_transient_api_errors": 0,
+   "A_unrecovered_api_errors": 0,
+   "ready_forfeit": 0,
+   "unfinished": 0,
+   "slowdown": 10.0,
+   "steps": 1028,
+   "A_goals": 0,
+   "B_goals": 1,
+   "shootout": 0,
+   "A_shootout_goals": 0,
+   "B_shootout_goals": 0,
+   "end_mercy": 0,
+   "end_coin_toss": 0,
+   "n_messages": 0,
+   "team_channel_on": 0,
+   "n_reviews": 0,
+   "sim_lag_late_max_s": 0.010514464927837253,
+   "sim_lag_late_p99_s": 0.00979716807138175,
+   "sim_effective_slowdown": 10.000324471249401,
+   "won": 0,
+   "level": 5,
+   "goals_for": 0,
+   "goals_against": 1,
+   "attempts": 671,
+   "applied": 670,
+   "refused": 0,
+   "refused_robot": 0,
+   "dropped": 0,
+   "observations": 0,
+   "act_s_max": 0.19174176501110196,
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+   "metered_requests": 0,
+   "metered_output_tokens": 0,
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+   "A1_goals": 0,
+   "A1_own_goals": 0,
+   "A1_shootout_goals": 0,
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+   "A1_kicks": 0,
+   "A1_kick_falls": 0,
+   "A1_kicks_cancelled": 0,
+   "A1_falls": 1,
+   "A1_pushed_over": 0,
+   "A1_penalties": 1,
+   "A1_distance_m": 1.73,
+   "A1_messages": 0,
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+   "A2_own_goals": 0,
+   "A2_shootout_goals": 0,
+   "A2_touches": 0,
+   "A2_passes_completed": 0,
+   "A2_kicks": 0,
+   "A2_kick_falls": 0,
+   "A2_kicks_cancelled": 0,
+   "A2_falls": 3,
+   "A2_pushed_over": 0,
+   "A2_penalties": 0,
+   "A2_distance_m": 2.97,
+   "A2_messages": 0,
+   "B1_goals": 1,
+   "B1_own_goals": 0,
+   "B1_shootout_goals": 0,
+   "B1_touches": 4,
+   "B1_passes_completed": 0,
+   "B1_kicks": 0,
+   "B1_kick_falls": 0,
+   "B1_kicks_cancelled": 0,
+   "B1_falls": 0,
+   "B1_pushed_over": 0,
+   "B1_penalties": 0,
+   "B1_distance_m": 10.22,
+   "B1_messages": 0,
+   "B2_goals": 0,
+   "B2_own_goals": 0,
+   "B2_shootout_goals": 0,
+   "B2_touches": 0,
+   "B2_passes_completed": 0,
+   "B2_kicks": 0,
+   "B2_kick_falls": 0,
+   "B2_kicks_cancelled": 0,
+   "B2_falls": 0,
+   "B2_pushed_over": 0,
+   "B2_penalties": 0,
+   "B2_distance_m": 11.69,
+   "B2_messages": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "agent_sim_error": 0,
+   "infra_error": 0,
+   "realtime": 1,
+   "opponent_level": 5,
+   "gpu_tier": 1,
+   "replay_video": 1,
+   "policy_audit": 0,
+   "policy_audit_replay_agrees": 0,
+   "walking_policy_violation": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 14.785,
+   "peak_memory_gb": 5.043,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.268,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_gpu_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--kdpfwqq/replay.mp4",
+  "duration_s": 20.6,
+  "fps": 10.0,
+  "frames": 206,
+  "sha256": "03d81a96f09b62bfe0ae3f9c4b6e58674ffaae6359532cca8df872b4fad520c5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "match_won": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 107,
+      "text_zh": "观察：视频 0.0 s 蓝色甲队与红色乙队在场内开局，橙球位于中圈；log step 107 的正式比赛服务返回 phase=running、done=false、比分0:0，开局不满足正式终局获胜条件。"
+     },
+     {
+      "t": 20.5,
+      "log_step": 132,
+      "text_zh": "观察：视频 12.8–20.5 s 红色乙队带球向左侧甲队球门推进，视频 20.3–20.5 s 球抵达左侧门线附近；全片没有甲队向右门进球的序列。log step 132 的正式比赛服务（实时比赛状态接口，非 agent 自行估计）返回 phase=over、done=true、reason=ready_timeout、ready.A=false、stoppages=1、比分0:1；log step 133 的 ready/start 请求均被拒绝。评分器 A_won=0、success=0，故赢得比赛从未成立。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 113,
+      "text_zh": "观察：视频 2.0–2.4 s 两台蓝色机器人相继倾倒，视频 5.4–5.8 s 已恢复直立；视频 9.2–9.6 s、14.2–14.6 s 再见蓝色机器人倒地，视频 17.6 s 已恢复直立。log step 113 的比赛服务报告两台甲队机器人在控制步112倒地；评分器记录 A1_touches=1、A2_touches=0、甲队两台机器人 kicks 均为0，不能把站立或触球计为赢得比赛。"
+     },
+     {
+      "t": null,
+      "log_step": 132,
+      "text_zh": "观察：评分器 continuous_score 与 A_continuous_score 均为-10.0，记录的进球数为甲队0、乙队1；native_metrics 的 goal_difference 采用任务 DAG 说明的弃权连续分口径-10，而非把实际比分差-1代入该指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.8 s、5.6–8.4 s 及17.6–20.5 s，甲队机器人的双脚接触草皮承重并调整站姿；视频 2.4 s、9.6 s、14.6 s 可见倒地后的下肢和躯干接触草皮。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选接触名“被动碰触”。视频 2.1–2.9 s 中圈蓝色机器人倒下，其脚和小腿与橙球轮廓相接，结合评分器 A1_touches=1 判断发生了一次甲队下肢触球；视频 7.6–9.2 s 还可见中圈蓝色机器人的躯干/腿部与红色机器人相贴。现有词表没有倒地或身体相遇造成的被动碰触项，画面与 kicks=0 均不支持将它标成主动击打。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_difference",
+   "value": -10.0,
+   "unit": "goals",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "match_won",
+   "t": null,
+   "log_step": 132,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 20.5 s 仍在乙队攻入左侧球门附近的场景，未显示复盘等待及判负字幕。log step 131 的运行日志出现 MATCH DONE ready_timeout；log step 132 正式服务确认 phase=over、done=true、reason=ready_timeout、ready.A=false，比分0:1，log step 133 证实无法恢复。失败发生在赢得比赛这一步进行期间；直接决定结果的是冻结复盘期间未就绪的裁判判负，无法从视频定位实际判负时刻，故视频锚点留空。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 131,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 安排的比赛运行与复盘响应策略存在缺口。log step 81 的比赛脚本遇到停赛只记录提示并等待，未发送 ready；log steps 115–116 只调整冻结检测。任务文本明确每次复盘限300秒实际时间，agent 却在正式比赛进行时于 log step 131 执行 sleep 480 等待训练，期间没有安排自动结束复盘。该调用返回时日志已经出现 MATCH DONE ready_timeout，log step 132 服务确认 ready.A=false；log step 133 之后补发请求已被拒绝。这些记录支持等待训练与履行复盘义务的跨阶段规划失当，而非仅把超时本身当根因。"
+   }
+  ],
+  "gap_zh": "观察：本任务为 outcome_only；本片仅有一次乙队有效进球，无法建立反复出现的丢分模式，故现象层留空，多次倒地只作为比赛经过记录。inputs/ 有本次及成功参考视频、完整运行日志，没有状态日志；本片无比分/胜者字幕，也不记录仿真冻结后的300秒实际时间复盘等待，因此不能给裁判判负指定视频时间。评分器 match_over=0、ready_forfeit=0 与 log step 132 正式服务 done=true、reason=ready_timeout 的字段口径不一致；采用服务最终状态及 log step 133 拒绝恢复的结果确认判负，二者均支持获胜节点为false。下肢触球的具体接触点由视频轮廓及触球计数合并推断，缺少接触对日志。",
+  "unmet": {
+   "match_won": false
+  }
+ },
+ "summary_zh": "甲队在本次正式比赛中没有达到“赢得比赛”，节点最终为0/1；视频显示甲队多次倒地，乙队将球推进左侧球门，正式服务记录比分0:1。log steps 131–133 确认比赛因复盘未就绪被判负，agent 的脚本将复盘响应留给 agent 监看，却执行480秒阻塞等待，支持认知·推理/规划根因。只有一次失球不足以标注反复丢分模式；复盘等待不在视频时钟内，且评分器部分终结字段与服务状态不一致，详见证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
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+    "conf": 7,
+    "summary_zh": "节点 match_won=false、断点 match_won、根因（认知·推理/规划：480秒阻塞等待错过复盘）均有 log step 127/128/129（id 131–133）的服务读数支持；现象层留空并附 gap_zh，符合 N7。���频末帧红队在左门前带球，与标注一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-29T03:03:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
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+    "space": "work/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--kdpfwqq/03_label"
+   },
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+    "ok": true,
+    "space": "work/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--kdpfwqq/04_review_r1"
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+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
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+}

phase1/embodied-olympics-match/soccer_jointgpu_i01/trajectories/roboolympics-match-soccer-jointgpu-i01-standard-realtime--zjzf2gs.json

@@ -0,0 +1,285 @@
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+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--zjzf2gs/replay.mp4",
+  "duration_s": 600.1,
+  "fps": 10.0,
+  "frames": 6001,
+  "sha256": "46a04dae79d812bcc8867ad2c4315d2e4fd41af250ff5615fecd28ca3972e63b"
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+ "progress": {
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+  "peak": 1,
+  "final": 1,
+  "nodes": {
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+    "method": "visual",
+    "intervals": [
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+      600.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 184,
+      "text_zh": "观察：视频 0.0 s 蓝色甲队、红色乙队及橙球均在开球位置；log step 184 的正式比赛服务状态为 running、step=0，尚未结束，不能将开局或随后领先计为获胜。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–1.5 s 的放大连续帧显示中圈蓝队机器人迈腿，脚部接触原地橙球后球向右滚离；视频 1.5–7.0 s 蓝队机器人用双脚交替支撑并追随足球进入右侧禁区。"
+     },
+     {
+      "t": 7.5,
+      "log_step": 188,
+      "text_zh": "观察：视频 7.0–7.3 s 橙球位于右侧球门口，视频 7.5 s 球和机器人已回到开球位置；log step 188 的正式比赛服务记录甲队首球，事件控制步 k=373、比分 1:0，done=false，仍未赢得整场比赛。"
+     },
+     {
+      "t": 595.8,
+      "log_step": 436,
+      "text_zh": "观察：视频 595.6–595.8 s 橙球从右侧门口进入球门，视频 596.0 s 已重新中圈开球；log step 436 的正式比赛服务记录 us2 进球、k=29790、比分甲队13:8乙队，但 phase=review、done=false，获胜节点此时仍未成立。"
+     },
+     {
+      "t": 600.0,
+      "log_step": 439,
+      "text_zh": "观察：已逐帧检查视频 599.0–600.0 s，最后蓝队一台机器人在左侧禁区附近倒下，另一台在远侧场外，画面无比分或胜者字幕；log step 439 的正式比赛服务状态为 phase=over、done=true、reason=match_over，end 事件 k=30000，result.winner=us、how=regulation、比分13:8，正式裁判判甲队常规时间获胜。"
+     },
+     {
+      "t": 600.0,
+      "log_step": 439,
+      "text_zh": "推断：使用正式比赛控制步计数定位终局，控制周期0.02 s，log step 439 的 k=30000 对应视频 600.0 s；已用 log step 188 的 k=373 对应视频 7.46 s（视频 7.3–7.5 s 的进球后重置）以及 log step 436 的 k=29790 对应视频 595.8 s 的进球核对，故仅从视频 600.0 s 标记获胜成立，未使用 agent 工作时间换算。"
+     },
+     {
+      "t": 600.0,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、valid_trial=1、match_over=1、A_won=1、A_goals=13、B_goals=8，continuous_score=5.0；policy_audit=1、policy_audit_replay_agrees=1、walking_policy_violation=0，支持本次正式胜局通过整体验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 1.2–1.5 s 蓝色甲队中圈机器人的脚部击中橙色足球，球随即向右滚离；候选接触名“击打”（脚踢球），现有怎么碰词表无踢击项，故使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.5–7.0 s 蓝色甲队机器人双脚交替落在草皮上，支撑躯干前进并追球，接触对象为球场草皮。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_difference",
+   "value": 5.0,
+   "unit": "goals",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "甲队两台机器人参与攻防，正式比赛最终以13:8获胜；“赢得比赛”节点仅在视频 600.0 s 的正式终局成立，最终完成1/1。实际接触包括脚部击球和双脚在草皮上的支撑，评分器确认比赛有效且步态策略审计通过。录像无比分或胜者字幕，也没有状态日志，终局胜者及精确时刻由 log step 439 的正式裁判结果和控制步计数结合已核对的视频事件确认。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频和日志一致：获胜节点仅在 600.0 s 正式终局成立，控制步 k 与视频时间的换算已在 k=373 / 29790 处核对，接触标注合理，成功运行无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "ed1b0c08ed9913f7564129eb0c8cc3afeb693371f1ce896c9ee3324da09e5a2b",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T03:04:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "f41196a9d2e23c707bacec9bb466bb891909126850fec020017fb526dedfb2cb",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--zjzf2gs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboolympics-match-soccer-jointgpu-i01-standard-realtime--zjzf2gs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e4ed9cec704204f76168148f5d1189707eb21b6bf6c55de9b7ae46f4703d4a5",
+   "video_sha256": "46a04dae79d812bcc8867ad2c4315d2e4fd41af250ff5615fecd28ca3972e63b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase1/embodied-olympics-match/soccer_match/task_dag.json

@@ -0,0 +1,207 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "embodied-olympics-match/soccer_match",
+ "suite": "embodied-olympics-match",
+ "base": "embodied-olympics-match-soccer-match-i00",
+ "title_zh": "双人足球赛获胜",
+ "summary_zh": "蓝色A队两台机器人在对阵固定等级2脚本B队的正式足球赛中被裁判判定获胜。",
+ "embodiment_zh": "两种模式均由一个程序控制A队两台Booster T1人形机器人的双腿和躯干，以脚踢球并足式行走；没有模拟手臂或手部末端执行器，也没有轮式底盘；B队为两台同型脚本机器人。特权模式提供世界真值，标准实时模式通过己方头部相机观察。",
+ "task_class": "atomic",
+ "analysis_level": "outcome_only",
+ "spec": {
+  "version": "1.2",
+  "task": "embodied-olympics-match-soccer-match-i00",
+  "bench": "embodied-olympics-match",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "match_won",
+    "zh": "赢得比赛",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "广播镜头中蓝色A队与红色B队在带挡板的绿茵场踢橙球，只有正式比赛结束且裁判胜方为A队才完成：两半场各300游戏秒（滚球最多补3秒）后进球领先，或净胜10球提前终场，或常规平局后经点球、突然死亡及最终种子掷币判A队获胜。单次进球、暂时领先或进球后的暂停均未完成；示例视频无比分与胜方叠层，须结合原生裁判终场结果判断，不能凭末帧机器人或球的位置认定获胜。",
+    "step": {
+     "cat": "对抗",
+     "item": "获胜"
+    },
+    "contact": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "plan": 1,
+      "note_zh": "典型踢球方案中A队机器人的踢球脚击打橙色足球；候选接触方式为“击打”，现有接触方式没有对应条目，依S16使用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "plan": 1,
+      "note_zh": "踢球时A队机器人的另一只脚支撑在草地上；步行和防守时双脚交替支撑机体。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "task/privileged/instruction.md:3-6",
+     "task/standard-realtime/instruction.md:57-65",
+     "task/privileged/tests/trusted/sports/soccer/soccer.py:76-100",
+     "task/privileged/tests/trusted/sports/soccer/soccer.py:1113-1129",
+     "task/privileged/tests/trusted/sports/soccer/soccer.py:1288-1312",
+     "task/privileged/tests/trusted/sports/soccer/soccer.py:1408-1428",
+     "task/privileged/tests/trusted/sports/soccer/plugin.py:215-247",
+     "task/privileged/tests/trusted/tools/fullsim/formal.py:315-339",
+     "grader/efe_embodied-olympics-match-files/shared/tests/grade.py:96-138",
+     "oracle/replay.mp4:0,15-585,600s",
+     "oracle/run.json:reward",
+     "task/privileged/tests/trusted/sports/soccer/sport.toml:309-314"
+    ],
+    "conf": 7,
+    "note_zh": "按比赛规则只分析结果，不拆进攻、防守、带球、踢球或每个进球；无固定进球数要求。点球每队3次，其后最多3轮突然死亡，按进球、扑救、门柱、偏出、其他、未踢的类别排名，仍同类则按种子掷币；接受裁判的全部获胜路线。典型接触不是每种获胜路线都必须执行的踢球要求，接触方式不写入验收。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "review_forfeit",
+    "zh": "复盘超时判负",
+    "never": null,
+    "criterion_zh": "裁判要求A队复盘时，世界冻结后600墙钟秒内未提交有效ready，触发ready_timeout并立即判A队整场负；即使当时比分领先也不能豁免。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/standard-realtime/instruction.md:9-10",
+     "task/privileged/tests/trusted/tools/fullsim/sports/soccer.py:24",
+     "task/standard-realtime/environment/docker-compose.yaml:49",
+     "task/privileged/tests/trusted/core/realtime.py:344-365",
+     "task/privileged/tests/trusted/core/service.py:286-298"
+    ]
+   },
+   {
+    "id": "start_forfeit",
+    "zh": "未开赛判负",
+    "never": null,
+    "criterion_zh": "A队未在裁判启动窗口内开始比赛，或会话在开赛前结束而触发no_show，立即判负；标准实时模式启动窗口为1800墙钟秒，特权验证器为30秒并自动提交初始ready。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/standard-realtime/instruction.md:11",
+     "task/standard-realtime/environment/docker-compose.yaml:48",
+     "task/privileged/tests/trusted/tools/fullsim/formal.py:153",
+     "task/privileged/tests/trusted/tools/fullsim/formal.py:199",
+     "task/privileged/tests/trusted/core/service.py:300-362"
+    ]
+   },
+   {
+    "id": "match_abandoned",
+    "zh": "提前弃赛判负",
+    "never": null,
+    "criterion_zh": "比赛已开始但尚未结束时A队会话结束，裁判收集时以abandoned判A队负；这项约束针对裁判弃赛判定，不把一般开发或评估时限本身当成违规。",
+    "consequence": "立即终止",
+    "sources": [
+     "task/standard-realtime/instruction.md:11",
+     "task/privileged/tests/trusted/core/service.py:371-381",
+     "task/privileged/tests/trusted/core/realtime.py:459-468"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "match_done_and_team_a_winner",
+    "level": "new_code",
+    "source": "task/privileged/tests/trusted/sports/soccer/soccer.py:1305-1312 World.done and World.winner; log task.match_done and task.match_winner"
+   },
+   {
+    "atom": "team_a_review_forfeit",
+    "level": "new_code",
+    "source": "task/privileged/tests/trusted/core/service.py:280-298; log task.forfeiting and task.forfeit_reason (ready_timeout)"
+   },
+   {
+    "atom": "team_a_start_forfeit",
+    "level": "new_code",
+    "source": "task/privileged/tests/trusted/core/service.py:300-362; log task.forfeiting and task.forfeit_reason (no_show)"
+   },
+   {
+    "atom": "team_a_abandoned",
+    "level": "new_code",
+    "source": "task/privileged/tests/trusted/core/service.py:371-381; log task.forfeiting and task.forfeit_reason (abandoned)"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "goal_difference",
+   "unit": "goal",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json没有状态日志；依P8所有节点when、约束never与success均为null。新增原子仅说明应记录的原生状态，未把未记录的终局评分当作可用世界状态。",
+  "示例正式赛奖励为11比2且成功，但广播视频没有比分、时钟或胜方文字；末帧也没有独立获胜视觉标志。获胜须结合裁判结果，不能由场上站位或一次进球推断。",
+  "两种模式运动裁判一致；特权模式另要求完整比赛、无程序错误以及新进程重放一致（formal.py:315-330），标准实时模式按现场已终结赛果评分（docker-compose.yaml:54、shared/tests/grade.py:100-110）。交付与重放有效性不是语义步骤，缺日志时保留success=null；启动窗口分别为30秒与1800秒。",
+  "goal_difference是常规进球差，不计点球，只有标准实时通用评分器回传连续分；它没有统一成功阈值，常规0比0也可点球获胜，因此不增设净胜球节点。踢球、触球、传球、跌倒、罚下等统计没有各自通过阈值，不另立约束或节点。依据soccer.py:997-1007，跌倒后3秒可重新站起，跌倒本身不否决比赛。",
+  "N7边界：点球20游戏秒未触球会以no_kick结束该次射门（soccer.py:99、1361-1367），类别永久计入本场胜负，但仍可赢得整场。此处将其放在获胜的点球验收规则内；约束后果仅有立即终止或整场历史否决，均不能准确表达仅损失一次射门机会，有待统一此类局部裁判时钟的约束表示。"
+ ],
+ "conf": 7,
+ "conf_reason_zh": "文本、共同足球裁判及初态支持唯一获胜节点，未引入示例策略或进球数；已核对成功赛果和全程视频采样。没有状态日志且视频无比分叠层，无法自动绑定或复核获胜与弃权状态；点球局部时钟的约束表示仍有规则边界。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "竞技比赛任务，单一目标节点“赢得比赛”(对抗·获胜)、analysis_level=outcome_only，符合01 Step 3.7；三项裁判时钟判负约束(复盘超时、未开赛、弃赛)符合N7，success=null因无状态日志；标签、open_questions与评分器一致。未发现需修改之处（nocode审计仅适用于direct模式，本任务为program模式，不需约束）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['match_won']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T02:09:52Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__soccer_match/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/embodied-olympics-match__soccer_match/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "d0b766ffe604e759b2e782456f09e1e60c8c8f7d39a42333ea930a1a950f5840",
+  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
+ }
+}